Base class for all FemRepresentation fixed rotation vector constraint implementation.
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#include <SurgSim/Physics/FemConstraintFixedRotationVector.h>
Base class for all FemRepresentation fixed rotation vector constraint implementation.
◆ FemConstraintFixedRotationVector()
SurgSim::Physics::FemConstraintFixedRotationVector::FemConstraintFixedRotationVector |
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◆ ~FemConstraintFixedRotationVector()
SurgSim::Physics::FemConstraintFixedRotationVector::~FemConstraintFixedRotationVector |
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◆ doBuild()
- Note
- The constraint violation being calculated based on a quaternion interpolation (slerp), and this type of interpolation being highly non-linear, the classical way of using the implementation one after the other one won't work. Therefore, the RotationVectorConstraint will use the vector mlcp->b to retrieve both representation's rotation vector, then calculate the proper slerp and set the violation back in mlcp->b
Implements SurgSim::Physics::ConstraintImplementation.
◆ doGetNumDof()
size_t SurgSim::Physics::FemConstraintFixedRotationVector::doGetNumDof |
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◆ getConstraintType()
The documentation for this class was generated from the following files: