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SurgSim::Physics::FixedRepresentationBilateral3D Class Reference

FixedRepresentation bilateral 3d constraint implementation. More...

#include <SurgSim/Physics/FixedRepresentationBilateral3D.h>

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Public Member Functions

 FixedRepresentationBilateral3D ()
 Constructor. More...
 
virtual ~FixedRepresentationBilateral3D ()
 Destructor. More...
 
SurgSim::Math::MlcpConstraintType getMlcpConstraintType () const override
 Gets the Mixed Linear Complementarity Problem constraint type for this ConstraintImplementation. More...
 
virtual RepresentationType getRepresentationType () const override
 Gets the Type of representation that this implementation is concerned with. 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

- Protected Attributes inherited from SurgSim::Physics::ConstraintImplementation
Eigen::SparseVector< double,
0, ptrdiff_t > 
m_newH
 Preallocated variable for derived implementations of doBuild. More...
 

Detailed Description

FixedRepresentation bilateral 3d constraint implementation.

The family of bilateral3D constraints enforce equality between two points.

Constructor & Destructor Documentation

SurgSim::Physics::FixedRepresentationBilateral3D::FixedRepresentationBilateral3D ( )

Constructor.

SurgSim::Physics::FixedRepresentationBilateral3D::~FixedRepresentationBilateral3D ( )
virtual

Destructor.

Member Function Documentation

void SurgSim::Physics::FixedRepresentationBilateral3D::doBuild ( double  dt,
const ConstraintData data,
const std::shared_ptr< Localization > &  localization,
MlcpPhysicsProblem mlcp,
size_t  indexOfRepresentation,
size_t  indexOfConstraint,
ConstraintSideSign  sign 
)
overrideprivatevirtual

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

Parameters
dtThe time step.
dataThe data associated to the constraint.
localizationThe localization for the representation.
[in,out]mlcpThe Mixed LCP physics problem to fill up.
indexOfRepresentationThe index of the representation (associated to this implementation) in the mlcp.
indexOfConstraintThe index of the constraint in the mlcp.
signThe sign of this implementation in the constraint (positive or negative side).
Note
Empty for a Fixed Representation

Implements SurgSim::Physics::ConstraintImplementation.

size_t SurgSim::Physics::FixedRepresentationBilateral3D::doGetNumDof ( ) const
overrideprivatevirtual

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.

SurgSim::Math::MlcpConstraintType SurgSim::Physics::FixedRepresentationBilateral3D::getMlcpConstraintType ( ) const
overridevirtual

Gets the Mixed Linear Complementarity Problem constraint type for this ConstraintImplementation.

Returns
The MLCP constraint type corresponding to this constraint implementation

Implements SurgSim::Physics::ConstraintImplementation.

SurgSim::Physics::RepresentationType SurgSim::Physics::FixedRepresentationBilateral3D::getRepresentationType ( ) const
overridevirtual

Gets the Type of representation that this implementation is concerned with.

Returns
RepresentationType for this implementation

Implements SurgSim::Physics::ConstraintImplementation.


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