raisim::StiffLengthConstraint

class · #include <raisim/constraints/StiffLengthConstraint.hpp>

Inherits: raisim::LengthConstraint

A length constraint enforced as a hard limit (created by World::addStiffWire()).

Constructors & destructor

StiffLengthConstraint

StiffLengthConstraint(
    Object *obj1,
    size_t localIdx1,
    Vec<3> pos1_b,
    Object *obj2,
    size_t localIdx2,
    Vec<3> pos2_b,
    double length)

Use World::addStiffWire() instead of constructing it directly.

Parameters

Parameter	Description
obj1 (in)	first object
localIdx1 (in)	local body index on obj1
pos1_b (in)	mount position in obj1's body frame
obj2 (in)	second object
localIdx2 (in)	local body index on obj2
pos2_b (in)	mount position in obj2's body frame
length (in)	rest length (m)

~StiffLengthConstraint

virtual ~StiffLengthConstraint() = default

Inherited members

From raisim::LengthConstraint: getBody1, getBody2, getDistance, getLength, getLocalIdx1, getLocalIdx2, getName, getNorm, getOb1MountPos, getOb2MountPos, getP1, getP2, getStretch, getStretchType, getTendon, getVisualizationWidth, getWireType, isActive, setName, setStretchType, setVisualizationWidth, StretchType, update, WireType

From raisim::Constraints: getColor, lock, lockMutex, setColor, try_lock, unlock, unlockMutex