#include <CHlcpConstraintThree.h>
Public Member Functions | |
| ChLcpConstraintThree () | |
| ChLcpConstraintThree (const ChLcpConstraintThree &other) | |
| ChLcpConstraintThree & | operator= (const ChLcpConstraintThree &other) |
| virtual ChMatrix< float > * | Get_Cq_a ()=0 |
| virtual ChMatrix< float > * | Get_Cq_b ()=0 |
| virtual ChMatrix< float > * | Get_Cq_c ()=0 |
| virtual ChMatrix< float > * | Get_Eq_a ()=0 |
| virtual ChMatrix< float > * | Get_Eq_b ()=0 |
| virtual ChMatrix< float > * | Get_Eq_c ()=0 |
| ChLcpVariables * | GetVariables_a () |
| ChLcpVariables * | GetVariables_b () |
| ChLcpVariables * | GetVariables_c () |
| virtual void | SetVariables (ChLcpVariables *mvariables_a, ChLcpVariables *mvariables_b, ChLcpVariables *mvariables_c)=0 |
| virtual void | StreamIN (ChStreamInBinary &mstream) |
| virtual void | StreamOUT (ChStreamOutBinary &mstream) |
Protected Attributes | |
| ChLcpVariables * | variables_a |
| ChLcpVariables * | variables_b |
| ChLcpVariables * | variables_c |
Detailed Description
This class is inherited by the base ChLcpConstraint(), which does almost nothing. So here this class implements the functionality for a constrint between a THREE objects of type ChLcpVariables(), and defines three constraint matrices, whose column number automatically matches the number of elements in variables vectors. Before starting the LCP solver one must provide the proper values in constraints (and update them if necessary), i.e. must set at least the c_i and b_i values, and jacobians.
Member Function Documentation
| virtual void chrono::ChLcpConstraintThree::SetVariables | ( | ChLcpVariables * | mvariables_a, |
| ChLcpVariables * | mvariables_b, | ||
| ChLcpVariables * | mvariables_c | ||
| ) | [pure virtual] |
Set references to the constrained objects, each of ChLcpVariables type, automatically creating/resizing jacobians if needed.
Implemented in chrono::ChLcpConstraintThreeGeneric, and chrono::ChLcpConstraintThreeBBShaft.
| void chrono::ChLcpConstraintThree::StreamIN | ( | ChStreamInBinary & | mstream | ) | [virtual] |
Method to allow deserializing a persistent binary archive (ex: a file) into transient data.
Reimplemented from chrono::ChLcpConstraint.
Reimplemented in chrono::ChLcpConstraintThreeGeneric, and chrono::ChLcpConstraintThreeBBShaft.
| void chrono::ChLcpConstraintThree::StreamOUT | ( | ChStreamOutBinary & | mstream | ) | [virtual] |
Method to allow serializing transient data into a persistent binary archive (ex: a file).
Reimplemented from chrono::ChLcpConstraint.
Reimplemented in chrono::ChLcpConstraintThreeGeneric, and chrono::ChLcpConstraintThreeBBShaft.
CHRONO::ENGINE