Constraint.h File Reference

This defines the Constraint class, which is used to specify limitations on the mobility of the MobilizedBodies in a MatterSubsystem. More...

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

Go to the source code of this file.

Classes
class	Constraint
	This is the base class for all Constraint classes, which is just a handle for the underlying hidden implementation. More...
class	Rod
	This constraint consists of one constriant equation that enforces a constant distance between a point on one body and a point on another body. More...
class	PointInPlane
	One constraint equation. More...
class	PointOnLine
	Two constraint equations. More...
class	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	Ball
	Three constraint equations. More...
class	ConstantOrientation
	Three constraint equations. More...
class	Weld
	Six constraint equations. More...
class	NoSlip1D
	One non-holonomic constraint equation. More...
class	ConstantSpeed
	One non-holonomic constraint equation. More...
class	ConstantAcceleration
	One acceleration-only constraint equation. More...
class	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	Implementation
class	CoordinateCoupler
	This is a subclass of Constraint::Custom which uses a Function object to define a holonomic (position) constraint. More...
class	SpeedCoupler
	This is a subclass of Constraint::Custom which uses a Function object to define a nonholonomic (velocity) constraint. More...
class	PrescribedMotion
	This is a subclass of Constraint::Custom which uses a Function to prescribe the behavior of a single generalized coordinate as a function of time. More...
Namespaces
namespace	SimTK
	This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with other symbols.

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Detailed Description

This defines the Constraint class, which is used to specify limitations on the mobility of the MobilizedBodies in a MatterSubsystem.

Constraint is a PIMPL-style abstract base class, with concrete classes defined for each kind of constraint. There are a set of built-in constraints and a generic "Custom" constraint (an abstract base class) from which advanced users may derive their own constraints.