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Copy pathconstraint.h
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169 lines (146 loc) · 4.26 KB
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#ifndef CONSTRAINT_H
#define CONSTRAINT_H
#include "caams.hpp"
#include "body.h"
class Constraint
{
public:
Body *body1;
Body *body2;
int N_eqn;
int eqn_index;
Constraint(
Body *body1,
Body *body2);
~Constraint(){};
caams::matrix dPHI(void);
caams::matrix h(const caams::matrix &p_dot, const caams::matrix &s_p);
virtual caams::matrix Body1Jacobian(void)=0;
virtual caams::matrix Body2Jacobian(void)=0;
virtual caams::matrix Body1ModifiedJacobian(void)=0;
virtual caams::matrix Body2ModifiedJacobian(void)=0;
virtual caams::matrix PHI(void)=0;
virtual caams::matrix ModifiedGamma(void)=0;
virtual void Draw(void)=0;
};
class SphericalJoint : public Constraint
{
public:
caams::matrix s1_p;
caams::matrix s2_p;
SphericalJoint(
Body *body1,
Body *body2,
caams::matrix s1_p,
caams::matrix s2_p);
~SphericalJoint(){};
virtual caams::matrix Body1Jacobian(void);
virtual caams::matrix Body2Jacobian(void);
virtual caams::matrix Body1ModifiedJacobian(void);
virtual caams::matrix Body2ModifiedJacobian(void);
virtual caams::matrix PHI(void);
virtual caams::matrix ModifiedGamma(void);
virtual void Draw(void);
};
class SphericalSphericalJoint : public Constraint
{
public:
caams::matrix s1_p;
caams::matrix s2_p;
double length;
SphericalSphericalJoint(
Body *body1,
Body *body2,
caams::matrix s1_p,
caams::matrix s2_p,
double length);
~SphericalSphericalJoint(){};
virtual caams::matrix Body1Jacobian(void);
virtual caams::matrix Body2Jacobian(void);
virtual caams::matrix Body1ModifiedJacobian(void);
virtual caams::matrix Body2ModifiedJacobian(void);
virtual caams::matrix PHI(void);
virtual caams::matrix ModifiedGamma(void);
virtual void Draw(void);
};
class Normal1_1 : public Constraint
{
public:
caams::matrix s1_p;
caams::matrix s2_p;
Normal1_1(
Body *body1,
Body *body2,
caams::matrix s1_p,
caams::matrix s2_p);
~Normal1_1(){};
virtual caams::matrix Body1Jacobian(void);
virtual caams::matrix Body2Jacobian(void);
virtual caams::matrix Body1ModifiedJacobian(void);
virtual caams::matrix Body2ModifiedJacobian(void);
virtual caams::matrix PHI(void);
virtual caams::matrix ModifiedGamma(void);
virtual void Draw(void);
};
class Normal2_1 : public Constraint
{
public:
caams::matrix s1_p;
caams::matrix s1B_p;
caams::matrix s2B_p;
Normal2_1(
Body *body1,
Body *body2,
caams::matrix s1_p,
caams::matrix s1B_p,
caams::matrix s2B_p);
~Normal2_1(void){}
virtual caams::matrix Body1Jacobian(void);
virtual caams::matrix Body2Jacobian(void);
virtual caams::matrix Body1ModifiedJacobian(void);
virtual caams::matrix Body2ModifiedJacobian(void);
virtual caams::matrix PHI(void);
virtual caams::matrix ModifiedGamma(void);
virtual void Draw(void);
};
class Parallel1_2 : public Constraint
{
public:
caams::matrix s1_p;
caams::matrix s2_p;
Parallel1_2(
Body *body1,
Body *body2,
caams::matrix s1_p,
caams::matrix s2_p);
~Parallel1_2(void){}
virtual caams::matrix Body1Jacobian(void);
virtual caams::matrix Body2Jacobian(void);
virtual caams::matrix Body1ModifiedJacobian(void);
virtual caams::matrix Body2ModifiedJacobian(void);
virtual caams::matrix PHI(void);
virtual caams::matrix ModifiedGamma(void);
virtual void Draw(void);
};
class Parallel2_2 : public Constraint
{
public:
caams::matrix s1_p;
caams::matrix s1B_p;
caams::matrix s2B_p;
Parallel2_2(
Body *body1,
Body *body2,
caams::matrix s1_p,
caams::matrix s1B_p,
caams::matrix s2B_p);
~Parallel2_2(void){}
virtual caams::matrix Body1Jacobian(void);
virtual caams::matrix Body2Jacobian(void);
virtual caams::matrix Body1ModifiedJacobian(void);
virtual caams::matrix Body2ModifiedJacobian(void);
virtual caams::matrix PHI(void);
virtual caams::matrix ModifiedGamma(void);
virtual void Draw(void);
};
#endif