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Constraints: allow constraint force mixing > 1 #1371

Merged
merged 3 commits into from
Jul 13, 2019
Merged

Constraints: allow constraint force mixing > 1 #1371

merged 3 commits into from
Jul 13, 2019

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scpeters
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@scpeters scpeters commented Jul 13, 2019 •
edited by jslee02
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The constraint force mixing (cfm) parameter from ODE is currently limited to a maximum value of 1.0. I know that the error reduction parameter (erp) is a non-dimensional parameters and has a max value of 1.0. The cfm parameter, however acts like an inverse damping coefficient, and I don't think it should be limited to 1.0. I've removed this check from each constraint. I'm not sure if this breaks any tests.

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codecov bot commented Jul 13, 2019 •
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Codecov Report

Merging #1371 into release-6.9 will increase coverage by 0.06%.
The diff coverage is n/a.

@@               Coverage Diff               @@
##           release-6.9    #1371      +/-   ##
===============================================
+ Coverage        56.89%   56.95%   +0.06%     
===============================================
  Files              366      366              
  Lines            27177    27145      -32     
===============================================
  Hits             15461    15461              
+ Misses           11716    11684      -32
Impacted Files Coverage Δ
dart/constraint/JointConstraint.cpp 10% <ø> (+0.74%) ⬆️
dart/constraint/ContactConstraint.cpp 63.39% <ø> (+1.01%) ⬆️
dart/constraint/JointLimitConstraint.cpp 68.09% <ø> (+1.63%) ⬆️
dart/constraint/ServoMotorConstraint.cpp 83.33% <ø> (+3.68%) ⬆️
dart/constraint/SoftContactConstraint.cpp 0% <ø> (ø) ⬆️
dart/constraint/MimicMotorConstraint.cpp 83.76% <ø> (+4.08%) ⬆️
dart/constraint/JointCoulombFrictionConstraint.cpp 86.11% <ø> (+3.07%) ⬆️

@jslee02 jslee02 added this to the DART 6.9.2 milestone Jul 13, 2019
@jslee02 jslee02 merged commit f54ee2d into dartsim:release-6.9 Jul 13, 2019
@scpeters scpeters deleted the allow_cfm_gt_1 branch August 16, 2019 21:04
@diegoferigo diegoferigo mentioned this pull request Nov 2, 2020
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scpeters added a commit to gazebo-forks/dart that referenced this pull request Apr 5, 2021
@scpeters
Constraints: allow constraint force mixing > 1 (dartsim#1371)
a2e980c 
* Constraints: allow cfm > 1

* Update CHANGELOG.md
@scpeters scpeters mentioned this pull request Apr 5, 2021
Merged
scpeters added a commit to gazebo-forks/dart that referenced this pull request Apr 30, 2021
@scpeters
Constraints: allow constraint force mixing > 1 (dartsim#1371)
f4b579c 
* Constraints: allow cfm > 1

* Update CHANGELOG.md
scpeters added a commit to gazebo-forks/dart that referenced this pull request May 13, 2021
@scpeters
Constraints: allow constraint force mixing > 1 (dartsim#1371)
d4a2de8 
* Constraints: allow cfm > 1

* Update CHANGELOG.md
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