Constraint.h File Reference

This defines the base Constraint class and related classes, which are used to specify limitations on the mobility of the mobilized bodies in a SimbodyMatterSubsystem. More...

#include "SimTKmath.h"
#include "simbody/internal/common.h"
#include <cassert>

Go to the source code of this file.

Classes
class	SimTK::Constraint
	This is the base class for all Constraint classes, which is just a handle for the underlying hidden implementation. More...
class	SimTK::Constraint::Rod
	This constraint consists of one constraint equation that enforces a constant distance between a point on one body and a point on another body. More...
class	SimTK::Constraint::PointInPlane
	One constraint equation. More...
class	SimTK::Constraint::PointOnLine
	Two constraint equations. More...
class	SimTK::Constraint::ConstantAngle
	This constraint consists of a single constraint equation that enforces that a unit vector v1 fixed to one body (the "base body") must maintain a fixed angle theta with respect to a unit vector v2 fixed on the other body (the "follower body"). More...
class	SimTK::Constraint::Ball
	Enforce that a fixed station on one body remains coincident with a fixed station on a second body, as though there were a ball joint connecting them at those points. More...
class	SimTK::Constraint::ConstantOrientation
	Three constraint equations. More...
class	SimTK::Constraint::Weld
	Six constraint equations. More...
class	SimTK::Constraint::NoSlip1D
	One non-holonomic constraint equation. More...
class	SimTK::Constraint::BallRollingOnPlane
	This constraint enforces continuous contact and non-slip rolling between a spherical surface fixed on one body and a half space (flat surface) fixed on another. More...
class	SimTK::Constraint::ConstantSpeed
	Constrain a single mobility to have a particular speed. More...
class	SimTK::Constraint::ConstantAcceleration
	Constrain a single mobility to have a particular acceleration. More...
class	SimTK::Constraint::Custom
	The handle class Constraint::Custom (dataless) and its companion class Constraint::Custom::Implementation can be used together to define new Constraint types with arbitrary properties. More...
class	SimTK::Constraint::Custom::Implementation
	This is the abstract base class for the implementation of custom constraints. See Constraint::Custom for more information. More...
class	SimTK::Constraint::CoordinateCoupler
	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...
class	SimTK::Constraint::SpeedCoupler
	This is a Constraint that uses a Function object to define a nonholonomic (velocity) constraint. More...
class	SimTK::Constraint::PrescribedMotion
	This is a Constraint that uses a Function to prescribe the behavior of a single generalized coordinate as a function of time. More...

Namespaces
	SimTK
	This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with other symbols.

Detailed Description

This defines the base Constraint class and related classes, which are used to specify limitations on the mobility of the mobilized bodies in a SimbodyMatterSubsystem.