class simpleJointConstraint

A bilateral constraint that constrains two joints to have equal or opposite acceleration.

Inheritance:

Public Methods

simpleJointConstraint(joint* J1, joint* J2, int Jdim1, int Jdim2, int sense)

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 constrains two joints to have equal or opposite acceleration. One use of this constraint is to simulate the differential used in rocker-bogie suspensions.

simpleJointConstraint(joint* J1, joint* J2, int Jdim1, int Jdim2, int sense)

constructor. Jdim1 of joint J1 is constrained to have the same (if sense = 1) or opposite (if sense = -1) acceleration as Jdim2 of joint J2.

This class has no child classes.

Friends:

mechanism

Alphabetic index HTML hierarchy of classes or Java