Simbody  3.6
Constraint.h File Reference

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Classes

class  SimTK::Constraint
 This is the base class for all Constraint classes, which is just a handle for the underlying hidden implementation. More...
 
class  SimTK::Constraint::PointOnLine
 Two constraint equations. More...
 
class  SimTK::Constraint::ConstantAngle
 This constraint consists of a single constraint equation that enforces that a unit vector v1 fixed to one body (the "base body") must maintain a fixed angle theta with respect to a unit vector v2 fixed on the other body (the "follower body"). More...
 
class  SimTK::Constraint::ConstantOrientation
 Three constraint equations. More...
 
class  SimTK::Constraint::NoSlip1D
 One non-holonomic constraint equation. More...
 
class  SimTK::Constraint::ConstantCoordinate
 Constrain a single mobilizer coordinate q to have a particular value. More...
 
class  SimTK::Constraint::ConstantSpeed
 Constrain a single mobility to have a particular speed. More...
 
class  SimTK::Constraint::ConstantAcceleration
 Constrain a single mobility to have a particular acceleration. More...
 
class  SimTK::Constraint::Custom
 The handle class Constraint::Custom (dataless) and its companion class Constraint::Custom::Implementation can be used together to define new Constraint types with arbitrary properties. More...
 
class  SimTK::Constraint::Custom::Implementation
 This is the abstract base class for the implementation of custom constraints. See Constraint::Custom for more information. More...
 
class  SimTK::Constraint::CoordinateCoupler
 This is a Constraint that uses a Function object to define a single holonomic (position) constraint equation acting to relate a set of generalized coordinates q. More...
 
class  SimTK::Constraint::SpeedCoupler
 This is a Constraint that uses a Function object to define a nonholonomic (velocity) constraint. More...
 
class  SimTK::Constraint::PrescribedMotion
 This is a Constraint that uses a Function to prescribe the behavior of a single generalized coordinate as a function of time. More...
 

Namespaces

 SimTK
 This is a System that represents the dynamics of a particle moving along a smooth surface.
 

Detailed Description

This defines the base Constraint class and related classes, which are used to specify limitations on the mobility of the mobilized bodies in a SimbodyMatterSubsystem.