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Simbody
3.5
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Simbody
3.5
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This is a Constraint that uses a Function object to define a single holonomic (position) constraint equation acting to relate a set of generalized coordinates q. More...
Inheritance diagram for SimTK::Constraint::CoordinateCoupler:Public Member Functions | |
| CoordinateCoupler (SimbodyMatterSubsystem &matter, const Function *function, const Array_< MobilizedBodyIndex > &coordMobod, const Array_< MobilizerQIndex > &coordQIndex) | |
| Create a CoordinateCoupler. More... | |
| CoordinateCoupler (SimbodyMatterSubsystem &matter, const Function *function, const std::vector< MobilizedBodyIndex > &coordBody, const std::vector< MobilizerQIndex > &coordIndex) | |
| For compatibility with std::vector; no copying is done. More... | |
| CoordinateCoupler () | |
| Default constructor creates an empty handle. More... | |
| Public Member Functions inherited from SimTK::Constraint::Custom | |
| Custom (Implementation *implementation) | |
| Create a Custom Constraint. More... | |
| Custom () | |
| Default constructor creates an empty handle. More... | |
| SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS (Custom, CustomImpl, Constraint) | |
| Public Member Functions inherited from SimTK::Constraint | |
| Constraint () | |
| Default constructor creates an empty Constraint handle that can be used to reference any Constraint. More... | |
| Constraint (ConstraintImpl *r) | |
| For internal use: construct a new Constraint handle referencing a particular implementation object. More... | |
| void | disable (State &) const |
| Disable this Constraint, effectively removing it from the system. More... | |
| void | enable (State &) const |
| Enable this Constraint, without necessarily satisfying it. More... | |
| bool | isDisabled (const State &) const |
| Test whether this constraint is currently disabled in the supplied State. More... | |
| bool | isDisabledByDefault () const |
| Test whether this Constraint is disabled by default in which case it must be explicitly enabled before it will take effect. More... | |
| void | setDisabledByDefault (bool shouldBeDisabled) |
| Normally Constraints are enabled when defined and can be disabled later. More... | |
| operator ConstraintIndex () const | |
| This is an implicit conversion from Constraint to ConstraintIndex when needed. More... | |
| const SimbodyMatterSubsystem & | getMatterSubsystem () const |
| Get a const reference to the matter subsystem that contains this Constraint. More... | |
| SimbodyMatterSubsystem & | updMatterSubsystem () |
| Assuming you have writable access to this Constraint, get a writable reference to the containing matter subsystem. More... | |
| ConstraintIndex | getConstraintIndex () const |
| Get the ConstraintIndex that was assigned to this Constraint when it was added to the matter subsystem. More... | |
| bool | isInSubsystem () const |
| Test whether this Constraint is contained within a matter subsystem. More... | |
| bool | isInSameSubsystem (const MobilizedBody &mobod) const |
| Test whether the supplied MobilizedBody is in the same matter subsystem as this Constraint. More... | |
| int | getNumConstrainedBodies () const |
| Return the number of unique bodies directly restricted by this constraint. More... | |
| const MobilizedBody & | getMobilizedBodyFromConstrainedBody (ConstrainedBodyIndex consBodyIx) const |
| Return a const reference to the actual MobilizedBody corresponding to one of the Constrained Bodies included in the count returned by getNumConstrainedBodies(). More... | |
| const MobilizedBody & | getAncestorMobilizedBody () const |
| Return a const reference to the actual MobilizedBody which is serving as the Ancestor body for the constrained bodies in this Constraint. More... | |
| int | getNumConstrainedMobilizers () const |
| Return the number of unique mobilizers directly restricted by this Constraint. More... | |
| const MobilizedBody & | getMobilizedBodyFromConstrainedMobilizer (ConstrainedMobilizerIndex consMobilizerIx) const |
| Return a const reference to the actual MobilizedBody corresponding to one of the Constrained Mobilizers included in the count returned by getNumConstrainedMobilizers(). More... | |
| const SimbodyMatterSubtree & | getSubtree () const |
| Return a subtree object indicating which parts of the multibody tree are potentially affected by this Constraint. More... | |
| int | getNumConstrainedQ (const State &, ConstrainedMobilizerIndex) const |
| Return the number of constrainable generalized coordinates q associated with a particular constrained mobilizer. More... | |
| int | getNumConstrainedU (const State &, ConstrainedMobilizerIndex) const |
| Return the number of constrainable mobilities u associated with a particular constrained mobilizer. More... | |
| ConstrainedUIndex | getConstrainedUIndex (const State &, ConstrainedMobilizerIndex, MobilizerUIndex which) const |
| Return the index into the constrained mobilities u array corresponding to a particular mobility of the indicated ConstrainedMobilizer. More... | |
| ConstrainedQIndex | getConstrainedQIndex (const State &, ConstrainedMobilizerIndex, MobilizerQIndex which) const |
| Return the index into the constrained coordinates q array corresponding to a particular coordinate of the indicated ConstrainedMobilizer. More... | |
| int | getNumConstrainedQ (const State &) const |
| Return the sum of the number of coordinates q associated with each of the constrained mobilizers. More... | |
| int | getNumConstrainedU (const State &) const |
| Return the sum of the number of mobilities u associated with each of the constrained mobilizers. More... | |
| QIndex | getQIndexOfConstrainedQ (const State &state, ConstrainedQIndex consQIndex) const |
| Map one of this Constraint's constrained q's to the corresponding index within the matter subsystem's whole q vector. More... | |
| UIndex | getUIndexOfConstrainedU (const State &state, ConstrainedUIndex consUIndex) const |
| Map one of this Constraint's constrained U's (or mobilities) to the corresponding index within the matter subsystem's whole u vector. More... | |
| void | getNumConstraintEquationsInUse (const State &state, int &mp, int &mv, int &ma) const |
| Find out how many holonomic (position), nonholonomic (velocity), and acceleration-only constraint equations are currently being generated by this Constraint. More... | |
| void | getIndexOfMultipliersInUse (const State &state, MultiplierIndex &px0, MultiplierIndex &vx0, MultiplierIndex &ax0) const |
| Return the start of the blocks of multipliers (or acceleration errors) assigned to this Constraint. More... | |
| void | setMyPartInConstraintSpaceVector (const State &state, const Vector &myPart, Vector &constraintSpace) const |
| Set the part of a complete constraint-space vector that belongs to this constraint. More... | |
| void | getMyPartFromConstraintSpaceVector (const State &state, const Vector &constraintSpace, Vector &myPart) const |
| Get the part of a complete constraint-space vector that belongs to this constraint. More... | |
| Vector | getPositionErrorsAsVector (const State &) const |
| Get a Vector containing the position errors. More... | |
| Vector | calcPositionErrorFromQ (const State &, const Vector &q) const |
| Matrix | calcPositionConstraintMatrixP (const State &) const |
| Matrix | calcPositionConstraintMatrixPt (const State &) const |
| Matrix | calcPositionConstraintMatrixPNInv (const State &) const |
| void | calcConstraintForcesFromMultipliers (const State &, const Vector &lambda, Vector_< SpatialVec > &bodyForcesInA, Vector &mobilityForces) const |
| This operator calculates this constraint's body and mobility forces given the complete set of multipliers lambda for this Constraint. More... | |
| Vector | getVelocityErrorsAsVector (const State &) const |
| Get a Vector containing the velocity errors. More... | |
| Vector | calcVelocityErrorFromU (const State &, const Vector &u) const |
| Matrix | calcVelocityConstraintMatrixV (const State &) const |
| Matrix | calcVelocityConstraintMatrixVt (const State &) const |
| Vector | getAccelerationErrorsAsVector (const State &) const |
| Get a Vector containing the acceleration errors. More... | |
| Vector | calcAccelerationErrorFromUDot (const State &, const Vector &udot) const |
| Vector | getMultipliersAsVector (const State &) const |
| Get a Vector containing the Lagrange multipliers. More... | |
| void | getConstraintForcesAsVectors (const State &state, Vector_< SpatialVec > &bodyForcesInG, Vector &mobilityForces) const |
| Given a State realized through Acceleration stage, return the forces that were applied to the system by this Constraint, with body forces expressed in Ground. More... | |
| Vector_< SpatialVec > | getConstrainedBodyForcesAsVector (const State &state) const |
| For convenience, returns constrained body forces as the function return. More... | |
| Vector | getConstrainedMobilityForcesAsVector (const State &state) const |
| For convenience, returns constrained mobility forces as the function return. More... | |
| Real | calcPower (const State &state) const |
| Calculate the power being applied by this Constraint to the system. More... | |
| Matrix | calcAccelerationConstraintMatrixA (const State &) const |
| Matrix | calcAccelerationConstraintMatrixAt (const State &) const |
| void | setIsConditional (bool isConditional) |
| (Advanced) Mark this constraint as one that is only conditionally active. More... | |
| bool | isConditional () const |
| (Advanced) Get the value of the isConditional flag. More... | |
| Public Member Functions inherited from SimTK::PIMPLHandle< Constraint, ConstraintImpl, true > | |
| bool | isEmptyHandle () const |
| Returns true if this handle is empty, that is, does not refer to any implementation object. More... | |
| bool | isOwnerHandle () const |
| Returns true if this handle is the owner of the implementation object to which it refers. More... | |
| bool | isSameHandle (const Constraint &other) const |
| Determine whether the supplied handle is the same object as "this" PIMPLHandle. More... | |
| void | disown (Constraint &newOwner) |
| Give up ownership of the implementation to an empty handle. More... | |
| PIMPLHandle & | referenceAssign (const Constraint &source) |
| "Copy" assignment but with shallow (pointer) semantics. More... | |
| PIMPLHandle & | copyAssign (const Constraint &source) |
| This is real copy assignment, with ordinary C++ object ("value") semantics. More... | |
| void | clearHandle () |
| Make this an empty handle, deleting the implementation object if this handle is the owner of it. More... | |
| const ConstraintImpl & | getImpl () const |
| Get a const reference to the implementation associated with this Handle. More... | |
| ConstraintImpl & | updImpl () |
| Get a writable reference to the implementation associated with this Handle. More... | |
| int | getImplHandleCount () const |
| Return the number of handles the implementation believes are referencing it. More... | |
Additional Inherited Members | |
| Public Types inherited from SimTK::Constraint | |
| typedef Rod | ConstantDistance |
| Synonym for Rod constraint. More... | |
| typedef Ball | CoincidentPoints |
| Synonym for Ball constraint. More... | |
| typedef Ball | Spherical |
| Synonym for Ball constraint. More... | |
| typedef Weld | CoincidentFrames |
| Public Types inherited from SimTK::PIMPLHandle< Constraint, ConstraintImpl, true > | |
| typedef PIMPLHandle < Constraint, ConstraintImpl, PTR > | HandleBase |
| typedef HandleBase | ParentHandle |
| Protected Member Functions inherited from SimTK::Constraint::Custom | |
| const Implementation & | getImplementation () const |
| Implementation & | updImplementation () |
| Protected Member Functions inherited from SimTK::PIMPLHandle< Constraint, ConstraintImpl, true > | |
| PIMPLHandle () | |
| The default constructor makes this an empty handle. More... | |
| PIMPLHandle (ConstraintImpl *p) | |
| This provides consruction of a handle referencing an existing implementation object. More... | |
| PIMPLHandle (const PIMPLHandle &source) | |
| The copy constructor makes either a deep (value) or shallow (reference) copy of the supplied source PIMPL object, based on whether this is a "pointer
semantics" (PTR=true) or "object (value) semantics" (PTR=false, default) class. More... | |
| ~PIMPLHandle () | |
| Note that the destructor is non-virtual. More... | |
| PIMPLHandle & | operator= (const PIMPLHandle &source) |
| Copy assignment makes the current handle either a deep (value) or shallow (reference) copy of the supplied source PIMPL object, based on whether this is a "pointer sematics" (PTR=true) or "object (value) semantics" (PTR=false, default) class. More... | |
| void | setImpl (ConstraintImpl *p) |
| Set the implementation for this empty handle. More... | |
| bool | hasSameImplementation (const Constraint &other) const |
| Determine whether the supplied handle is a reference to the same implementation object as is referenced by "this" PIMPLHandle. More... | |
This is a Constraint that uses a Function object to define a single holonomic (position) constraint equation acting to relate a set of generalized coordinates q.
You provide a Function which takes some subset of the system's generalized coordinates as arguments, and returns a single value. It also must support partial derivatives up to second order. The constraint enforces that the value of the function should equal 0 at all times. For example, if you wanted q1 and q2 to be constrained to have the same value you could define your function f as f=q1-q2.
| SimTK::Constraint::CoordinateCoupler::CoordinateCoupler | ( | SimbodyMatterSubsystem & | matter, |
| const Function * | function, | ||
| const Array_< MobilizedBodyIndex > & | coordMobod, | ||
| const Array_< MobilizerQIndex > & | coordQIndex | ||
| ) |
Create a CoordinateCoupler.
You specify a Function and a list of generalized coordinates to pass to it as arguments. Each generalized coordinate is specified by a MobilizedBody and the index of the coordinate within its mobilizer. For example
matter.getMobilizedBody(coordMobod[2]).getOneQ(state, coordQIndex[2])
will be passed to the Function as the value of the second argument.
| matter | The matter subsystem to which this constraint will be added. |
| function | The Function whose value should be maintained at zero by this constraint at all times. The constraint takes over ownership of this object, and automatically deletes in when the constraint is deleted. |
| coordMobod | The MobilizedBody corresponding to each generalized coordinate that should be passed as a function argument. |
| coordQIndex | The index corresponding to each generalized coordinate that should be passed as a function argument. |
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inline |
For compatibility with std::vector; no copying is done.
Default constructor creates an empty handle.
1.8.8