Collaboration diagram for CoRiBoDynamics::ConstraintSolver:

Public Member Functions
	ConstraintSolver (double TimeConstant)

	ConstraintSolver (double TimeConstant, int numThreads, bool no_hyperthreading=false)

	ConstraintSolver (double TimeConstant, CoreBoundThreadPool *ThreadPool)

void	UpdateElements (const double T, const double *const X)

void	ComputeDynamic (const double T, const double *const X, const Eigen::Matrix< double, Eigen::Dynamic, 1 > &External_Force)

void	ComputeDynamic (const double T, const double *const X)

void	WriteDynamic (const double const X, double const XDot)

int	addRigidElement (RigidElement *element)

void	SetSymplecticStepSize (double h)

double	GetSymplecticStepSize ()

double	ComputeKineticEnergy (const double T, const double *const X)

int	NumElements ()

CoreBoundThreadPool *	GetThreadPool ()

ConjugateGradientSolver *	GetCGSolver ()

void	setConstraintSetPriority (ConstraintSet *constraintSet, int priority)

void	PrintElement (int index)
	set computation order priority for this constraint set

SparseMatrixBuilder *	GetSparseMatrixBuilder ()

Protected Member Functions
void	Initialize (double TimeConstant)

void	ComputeDynamicInternal (const double T, const double const X, const Vector External_Force)

void	addConstraintSet (ConstraintSet *constraintSet)

void	addForceThreadSafe (int element, const vec6 &Force)
	Computed second derivatives.

Protected Attributes
std::vector< RigidElement * >	m_element
	adds a constraint set to the global constraint system. Only the constraint sets themselves are allowed to call this method through friend privileges.

Vector	m_SecondDerivatives
	list of all 6DOF rigid elements in the system

std::mutex *	m_ForceVectorLocks

Vector	m_Force

SparseMatrixBuilder *	m_MatrixBuilder
	F_external - M_dot·V + F_constraint.

CoreBoundThreadPool *	m_ThreadPool

std::mutex	m_ConstraintPoolLock

double	m_TimeConstant

double	m_symplecticH

bool	m_elements_updated

ConjugateGradientSolver *	m_CG_solver

std::map< int, std::vector< ConstraintSetTask > >	m_ConstraintSet

std::map< ConstraintSet *, int >	m_priority_index

std::vector< SubDomainInertiaTask >	m_InertiaComputers

std::vector< SubDomainWriteDynamic >	m_WriteDynamic

Detailed Description

Holds a set of rigid 6 dof objects, and a set of corresponding constraints.

Manages multithreading, building and solution of system matrix, and kinematics/dynamics after the Ode have been computed.

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

/update_root/webfhsim/reloadrepos/fhsim_coribo/src/ConstraintSolver/ConstraintSolver.h

Classes