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RobWorkProject
23.9.11-
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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. | |
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.