JointConstraint
Lagrange multiplier approach to apply a force/displacement on a Joint (Vec1)
Vec1d
Templates:
- Vec1d
Target: SoftRobots
namespace: softrobots::constraint
parents:
- SoftRobotsConstraint
Data
| Name | Description | Default value |
|---|---|---|
| name | object name | unnamed |
| printLog | if true, emits extra messages at runtime. | 0 |
| tags | list of the subsets the object belongs to | |
| bbox | this object bounding box | |
| componentState | The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). | Undefined |
| listening | if true, handle the events, otherwise ignore the events | 0 |
| group | ID of the group containing this constraint. This ID is used to specify which constraints are solved by which solver, by specifying in each solver which groups of constraints it should handle. | 0 |
| constraintIndex | Constraint index (first index in the right hand term resolution vector) | 0 |
| endTime | The SoftRobotsConstraint stops acting after the given value. Use a negative value for infinite SoftRobotsConstraints | -1 |
| index | Index of the node subjected to the force. If no index given, first node of mechanical context considered. | |
| force | Output force. Warning: to get the actual force you should divide this value by dt. | 0 |
| displacement | Output displacement compared to the initial position. | 0 |
| maxForce | Maximum force allowed. If unspecified no maximum value will be considered. | |
| minForce | Minimum force allowed. If unspecified no minimum value will be considered. | |
| maxDisplacement | Maximum displacement. If unspecified no maximum value will be considered. | |
| minDisplacement | Minimum displacement. If unspecified no minimum value will be considered. | |
| value | Displacement or force to impose. | |
| valueType | displacement = the constraint will impose the displacement provided in data value[valueIndex] force = the constraint will impose the force provided in data value[valueIndex] If unspecified, the default value is displacement | displacement |
Links
| Name | Description | Destination type name |
|---|---|---|
| context | Graph Node containing this object (or BaseContext::getDefault() if no graph is used) | BaseContext |
| slaves | Sub-objects used internally by this object | BaseObject |
| master | nullptr for regular objects, or master object for which this object is one sub-objects | BaseObject |