Class LoopConstraintBaseVars

• Defined in File LoopConstraintBase.h

Inheritance Relationships

Base Type

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

Derived Types

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

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

Class Documentation

class LoopConstraintBaseVars : public Karana::Dynamics::BilateralConstraintBaseVars

The Vars for the LoopConstraintBase class.

Subclassed by Karana::Dynamics::LoopConstraintConVelVars, Karana::Dynamics::LoopConstraintCutJointVars

Public Functions

LoopConstraintBaseVars(const kc::ks_ptr<LoopConstraintBase> &lcb)

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

Parameters:

lcb – The constraint associated with this LoopConstraintBaseVars.

~LoopConstraintBaseVars()

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<bool>> has_source_node

has source node

kc::ks_ptr<Karana::Core::Var_T<bool>> has_target_node

has target node

kc::ks_ptr<Karana::Core::Var_T<km::Mat>> source_Q

The source_Q matrix.

kc::ks_ptr<Karana::Core::Var_T<km::Mat>> target_Q

The target_Q matrix.

kc::ks_ptr<Karana::Core::Var_T<km::Mat>> rel_Q

The rel_Q matrix.

Public Static Functions

static kc::ks_ptr<LoopConstraintBaseVars> create(const kc::ks_ptr<LoopConstraintBase> &lcb)

Create an instance of the LoopConstraintBaseVars.

Parameters:

lcb – The constraint associated with this LoopConstraintBaseVars.

Returns:

A pointer to the newly created instance of LoopConstraintBaseVars.