sc::Equation Class Reference

Base class for equations. Constrains two instances of Connector. More...

#include <Equation.h>

Public Member Functions
	Equation ()
	Equation (Connector *, Connector *)
virtual	~Equation ()
Connector *	getConnA ()
Connector *	getConnB ()
void	setDefault ()
void	setConnA (Connector *)
void	setConnB (Connector *)
void	setConnectors (Connector *, Connector *)
JacobianElement	getGA ()
JacobianElement	getGB ()
JacobianElement	getddA ()
JacobianElement	getddB ()
void	setSpookParams (double relaxation, double compliance, double timeStep)
	Sets a, b, epsilon according to SPOOK. More...
double	getViolation ()
	Get constraint violation, g. More...
double	setViolation (double g)
void	setDefaultViolation ()
double	getVelocity ()
	Get constraint velocity, G*W. More...
double	getFutureVelocity ()
void	setSpatialJacobianA (double x, double y, double z)
	Set the spatial components of connector A jacobian. More...
void	setSpatialJacobianA (const Vec3 &seed)
void	setRotationalJacobianA (double x, double y, double z)
	Set the rotational components of connector A jacobian. More...
void	setRotationalJacobianA (const Vec3 &seed)
void	setSpatialJacobianB (double x, double y, double z)
	Set the spatial components of connector B jacobian. More...
void	setSpatialJacobianB (const Vec3 &seed)
void	setRotationalJacobianB (double x, double y, double z)
	Set the rotational components of connector B jacobian. More...
void	setRotationalJacobianB (const Vec3 &seed)
void	setJacobian (double, double, double, double, double, double, double, double, double, double, double, double)
	Set all jacobian elements at once. More...
void	getSpatialJacobianSeedA (Vec3 &seed)
	Get the spatial components of connector A jacobian seed. More...
void	getRotationalJacobianSeedA (Vec3 &seed)
	Get the rotational components of connector A jacobian. More...
void	getSpatialJacobianSeedB (Vec3 &seed)
	Get the spatial components of connector B jacobian. More...
void	getRotationalJacobianSeedB (Vec3 &seed)
	Get the rotational components of connector B jacobian. More...
void	setG (double, double, double, double, double, double, double, double, double, double, double, double)
void	setG (const Vec3 &spatialA, const Vec3 &rotationalA, const Vec3 &spatialB, const Vec3 &rotationalB)

Public Attributes
double	m_a
	Spook parameter "a". More...
double	m_b
	Spook parameter "b". More...
double	m_epsilon
	Spook parameter "epsilon". More...
double	m_timeStep
	Time step. More...

Detailed Description

Base class for equations. Constrains two instances of Connector.

Constructor & Destructor Documentation

Equation::Equation

(

)

Equation::Equation	(	Connector *	connA,
		Connector *	connB
	)

Equation::~Equation ( )

virtual

Member Function Documentation

Connector * Equation::getConnA

(

)

Connector * Equation::getConnB

(

)

JacobianElement Equation::getddA

(

)

JacobianElement Equation::getddB

(

)

double Equation::getFutureVelocity

(

)

JacobianElement Equation::getGA

(

)

JacobianElement Equation::getGB

(

)

void Equation::getRotationalJacobianSeedA

(

Vec3 &

seed

)

Get the rotational components of connector A jacobian.

void Equation::getRotationalJacobianSeedB

(

Vec3 &

seed

)

Get the rotational components of connector B jacobian.

void Equation::getSpatialJacobianSeedA

(

Vec3 &

seed

)

Get the spatial components of connector A jacobian seed.

Parameters

seed

void Equation::getSpatialJacobianSeedB

(

Vec3 &

seed

)

Get the spatial components of connector B jacobian.

double Equation::getVelocity

(

)

Get constraint velocity, G*W.

double Equation::getViolation

(

)

Get constraint violation, g.

void Equation::setConnA

(

Connector *

c

)

void Equation::setConnB

(

Connector *

c

)

void Equation::setConnectors	(	Connector *	cA,
		Connector *	cB
	)

void Equation::setDefault

(

)

void Equation::setDefaultViolation

(

)

void Equation::setG	(	double	sxA,
		double	syA,
		double	szA,
		double	rxA,
		double	ryA,
		double	rzA,
		double	sxB,
		double	syB,
		double	szB,
		double	rxB,
		double	ryB,
		double	rzB
	)

void Equation::setG	(	const Vec3 &	spatialA,
		const Vec3 &	rotationalA,
		const Vec3 &	spatialB,
		const Vec3 &	rotationalB
	)

void Equation::setJacobian	(	double	G1,
		double	G2,
		double	G3,
		double	G4,
		double	G5,
		double	G6,
		double	G7,
		double	G8,
		double	G9,
		double	G10,
		double	G11,
		double	G12
	)

Set all jacobian elements at once.

void Equation::setRotationalJacobianA	(	double	x,
		double	y,
		double	z
	)

Set the rotational components of connector A jacobian.

void Equation::setRotationalJacobianA

(

const Vec3 &

seed

)

void Equation::setRotationalJacobianB	(	double	x,
		double	y,
		double	z
	)

Set the rotational components of connector B jacobian.

void Equation::setRotationalJacobianB

(

const Vec3 &

seed

)

void Equation::setSpatialJacobianA	(	double	x,
		double	y,
		double	z
	)

Set the spatial components of connector A jacobian.

Parameters

x
y
z

void Equation::setSpatialJacobianA

(

const Vec3 &

seed

)

void Equation::setSpatialJacobianB	(	double	x,
		double	y,
		double	z
	)

Set the spatial components of connector B jacobian.

void Equation::setSpatialJacobianB

(

const Vec3 &

seed

)

void Equation::setSpookParams	(	double	relaxation,
		double	compliance,
		double	timeStep
	)

Sets a, b, epsilon according to SPOOK.

Parameters

relaxation
compliance
timeStep

double Equation::setViolation

(

double

g

)

Member Data Documentation

double sc::Equation::m_a

Spook parameter "a".

double sc::Equation::m_b

Spook parameter "b".

double sc::Equation::m_epsilon

Spook parameter "epsilon".

double sc::Equation::m_timeStep

Time step.

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

• strong-coupling-core/include/Equation.h
• strong-coupling-core/src/Equation.cpp