# LocalConstraint Class Reference

An AxisPlaneConstraint defined in the Frame local coordinate system. More...

List of all members.

## Public Member Functions
virtual | ~LocalConstraint ()
virtual void | constrainTranslation (Vec &translation, Frame *const frame)
virtual void | constrainRotation (Quaternion &rotation, Frame *const frame)

## Detailed Description

An AxisPlaneConstraint defined in the Frame local coordinate system.

The translationConstraintDirection() and rotationConstraintDirection() are expressed in the Frame local coordinate system (see Frame::referenceFrame()).

See the constrainedFrame example for an illustration.

## Constructor & Destructor Documentation

virtual ~LocalConstraint | ( |  | ) | `[virtual]`

Virtual destructor. Empty.

## Member Function Documentation

void constrainRotation | ( | Quaternion & | rotation,
|  | Frame *const | frame |
| ) |  |  | `[virtual]`

When rotationConstraintType() is AxisPlaneConstraint::AXIS, constrain `rotation` to be a rotation around an axis whose direction is defined in the Frame local coordinate system by rotationConstraintDirection().

Reimplemented from AxisPlaneConstraint.

void constrainTranslation | ( | Vec & | translation,
|  | Frame *const | frame |
| ) |  |  | `[virtual]`

Depending on translationConstraintType(), constrain `translation` to be along an axis or limited to a plane defined in the Frame local coordinate system by translationConstraintDirection().

Reimplemented from AxisPlaneConstraint.

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