Constraint.hpp File Reference

A constraint is a mathematical model that constrain the movement between two arbitrary bodies in a dynamic simulation. More...

#include <rw/core/Ptr.hpp>
#include <rw/kinematics/StateData.hpp>
#include <rw/math/Transform3D.hpp>
#include <boost/thread/mutex.hpp>

Classes
class	Constraint
	A constraint is a mathematical model that constrain the movement between two arbitrary bodies in a dynamic simulation. More...
struct	Constraint::SpringParams
	Parameters for a spring. More...
struct	Constraint::Limit
	Definition of a limit for one single degree of freedom. More...

Namespaces
	rwsim
	RobWorkSim is the dynamic simulation framework of RobWork.

Detailed Description

A constraint is a mathematical model that constrain the movement between two arbitrary bodies in a dynamic simulation.

For a device the Link and Joint types should be used to specify the constraints.

The Constraint type can however be used between any two bodies. For instance between two free bodies, or between a free body and a link of a device.

All functions in this class are thread-safe. Only the transform of the constraint and the spring parameters can be changed after creation of the constraint.