Class BilateralConstraintBase

Class BilateralConstraintBase#

Inheritance Relationships#

Base Type#

Derived Types#

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 BilateralConstraintType#

The available subhinge types.

Values:

enumerator CUTJOINT_LOOP#

cutjoint loop constraint

enumerator CONVEL_LOOP#

convel loop constraint

enumerator COORDINATE#

coordinate constraint

Public Functions

inline BilateralConstraintBase(std::string_view name, kc::ks_ptr<Multibody> &mb)#

Constructor.

Parameters:

  • mb – The Multibody instance

  • name – the name for the bilateral constraint instance

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 error

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 acceleration error

inline BilateralConstraintType type() const#

Return the bilateral constraint type.

Returns:

the bilateral constraint type

Protected Functions

virtual km::Vec _poseResidual() const = 0#

Return the nResiduals() size pose residual term for the constraint.

Used for computing the Baumgarte error control term for TA dynamics

Returns:

The pose residual error

virtual km::Vec _velResidual() const = 0#

Return the nResiduals() size velocity residual term for the constraint.

Used for computing the Baumgarte error control term for TA dynamics

Returns:

The velocity residual error

virtual km::Vec _accelResidual() const = 0#

Return the nResiduals() size accel residual term for the constraint.

Used for computing the acceleration kinematics and the lambda (Lagrange multiplier) terms for the TA dynamics correction step

Returns:

The acceleration residual error

km::Vec _baumgarteResidual(double stiffness, double damping) const#

Return the nResiduals() size Baumgarte residual term for the constraint for use for computing the error stabilization term for TA dynamics method.

Parameters:

  • stiffness – the stiffness coefficient

  • damping – the damping coefficient

Returns:

the residual vector

Protected Attributes

BilateralConstraintType _type = BilateralConstraintType::CUTJOINT_LOOP#

bilateral constraint type

std::weak_ptr<Multibody> _mb#

Weak pointer to the multibody. Used for cleanup only.

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