ConstraintSolver Class Reference

Abstraction over a constraint solver for dynamics simulations. More...

#include <ConstraintSolver.hpp>

Inherited by SequintialImpulseSolver.

Public Member Functions
virtual	~ConstraintSolver ()
	destructor
virtual bool	solve (std::vector< CEdgeGroup > &groups, SolverInfo &info, rw::kinematics::State &state)
	solves the constraints forces of multiple groups of constraints More...
virtual bool	solveGroup (CEdgeGroup &group, SolverInfo &info, rw::kinematics::State &state)=0
	solves the constraints forces of a group of constraints More...

Protected Member Functions
	ConstraintSolver ()
	constructor

Detailed Description

Abstraction over a constraint solver for dynamics simulations.

The constraint solver changes forces, velocities and/or position to correct constraints between objects in a scene. Most commonly contact constraints and especially multiple coupled contact constraints are handled.

Member Function Documentation

solve()

virtual bool solve ( std::vector< CEdgeGroup > &  groups, SolverInfo &  info, rw::kinematics::State &  state  )

virtual

solves the constraints forces of multiple groups of constraints

Returns

true if all constraints where solved satisfactory

solveGroup()

virtual bool solveGroup ( CEdgeGroup &  group, SolverInfo &  info, rw::kinematics::State &  state  )

pure virtual

solves the constraints forces of a group of constraints

Returns

true if all constraints where solved satisfactory

Implemented in SequintialImpulseSolver.

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

• ConstraintSolver.hpp