CoRiBoDynamics::ConstraintSet Class Reference

#include <ConstraintSet.h>

Inheritance diagram for CoRiBoDynamics::ConstraintSet:

Public Member Functions
	ConstraintSet (ConstraintSolver *solver)
virtual void	ComputeConstraints (const double T, const double *const X)=0

Protected Member Functions
const std::vector< RigidElement * > &	ElementVector ()
void	addConstraintResultantForce (int element, const vec6 &Force)
const vec3	Acceleration (int element)
const vec3	AngularAcceleration (int element)
const vec6	SecondDerivatives (int element)
void	addMatrix (int i, int j, const mat6 &M)

Detailed Description

Author

Jorgen Haavind Jensen

Constraint sets inherit from this class.

The only functionality that is implemented is to establish a unique ConstraintSet-ConstraintSolver relationship, plus the passing of selected friendship privileges to child classes.

Note

The associated ConstraintSolver will take the responsibility of deleting the set and freeing memory.

Revision history:

Q3 2011 JHJ: Initial version.

Constructor & Destructor Documentation

ConstraintSet()

CoRiBoDynamics::ConstraintSet::ConstraintSet ( ConstraintSolver *  solver )

explicit

Stores the given ConstraintSolver reference, and adds itself to the solver. Note that the solver will take over memory management of the set, and delete it when the solver itself is deleted

Member Function Documentation

Acceleration()

const vec3 CoRiBoDynamics::ConstraintSet::Acceleration ( int  element )

protected

Function purpose is to pass on ConstraintSolver friendship privileges to subclasses Returns the computed acceleration of 'element'

addConstraintResultantForce()

void CoRiBoDynamics::ConstraintSet::addConstraintResultantForce ( int  element, const vec6 &  Force  )

protected

Function purpose is to pass on ConstraintSolver friendship privileges to subclasses Adds a constraint force (force and torque) to 'element'

addMatrix()

void CoRiBoDynamics::ConstraintSet::addMatrix ( int  i, int  j, const mat6 &  M  )

protected

Adds the 6x6 sub matrix to the global system matrix.

AngularAcceleration()

const vec3 CoRiBoDynamics::ConstraintSet::AngularAcceleration ( int  element )

protected

Function purpose is to pass on ConstraintSolver friendship privileges to subclasses Returns the computed angular acceleration of 'element'

ComputeConstraints()

virtual void CoRiBoDynamics::ConstraintSet::ComputeConstraints ( const double  T, const double *const  X  )

pure virtual

Computes and returns the constraint system matrix for the current states (T and X). Adds constraint forces.

Implemented in CoRiBoDynamics::CollisionManager, CoRiBoDynamics::JointConstraint, CoRiBoDynamics::Structures::LineStructure, CoRiBoDynamics::Structures::RingStructure, CoRiBoDynamics::Structures::PointRetractableCable, CoRiBoDynamics::Structures::SupergridCableCollisionManager, CoRiBoDynamics::Structures::SupergridLineStructure, CoRiBoDynamics::Structures::SupergridWinchCable, CoRiBoDynamics::Structures::SupergridWinchCableCollisionManager, CoRiBoDynamics::TrawlCableJointConstraint, CoRiBoDynamics::TrawlCableCollisionManager, CoRiBoDynamics::EnvironmentForces, CoRiBoDynamics::ConstraintCableInterface, BuoyCable, CollarChain, FrameCable, LineStructureGravityHydro, NetTensionCable, ShipContact, Netcage::RingEnvironmentForces, RingStructureGravityHydro, and System::RingCoRiBoForces.

ElementVector()

const std::vector< RigidElement * > & CoRiBoDynamics::ConstraintSet::ElementVector ( )

protected

Function purpose is to pass on ConstraintSolver friendship privileges to subclasses Returns a reference to the element vector of the ConstraintSolver

SecondDerivatives()

const vec6 CoRiBoDynamics::ConstraintSet::SecondDerivatives ( int  element )

protected

Function purpose is to pass on ConstraintSolver friendship privileges to subclasses Returns the computed second derivatives (acceleration and angular acceleration) of 'element'

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

• reloadrepos/fhsim_coribo/src/ConstraintSolver/ConstraintSet.h