Parameters for a spring. More...

#include <Constraint.hpp>

Public Attributes
bool	enabled
	Enable or disable the spring.

Eigen::MatrixXd	compliance
	The compliance of the spring as a n x n matrix, where n is the DOF of the constraint.

Eigen::MatrixXd	damping
	The damping of the spring as a n x n matrix, where n is the DOF of the constraint.

Detailed Description

Parameters for a spring.

Note: The compliance should under normal circumstances be symmetric positive definite. The compliance can be semi-definite under special conditions. In this case the infinitely stiff directions are automatically controlled with a zero velocity instead of applying infinite forces that would cause instability. It is however only possible to set the linear and angular velocity independently. Therefore the null-space must be spanned by vectors that selects only linear or angular parts (and not a combination).

The documentation for this struct was generated from the following file:

Public Member Functions