frcsim::JointBase Class Reference

Base class for bilateral kinematic constraints between two rigid bodies. More...

#include <joint_base.hpp>

Inheritance diagram for frcsim::JointBase:

Public Member Functions
virtual	~JointBase ()=default
JointType	type () const
RigidBody *	bodyA ()
RigidBody *	bodyB ()
const RigidBody *	bodyA () const
const RigidBody *	bodyB () const
const Vector3 &	anchorA () const
const Vector3 &	anchorB () const
void	setAnchorA (const Vector3 &anchor)
void	setAnchorB (const Vector3 &anchor)
bool	isEnabled () const
void	setEnabled (bool enabled)
double	breakForceThreshold () const
void	setBreakForceThreshold (double force_n)
bool	isBroken () const
void	resetBroken ()
virtual void	solveConstraint (double dt_s, int iterations)=0
virtual void	warmStart ()
virtual double	constraintError () const =0

Protected Member Functions
	JointBase (JointType type, RigidBody *body_a, RigidBody *body_b)

Protected Attributes
JointType	type_
RigidBody *	body_a_ {nullptr}
RigidBody *	body_b_ {nullptr}
Vector3	anchor_a_ {}
Vector3	anchor_b_ {}
bool	is_enabled_ {true}
bool	is_broken_ {false}
double	break_force_threshold_ {1e6}

Detailed Description

Base class for bilateral kinematic constraints between two rigid bodies.

Joints are enforced as constraint equations solved each step by an iterative impulse method (sequential impulse / projected Gauss-Seidel style). Each derived joint defines which relative degrees of freedom are permitted and which are constrained.

References: https://box2d.org/files/ErinCatto_SequentialImpulses_GDC2006.pdf https://en.wikipedia.org/wiki/Constraint_(classical_mechanics)

Constructor & Destructor Documentation

~JointBase()

virtual frcsim::JointBase::~JointBase ( )

virtualdefault

JointBase()

frcsim::JointBase::JointBase ( JointType type, RigidBody * body_a, RigidBody * body_b )

inlineexplicitprotected

Member Function Documentation

anchorA()

const Vector3 & frcsim::JointBase::anchorA ( ) const

inline

anchorB()

const Vector3 & frcsim::JointBase::anchorB ( ) const

inline

bodyA() [1/2]

RigidBody * frcsim::JointBase::bodyA ( )

inline

bodyA() [2/2]

const RigidBody * frcsim::JointBase::bodyA ( ) const

inline

bodyB() [1/2]

RigidBody * frcsim::JointBase::bodyB ( )

inline

bodyB() [2/2]

const RigidBody * frcsim::JointBase::bodyB ( ) const

inline

breakForceThreshold()

double frcsim::JointBase::breakForceThreshold ( ) const

inline

constraintError()

virtual double frcsim::JointBase::constraintError ( ) const

pure virtual

Implemented in frcsim::FixedJoint, frcsim::PrismaticJoint, and frcsim::RevoluteJoint.

isBroken()

bool frcsim::JointBase::isBroken ( ) const

inline

isEnabled()

bool frcsim::JointBase::isEnabled ( ) const

inline

resetBroken()

void frcsim::JointBase::resetBroken ( )

inline

setAnchorA()

void frcsim::JointBase::setAnchorA ( const Vector3 & anchor )

inline

setAnchorB()

void frcsim::JointBase::setAnchorB ( const Vector3 & anchor )

inline

setBreakForceThreshold()

void frcsim::JointBase::setBreakForceThreshold ( double force_n )

inline

setEnabled()

void frcsim::JointBase::setEnabled ( bool enabled )

inline

solveConstraint()

virtual void frcsim::JointBase::solveConstraint ( double dt_s, int iterations )

pure virtual

Implemented in frcsim::FixedJoint, frcsim::PrismaticJoint, and frcsim::RevoluteJoint.

type()

JointType frcsim::JointBase::type ( ) const

inline

warmStart()

virtual void frcsim::JointBase::warmStart ( )

inlinevirtual

Member Data Documentation

anchor_a_

Vector3 frcsim::JointBase::anchor_a_ {}

protected

anchor_b_

Vector3 frcsim::JointBase::anchor_b_ {}

protected

body_a_

RigidBody* frcsim::JointBase::body_a_ {nullptr}

protected

body_b_

RigidBody* frcsim::JointBase::body_b_ {nullptr}

protected

break_force_threshold_

double frcsim::JointBase::break_force_threshold_ {1e6}

protected

is_broken_

bool frcsim::JointBase::is_broken_ {false}

protected

is_enabled_

bool frcsim::JointBase::is_enabled_ {true}

protected

type_

JointType frcsim::JointBase::type_

protected

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The documentation for this class was generated from the following file:

• src/main/driver/include/frcsim/joints/joint_base.hpp