SurgSim::Physics::RigidConstraintFixedPoint Class Reference

RigidRepresentation bilateral 3d constraint implementation. More...

`#include <SurgSim/Physics/RigidConstraintFixedPoint.h>`

Inheritance diagram for SurgSim::Physics::RigidConstraintFixedPoint:

## Public Member Functions

| RigidConstraintFixedPoint ()
| Constructor. More...
virtual | ~RigidConstraintFixedPoint ()
| Destructor. More...
SurgSim::Physics::ConstraintType | getConstraintType () const override
| Gets the constraint type for this ConstraintImplementation. More...
Public Member Functions inherited from SurgSim::Physics::ConstraintImplementation
| ConstraintImplementation ()
| Constructor. More...
virtual | ~ConstraintImplementation ()
| Destructor. More...
size_t | getNumDof () const
| Gets the number of degree of freedom for this implementation. More...
void | build (double dt, const ConstraintData &data, const std::shared_ptr< Localization > &localization, MlcpPhysicsProblem *mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign)
| Builds the subset of an Mlcp physics problem associated to this implementation. More...

## Private Member Functions

size_t | doGetNumDof () const override
| Gets the number of degree of freedom. More...
void | doBuild (double dt, const ConstraintData &data, const std::shared_ptr< Localization > &localization, MlcpPhysicsProblem *mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) override
| Builds the subset of an Mlcp physics problem associated to this implementation. More...

## Additional Inherited Members

Static Public Member Functions inherited from SurgSim::Physics::ConstraintImplementation
static ConstraintImplementationFactory & | getFactory ()
Protected Attributes inherited from SurgSim::Physics::ConstraintImplementation
Eigen::SparseVector< double, Eigen::RowMajor, ptrdiff_t > | m_newH
| Preallocated variable for derived implementations of doBuild. More...

## Detailed Description

RigidRepresentation bilateral 3d constraint implementation.

The family of FixedPoint constraints enforce equality between two points.

## Constructor & Destructor Documentation

## RigidConstraintFixedPoint()

SurgSim::Physics::RigidConstraintFixedPoint::RigidConstraintFixedPoint | ( |  | ) |

Constructor.

## ~RigidConstraintFixedPoint()

SurgSim::Physics::RigidConstraintFixedPoint::~RigidConstraintFixedPoint | ( |  | ) |

virtual

Destructor.

## Member Function Documentation

## doBuild()

void SurgSim::Physics::RigidConstraintFixedPoint::doBuild | ( | double | dt,
|  | const ConstraintData & | data,
|  | const std::shared_ptr< Localization > & | localization,
|  | MlcpPhysicsProblem * | mlcp,
|  | size_t | indexOfRepresentation,
|  | size_t | indexOfConstraint,
|  | ConstraintSideSign | sign
| ) |  |

override private virtual

Builds the subset of an Mlcp physics problem associated to this implementation.

Parameters

  | dt | The time step.
  | data | The data associated to the constraint.
  | localization | The localization for the representation.
  [in,out] | mlcp | The Mixed LCP physics problem to fill up.
  | indexOfRepresentation | The index of the representation (associated to this implementation) in the mlcp.
  | indexOfConstraint | The index of the constraint in the mlcp.
  | sign | The sign of this implementation in the constraint (positive or negative side).

Note
  Empty for a Rigid Representation

Implements SurgSim::Physics::ConstraintImplementation.

## doGetNumDof()

size_t SurgSim::Physics::RigidConstraintFixedPoint::doGetNumDof | ( |  | ) | const

override private virtual

Gets the number of degree of freedom.

Returns
  3 A bilateral 3d constraint enforces equality in the x, y, and z dimensions between 2 points.

Implements SurgSim::Physics::ConstraintImplementation.

## getConstraintType()

SurgSim::Physics::ConstraintType SurgSim::Physics::RigidConstraintFixedPoint::getConstraintType | ( |  | ) | const

override virtual

Gets the constraint type for this ConstraintImplementation.

Returns
  The constraint type corresponding to this constraint implementation

Implements SurgSim::Physics::ConstraintImplementation.

The documentation for this class was generated from the following files:

- SurgSim/Physics/RigidConstraintFixedPoint.h
- SurgSim/Physics/RigidConstraintFixedPoint.cpp