text: /*
   * Copyright (c) 2014-2016, Graphics Lab, Georgia Tech Research Corporation
   * Copyright (c) 2014-2016, Humanoid Lab, Georgia Tech Research Corporation
   * Copyright (c) 2016, Personal Robotics Lab, Carnegie Mellon University
   * All rights reserved.
   *
   * This file is provided under the following "BSD-style" License:
   *   Redistribution and use in source and binary forms, with or
   *   without modification, are permitted provided that the following
   *   conditions are met:
   *   * Redistributions of source code must retain the above copyright
   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
   *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
   *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
   *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
   *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
   *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
   *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
   *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
   *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   *   POSSIBILITY OF SUCH DAMAGE.
   */
  
  #ifndef DART_CONSTRAINT_JOINTCONSTRAINT_HPP_
  #define DART_CONSTRAINT_JOINTCONSTRAINT_HPP_
  
  #include "dart/constraint/ConstraintBase.hpp"
  
  namespace dart {
  
  namespace dynamics {
  class BodyNode;
  }  // namespace dynamics
  
  namespace constraint {
  
  /// class JointConstraint
  class JointConstraint : public ConstraintBase
  {
  public:
    /// Contructor
    explicit JointConstraint(dynamics::BodyNode* _body);
  
    /// Contructor
    JointConstraint(dynamics::BodyNode* _body1, dynamics::BodyNode* _body2);
  
    /// Destructor
    virtual ~JointConstraint();
  
    //----------------------------------------------------------------------------
    // Property settings
    //----------------------------------------------------------------------------
  
    /// Set global error reduction parameter
    static void setErrorAllowance(double _allowance);
  
    /// Get global error reduction parameter
    static double getErrorAllowance();
  
    /// Set global error reduction parameter
    static void setErrorReductionParameter(double _erp);
  
    /// Get global error reduction parameter
    static double getErrorReductionParameter();
  
    /// Set global error reduction parameter
    static void setMaxErrorReductionVelocity(double _erv);
  
    /// Get global error reduction parameter
    static double getMaxErrorReductionVelocity();
  
    /// Set global constraint force mixing parameter
    static void setConstraintForceMixing(double _cfm);
  
    /// Get global constraint force mixing parameter
    static double getConstraintForceMixing();
  
    /// Get the first BodyNode that this constraint is associated with
    dynamics::BodyNode* getBodyNode1() const;
  
    /// Get the second BodyNode that this constraint is associated with
    dynamics::BodyNode* getBodyNode2() const;
  
  protected:
    /// First body node
    dynamics::BodyNode* mBodyNode1;
  
    /// Second body node
    dynamics::BodyNode* mBodyNode2;
  
    /// Global constraint error allowance
    static double mErrorAllowance;
  
    /// Global constraint error redection parameter in the range of [0, 1]. The
    /// default is 0.01.
    static double mErrorReductionParameter;
  
    /// Maximum error reduction velocity
    static double mMaxErrorReductionVelocity;
  
    /// Global constraint force mixing parameter in the range of [1e-9, 1]. The
    /// default is 1e-5
    /// \sa http://www.ode.org/ode-latest-userguide.html#sec_3_8_0
    static double mConstraintForceMixing;
  };
  
  } // namespace constraint
  } // namespace dart
  
  #endif  // DART_CONSTRAINT_CONSTRAINT_HPP_
  
  