Class CoordinateConstraint

Class CoordinateConstraint#

Inheritance Relationships#

Base Type#

Class Documentation#

class CoordinateConstraint : public Karana::Dynamics::BilateralConstraintBase#

Class for coordinate constraints.

Thie constraint requires that the ratio of the Q coordinates for a pair of subhinges be related via a specific scale ratio.

See the Coordinate constraints section for more discussion on coordinate constraints.

Public Functions

CoordinateConstraint(kc::ks_ptr<Multibody> &mb, kc::ks_ptr<PhysicalSubhinge> oshg, kc::ks_ptr<PhysicalSubhinge> pshg, const std::string &name)#

Constructor.

inline virtual const std::string &typeString() const noexcept override#

Returns the type string of LockingBase.

Returns:

The type string.

virtual size_t nResiduals() const override#

Return the number of dofs allowed by the constraint.

Returns:

the number of dofs allowed by the constraint

km::Vec accelResidual() const#

Return the 1-d size accel residual term for the constraint.

Used for computing the acceleration kinematics and the lambda (Lagrange multiplier) terms for the TA dynamics correction step

Returns:

The acceleraton residual eror

inline void setScaleRatio(double scale_ratio)#

Set the Q(pshg)/Q(oshg) coordinate scale ratio.

Parameters:

scale_ratio – The scale ratio

inline double getScaleRatio() const#

Return the Q(pshg)/Q(oshg) coordinate scale ratio.

Returns:

The scale ratio

inline kc::ks_ptr<PhysicalSubhinge> osubhinge() const#

Return the first subhinge for this coordinate constraint.

Returns:

The first subhinge.

inline kc::ks_ptr<PhysicalSubhinge> psubhinge() const#

Return the second subhinge for this coordinate constraint.

Returns:

The second subhinge.

virtual bool isFinalized() const override#

Checks is the params for the object have been initialized.

Returns:

True if the params have set up.

virtual km::Vec velError() const override#

Return the current U constraint velocity error.

Returns:

the velocity error

virtual km::Vec accelError() const override#

Return the current Udot constraint acceleration error.

Returns:

the acceleration error

virtual km::Vec poseError() const override#

Return the current Q constraint coordinate error.

Returns:

the coordinate error

Public Static Functions

static const kc::ks_ptr<CoordinateConstraint> create(kc::ks_ptr<Multibody> &mb, kc::ks_ptr<PhysicalSubhinge> oshg, kc::ks_ptr<PhysicalSubhinge> pshg, const std::string &name)#

Factory method for creating a CoordinateConstraint instance.

Parameters:
Returns:

a CoordinateConstraint instance

Protected Functions

void lambda2ConstraintGenForces(const km::Vec &lambda) const#

Convert the lambda Lagrange multiplier term for the coordinate constraint into constraint generalized forces at its subhinges

void _discard(kc::ks_ptr<kc::Base> &base) override#

Protected Attributes

kc::ks_ptr<PhysicalSubhinge> _oshg = nullptr#
kc::ks_ptr<PhysicalSubhinge> _pshg = nullptr#
double _scale_ratio = km::uninitializedNaN#

U(pshg)/U(pshg) coordinate scale ratio

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