RobWorkProject  23.9.11-
Classes | Namespaces
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.