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Constraints

EqualityConstraint

ConstrainedDynamics.EqualityConstraint — Type
mutable struct EqualityConstraint{T, N, Nc, Cs} <: ConstrainedDynamics.AbstractConstraint{T, N}

An EqualityConstraint is a component of a Mechanism and is used to describe the kinematic relation between two or more Bodys. Typically, an EqualityConstraint should not be created directly. Use the joint prototypes instead, for example: 

EqualityConstraint(Revolute(body1, body2, rotation_axis)).

Important attributes

  • id: The unique ID of a constraint. Assigned when added to a Mechanism.
  • name: The name of a constraint. The name is taken from a URDF or can be assigned by the user.
  • parentid: The ID of the parent body.
  • childids: The IDs of the child bodies.
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Joint Prototypes

The functions below can be used to create joints between two bodies. Note that body1 can also be the origin. The following arguments are available for most joints:

  • axis: The rotation axis or plane axis.
  • p1: The joint connection point for body1 in body1's frame
  • p2: The joint connection point for body2 in body2's frame
  • qoffsett: The orientation offset of body2 relative to body1
ConstrainedDynamics.Floating — Method
Floating(body1, body2; spring, damper)

An unconstrained connection between two bodies (connection between floating base and origin).

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ConstrainedDynamics.PlanarAxis — Method
PlanarAxis(body1, body2, axis; p1, p2, qoffset, spring, damper)

A planar joint between two bodies with a rotation axis perpendicular to the plane (turtle bot).

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ConstrainedDynamics.Revolute — Method
Revolute(body1, body2, axis; p1, p2, qoffset, spring, damper)

A revolute joint between two bodies (pin, continuous, hinge joint).

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