Class GearedCompoundBody#
Defined in File CECompoundBody.h
Inheritance Relationships#
Base Type#
public Karana::Dynamics::CECompoundBody(Class CECompoundBody)
Class Documentation#
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class GearedCompoundBody : public Karana::Dynamics::CECompoundBody#
Constraint embedding class for a body pair connected by a gear.
This class is for a parent/child body pair with 1 dof hinge with a gear ratio relating the outboard body hinge coordinates to those of the inboard body. The inboard body coordinates are treated as the indepedent coordiantes.
Public Functions
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virtual ~GearedCompoundBody()#
Destructor.
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inline virtual const std::string &typeString() const noexcept override#
Returns the type string of the SubTree.
- Returns:
The type string.
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GearedCompoundBody(const std::string &name, kc::ks_ptr<SubTree> parent_subtree, kc::ks_ptr<SubTree> bodies_tree)#
Constructs a GearedCompoundBody.
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inline void setGearRatio(double gear_ratio)#
Public Static Functions
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static kc::ks_ptr<GearedCompoundBody> create(kc::ks_ptr<SubTree> parent_subtree, const std::string &name, kc::ks_ptr<SubTree> component_bodies)#
Protected Functions
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virtual void _updateDependentQ(const km::Vec &min_Q) const override#
Convert the input minimal coords Q into the full dependent Q for all the aggregated subhinges for the compound body
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virtual km::Mat _constraintX() const override#
Convert the input full dependent coords for all the aggregated subhinges for the compound body Q into the minimal independent Q Return the X matrix that maps the min independent U to the full dependent U for the compound body
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virtual km::Mat _constraintXdot() const override#
Return the Xdot matrix that is the time derivative of the X constraint matrix
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virtual km::Mat _invConstraintX() const override#
Return the X matrix pseudo inverse that maps the full dependent U for the compound body to the min independent U
Protected Attributes
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double _gear_ratio#
the ratio of the outboard subhinge coords rate to that for the inboard subhige
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virtual ~GearedCompoundBody()#