class rigidClosure

A bilateral constraint that prevents one link from moving relative to the world coordinate system, or prevents two links from moving relative to each other.

Inheritance:

Public Fields

link* l1

one of the links being constrained

link* l2

the other link being constrained

double distTol

the tolerance on relative motion before the constraint is considered to be violated.

Public Methods

rigidClosure(void)

constructor

rigidClosure(link* L1, link* L2, part* p1 = NULL, part* p2 = NULL)

constructor

rigidClosure(link* L1, part* p = NULL)

constructor

Inherited from bconstraint:

Inherited from constraint:

Public Fields

mechanism* mech

ptrList* otherMechs

linkForceRecord* frec

matrix Jc

double cDotTol

vector C

vector Cdot

int jdirty

int* _hasPosLimit

double* maxForce

double* minForce

vector prevF

int eindex

int iindex

int fdindex

int inSystem

double kp

double kv

Public Methods

inline int index(void) const

virtual int correctDrift(int i) const

inline virtual double computeCorrection(int i, int includeVel)

inline virtual int hasPosLimit(int i) const

inline virtual int hasNegLimit(int i) const

inline virtual int hasForceLimits(void) const

inline virtual void allocatePosLimits(void)

virtual void print(int printVal = 0)

virtual int createConstraintEquations(void)

virtual int deleteConstraintEquations(void)

virtual int setDynamicValues(void)

virtual const double* getCoefficients(int whichDof) const

virtual int resize(int newSize)

virtual int setDirtyFlags(void)

virtual int updateFlags(void)

inline virtual int isBilateral(void) const

inline virtual int isFrictional(int i) const

virtual int eval(int onlyConst = 0)

inline virtual double computeFStep(vector &a, vector &da, vector &f, vector &df, int i)

inline virtual double computeAStep(vector &a, vector &da, vector &f, vector &df, int i)

virtual int satisfied(const vector &a, const vector &f, int j)

inline virtual int needsImpulse(int i)

int computeJacobian(void)

virtual int violated(void)

virtual int applyToMech(mechanism* m, int subtract = 0)

int getGeneralizedForce(vector &gf)

virtual const linkForceRecord* getForces(void)

Inherited from dynoObject:

Public Fields

dynamicSystem* ds

int active

int stateSize

Public Methods

inline virtual int getState(double* state)

inline virtual int setState(const double* state)

inline virtual int reset(void)

Inherited from synObject:

Public Fields

static int staticClassID

int objectID

int verboseLevel

Public Methods

virtual const char* className(void) const

virtual synObject* copy(void) const

virtual int isOfType(int typeNum, int derivedOk)

static int setStaticClassID(void)

virtual int classID(void) const

Documentation

A bilateral constraint that prevents one link from moving relative to the world coordinate system, or prevents two links from moving relative to each other. After activation, a rigidConstraint allows no further relative motion between the two links. The constraint equations for a two-link rigidClosure are:

    *vDiff = *l1->vcDotS - *l2->vcDotS = 0
    *omegaDotDiff = *l1->omegaDotS - *l2->omegaDotS = 0

 

A one-link rigidClosure has a simpler form:

    *vDiff = *l1->vcDotS = 0;
    *omegaDiff = *l1->omegaDotS = 0;

 

Users can change the value of 'distTol' if they see significant constraint violations. Selecting a smaller timestep and/or error threshold (tol) in the dynoSolver can also help with this.

link* l1

one of the links being constrained

link* l2

the other link being constrained

double distTol

the tolerance on relative motion before the constraint is considered to be violated. Smaller values will lead to less violation, but may slow down the simulation.

rigidClosure(void)

constructor

rigidClosure(link* L1, link* L2, part* p1 = NULL, part* p2 = NULL)

constructor

rigidClosure(link* L1, part* p = NULL)

constructor

This class has no child classes.

Friends:

mechanism
dynamicSystem

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