Public Member Functions | Private Member Functions | List of all members
SurgSim::Physics::FemConstraintFixedPoint Class Reference

Base class for all FemRepresentation fixed point constraint implementation. More...

#include <SurgSim/Physics/FemConstraintFixedPoint.h>

Inheritance diagram for SurgSim::Physics::FemConstraintFixedPoint:
SurgSim::Physics::ConstraintImplementation

Public Member Functions

 FemConstraintFixedPoint ()
 Constructor. More...
 
virtual ~FemConstraintFixedPoint ()
 Destructor. More...
 
SurgSim::Physics::ConstraintType getConstraintType () const override
 Gets the constraint type for this ConstraintImplementation. More...
 
- Public Member Functions inherited from SurgSim::Physics::ConstraintImplementation
 ConstraintImplementation ()
 Constructor. More...
 
virtual ~ConstraintImplementation ()
 Destructor. More...
 
size_t getNumDof () const
 Gets the number of degree of freedom for this implementation. More...
 
void build (double dt, const ConstraintData &data, const std::shared_ptr< Localization > &localization, MlcpPhysicsProblem *mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign)
 Builds the subset of an Mlcp physics problem associated to this implementation. More...
 

Private Member Functions

size_t doGetNumDof () const override
 Does get number of degree of freedom. More...
 
void doBuild (double dt, const ConstraintData &data, const std::shared_ptr< Localization > &localization, MlcpPhysicsProblem *mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) override
 Builds the subset of an Mlcp physics problem associated to this implementation. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from SurgSim::Physics::ConstraintImplementation
static ConstraintImplementationFactorygetFactory ()
 
- Protected Attributes inherited from SurgSim::Physics::ConstraintImplementation
Eigen::SparseVector< double, Eigen::RowMajor, ptrdiff_t > m_newH
 Preallocated variable for derived implementations of doBuild. More...
 

Detailed Description

Base class for all FemRepresentation fixed point constraint implementation.

Constructor & Destructor Documentation

§ FemConstraintFixedPoint()

SurgSim::Physics::FemConstraintFixedPoint::FemConstraintFixedPoint ( )

Constructor.

§ ~FemConstraintFixedPoint()

SurgSim::Physics::FemConstraintFixedPoint::~FemConstraintFixedPoint ( )
virtual

Destructor.

Member Function Documentation

§ doBuild()

void SurgSim::Physics::FemConstraintFixedPoint::doBuild ( double  dt,
const ConstraintData data,
const std::shared_ptr< Localization > &  localization,
MlcpPhysicsProblem mlcp,
size_t  indexOfRepresentation,
size_t  indexOfConstraint,
ConstraintSideSign  sign 
)
overrideprivatevirtual

Builds the subset of an Mlcp physics problem associated to this implementation.

Parameters
dtThe time step
dataThe data associated to the constraint
localizationThe localization for the constraint
[in,out]mlcpThe Mixed LCP physics problem to fill up
indexOfRepresentationThe index of the representation (associated to this implementation) in the mlcp
indexOfConstraintThe index of the constraint in the mlcp
signThe sign of this implementation in the constraint (positive or negative side)

Implements SurgSim::Physics::ConstraintImplementation.

§ doGetNumDof()

size_t SurgSim::Physics::FemConstraintFixedPoint::doGetNumDof ( ) const
overrideprivatevirtual

Does get number of degree of freedom.

Returns
The number of degree of freedom associated to this implementation

Implements SurgSim::Physics::ConstraintImplementation.

§ getConstraintType()

SurgSim::Physics::ConstraintType SurgSim::Physics::FemConstraintFixedPoint::getConstraintType ( ) const
overridevirtual

Gets the constraint type for this ConstraintImplementation.

Returns
The constraint type corresponding to this constraint implementation

Implements SurgSim::Physics::ConstraintImplementation.


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