Mundy: Multibody Nonlocal Dynamics: mundy::BallJoint< Scalar, LineSegmentType, OwnershipType > Class Template Reference

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A ball-and-socket joint between two points. More...

#include <BallJoint.hpp>

Public Types
Type aliases
using	value_type = Scalar
	Our scalar type.
using	line_segment_t = LineSegmentType
	Our line segment type.

Public Member Functions
Constructors and destructor
	BallJoint ()
	Default constructor for owning BallJoints. Default initialize the line segment.
	BallJoint ()=delete
	No default constructor for viewing BallJointss.
	BallJoint (const line_segment_t &line_segment)
	Constructor to initialize the underlying line segment.
template<mundy::ValidLineSegmentType OtherLineSegmentType>
	BallJoint (const OtherLineSegmentType &line_segment)
	Constructor to initialize the underlying line segment.
	~BallJoint ()=default
	Destructor.
	BallJoint (const BallJoint< value_type, line_segment_t, ownership_t > &other)
	Deep copy constructor.
template<typename OtherBallJointType>
	BallJoint (const OtherBallJointType &other)
	Deep copy constructor.
	BallJoint (BallJoint< value_type, line_segment_t, ownership_t > &&other)
	Deep move constructor.
template<typename OtherBallJointType>
	BallJoint (OtherBallJointType &&other)
	Deep move constructor.
Operators
BallJoint< value_type, line_segment_t, ownership_t > &	operator= (const BallJoint< value_type, line_segment_t, ownership_t > &other)
	Copy assignment operator.
template<typename OtherBallJointType>
BallJoint< value_type, line_segment_t, ownership_t > &	operator= (const OtherBallJointType &other)
	Copy assignment operator.
BallJoint< value_type, line_segment_t, ownership_t > &	operator= (BallJoint< value_type, line_segment_t, ownership_t > &&other)
	Move assignment operator.
template<typename OtherBallJointType>
BallJoint< value_type, line_segment_t, ownership_t > &	operator= (OtherBallJointType &&other)
	Move assignment operator.
Accessors
const line_segment_t &	line_segment () const
	Accessor for the line segment.
line_segment_t &	line_segment ()
	Accessor for the line segment.

Setters
template<mundy::ValidLineSegmentType OtherLineSegmentType>
void	set_line_segment (const OtherLineSegmentType &line_segment)
	Set the line segment.

Detailed Description

template<typename Scalar, mundy::ValidLineSegmentType LineSegmentType = mundy::LineSegment<Scalar>, typename OwnershipType = mundy::Ownership::Owns>
class mundy::BallJoint< Scalar, LineSegmentType, OwnershipType >

The BallJoint is a simple mechanical joint that constrains two points to have zero separation. It does not have any physical properties beyond those of its underlying geometry. Although, depending on the use case, it will be augmented to include a finite spring constant (if imposed as a soft constraint) or three Lagrange multipliers (if imposed as a hard constraint).

Member Typedef Documentation

◆ value_type

template<typename Scalar, mundy::ValidLineSegmentType LineSegmentType = mundy::LineSegment<Scalar>, typename OwnershipType = mundy::Ownership::Owns>

using mundy::BallJoint< Scalar, LineSegmentType, OwnershipType >::value_type = Scalar

◆ line_segment_t

template<typename Scalar, mundy::ValidLineSegmentType LineSegmentType = mundy::LineSegment<Scalar>, typename OwnershipType = mundy::Ownership::Owns>

using mundy::BallJoint< Scalar, LineSegmentType, OwnershipType >::line_segment_t = LineSegmentType

Constructor & Destructor Documentation

◆ BallJoint() [1/8]

template<typename Scalar, mundy::ValidLineSegmentType LineSegmentType = mundy::LineSegment<Scalar>, typename OwnershipType = mundy::Ownership::Owns>

mundy::BallJoint< Scalar, LineSegmentType, OwnershipType >::BallJoint ( )

inline

◆ BallJoint() [2/8]

template<typename Scalar, mundy::ValidLineSegmentType LineSegmentType = mundy::LineSegment<Scalar>, typename OwnershipType = mundy::Ownership::Owns>

mundy::BallJoint< Scalar, LineSegmentType, OwnershipType >::BallJoint ( )

delete

◆ BallJoint() [3/8]

template<typename Scalar, mundy::ValidLineSegmentType LineSegmentType = mundy::LineSegment<Scalar>, typename OwnershipType = mundy::Ownership::Owns>

mundy::BallJoint< Scalar, LineSegmentType, OwnershipType >::BallJoint ( const line_segment_t & line_segment )

inline

◆ BallJoint() [4/8]

template<typename Scalar, mundy::ValidLineSegmentType LineSegmentType = mundy::LineSegment<Scalar>, typename OwnershipType = mundy::Ownership::Owns>

template<mundy::ValidLineSegmentType OtherLineSegmentType>

mundy::BallJoint< Scalar, LineSegmentType, OwnershipType >::BallJoint ( const OtherLineSegmentType & line_segment )

inline

◆ ~BallJoint()

template<typename Scalar, mundy::ValidLineSegmentType LineSegmentType = mundy::LineSegment<Scalar>, typename OwnershipType = mundy::Ownership::Owns>

mundy::BallJoint< Scalar, LineSegmentType, OwnershipType >::~BallJoint ( )

default

◆ BallJoint() [5/8]

template<typename Scalar, mundy::ValidLineSegmentType LineSegmentType = mundy::LineSegment<Scalar>, typename OwnershipType = mundy::Ownership::Owns>

mundy::BallJoint< Scalar, LineSegmentType, OwnershipType >::BallJoint ( const BallJoint< value_type, line_segment_t, ownership_t > & other )

inline

◆ BallJoint() [6/8]

template<typename Scalar, mundy::ValidLineSegmentType LineSegmentType = mundy::LineSegment<Scalar>, typename OwnershipType = mundy::Ownership::Owns>

template<typename OtherBallJointType>

mundy::BallJoint< Scalar, LineSegmentType, OwnershipType >::BallJoint ( const OtherBallJointType & other )

inline

◆ BallJoint() [7/8]

template<typename Scalar, mundy::ValidLineSegmentType LineSegmentType = mundy::LineSegment<Scalar>, typename OwnershipType = mundy::Ownership::Owns>

mundy::BallJoint< Scalar, LineSegmentType, OwnershipType >::BallJoint ( BallJoint< value_type, line_segment_t, ownership_t > && other )

inline

◆ BallJoint() [8/8]

template<typename Scalar, mundy::ValidLineSegmentType LineSegmentType = mundy::LineSegment<Scalar>, typename OwnershipType = mundy::Ownership::Owns>

template<typename OtherBallJointType>

mundy::BallJoint< Scalar, LineSegmentType, OwnershipType >::BallJoint ( OtherBallJointType && other )

inline

Member Function Documentation

◆ operator=() [1/4]

template<typename Scalar, mundy::ValidLineSegmentType LineSegmentType = mundy::LineSegment<Scalar>, typename OwnershipType = mundy::Ownership::Owns>

BallJoint< value_type, line_segment_t, ownership_t > & mundy::BallJoint< Scalar, LineSegmentType, OwnershipType >::operator= ( const BallJoint< value_type, line_segment_t, ownership_t > & other )

inline

◆ operator=() [2/4]

template<typename Scalar, mundy::ValidLineSegmentType LineSegmentType = mundy::LineSegment<Scalar>, typename OwnershipType = mundy::Ownership::Owns>

template<typename OtherBallJointType>

BallJoint< value_type, line_segment_t, ownership_t > & mundy::BallJoint< Scalar, LineSegmentType, OwnershipType >::operator= ( const OtherBallJointType & other )

inline

◆ operator=() [3/4]

template<typename Scalar, mundy::ValidLineSegmentType LineSegmentType = mundy::LineSegment<Scalar>, typename OwnershipType = mundy::Ownership::Owns>

BallJoint< value_type, line_segment_t, ownership_t > & mundy::BallJoint< Scalar, LineSegmentType, OwnershipType >::operator= ( BallJoint< value_type, line_segment_t, ownership_t > && other )

inline

◆ operator=() [4/4]

template<typename Scalar, mundy::ValidLineSegmentType LineSegmentType = mundy::LineSegment<Scalar>, typename OwnershipType = mundy::Ownership::Owns>

template<typename OtherBallJointType>

BallJoint< value_type, line_segment_t, ownership_t > & mundy::BallJoint< Scalar, LineSegmentType, OwnershipType >::operator= ( OtherBallJointType && other )

inline

◆ line_segment() [1/2]

template<typename Scalar, mundy::ValidLineSegmentType LineSegmentType = mundy::LineSegment<Scalar>, typename OwnershipType = mundy::Ownership::Owns>

const line_segment_t & mundy::BallJoint< Scalar, LineSegmentType, OwnershipType >::line_segment ( ) const

inline

◆ line_segment() [2/2]

template<typename Scalar, mundy::ValidLineSegmentType LineSegmentType = mundy::LineSegment<Scalar>, typename OwnershipType = mundy::Ownership::Owns>

line_segment_t & mundy::BallJoint< Scalar, LineSegmentType, OwnershipType >::line_segment ( )

inline

◆ set_line_segment()

template<typename Scalar, mundy::ValidLineSegmentType LineSegmentType = mundy::LineSegment<Scalar>, typename OwnershipType = mundy::Ownership::Owns>

template<mundy::ValidLineSegmentType OtherLineSegmentType>

void mundy::BallJoint< Scalar, LineSegmentType, OwnershipType >::set_line_segment ( const OtherLineSegmentType & line_segment )

inline

Parameters

[in] line_segment The new line segment.