Class BilateralConstraintBase

• Defined in File CoordinateConstraint.h

Inheritance Relationships

Base Type

• public Karana::Core::LockingBase (Class LockingBase)

Derived Types

• public Karana::Dynamics::CoordinateConstraint (Class CoordinateConstraint)

• public Karana::Dynamics::LoopConstraintBase (Class LoopConstraintBase)

Class Documentation

class BilateralConstraintBase : public Karana::Core::LockingBase

Base class for bilateral constraints.

See the Coordinate constraints section for more discussion on bilateral constraints.

Subclassed by Karana::Dynamics::CoordinateConstraint, Karana::Dynamics::LoopConstraintBase

Public Types

enum class BILATERAL_CONSTRAINT_TYPE

The available subhinge types.

Values:

enumerator HINGE_LOOP

hinge loop constraint

enumerator CONVEL_LOOP

convel loop constraint

enumerator COORDINATE

coordinate constraint

Public Functions

inline BilateralConstraintBase(kc::ks_ptr<Multibody> &mb, const std::string &name)

Constructor.

inline virtual const std::string &typeString() const noexcept override

Returns the type string of LockingBase.

Returns:

The type string.

virtual size_t nResiduals() const = 0

Return the size of residuals for the constraint.

Returns:

the residuals size for the constraint

virtual km::Vec poseError() const = 0

Return the 6 size pose residual term for the constraint.

Used for computing the pose configuration kinematics

Returns:

The pose residual eror

virtual km::Vec velError() const = 0

Return the current constraint spatial velocity error.

Returns:

the spatial velocity error as a 6-vector

virtual km::Vec accelError() const = 0

Return the current constraint spatial acceleration error.

Returns:

the spatial acceleration error as a 6-vector

inline BILATERAL_CONSTRAINT_TYPE type() const

Return the bilateral constraint type.

Returns:

the bilateral constraint type

Public Static Functions

static const kc::ks_ptr<BilateralConstraintBase> create(kc::ks_ptr<Multibody> &mb, kc::ks_ptr<PhysicalSubhinge> oshg, kc::ks_ptr<PhysicalSubhinge> pshg, const std::string &name)

Factory method for creating a BilateralConstraintBase instance.

Parameters:

• mb – The Multibody instance

• osh – the first Karana::Dynamics::PhysicalSubhinge instance

• psh – the second Karana::Dynamics::PhysicalSubhinge instance

• name – the name for the loop constraint instance

Returns:

a BilateralConstraintBase instance

Protected Attributes

BILATERAL_CONSTRAINT_TYPE _type

bilateral constraint type

std::weak_ptr<Multibody> _mb

Weak pointer to the multibody. Used for cleanup only.