Class BilateralConstraintBaseVars

• Defined in File CoordinateConstraint.h

Inheritance Relationships

Base Type

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

Derived Types

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

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

Class Documentation

class BilateralConstraintBaseVars : public Karana::Core::LockingBaseVars

The Vars for the BilateralConstraintBase class.

Subclassed by Karana::Dynamics::CoordinateConstraintVars, Karana::Dynamics::LoopConstraintBaseVars

Public Functions

BilateralConstraintBaseVars(const kc::ks_ptr<BilateralConstraintBase> &bcb)

BilateralConstraintBaseVars constructor. The constructor is not meant to be called directly. Please use the create(…) method instead to create an instance.

Parameters:

bcb – The constraint associated with this BilateralConstraintBaseVars.

~BilateralConstraintBaseVars()

Destructor.

virtual kc::NestedVars getAllVars() const override

Get all the Vars that this VarHolder has.

Returns:

A map of Vars, where the Var name is the key and the Var is the value.

Public Members

kc::ks_ptr<Karana::Core::Var_T<std::string>> type

The constraint type.

kc::ks_ptr<Karana::Core::Var_T<int>> n_residuals

number of residuals

kc::ks_ptr<Karana::Core::Var_T<km::Vec>> pose_error

pose error

kc::ks_ptr<Karana::Core::Var_T<km::Vec>> vel_error

vel error

kc::ks_ptr<Karana::Core::Var_T<km::Vec>> accel_error

accel error

Public Static Functions

static kc::ks_ptr<BilateralConstraintBaseVars> create(const kc::ks_ptr<BilateralConstraintBase> &bcb)

Create an instance of the BilateralConstraintBaseVars.

Parameters:

bcb – The constraint associated with this BilateralConstraintBaseVars.

Returns:

A pointer to the newly created instance of BilateralConstraintBaseVars.