Class HingeBase

Class HingeBase#

Nested Relationships#

Nested Types#

Inheritance Relationships#

Derived Types#

Class Documentation#

class HingeBase#

Represents the base class for articulation hinges.

This is the abstract base class for hinge containers for PhysicalHinge and CompoundHinge classes that define articulation for bodies. See Connecting bodies via hinges section for more discussion on hinges.

Subclassed by Karana::Dynamics::CompoundHinge, Karana::Dynamics::FramePairHinge

Public Types

enum class HINGE_TYPE#

Enums for the pre-defined and known hinge types.

Values:

enumerator LOCKED#

locked subhinge, no relative motion permitted

enumerator PIN#

1 dof hinge with a single SubhingeBase::SUBHINGE_TYPE::PIN subhinge

enumerator UJOINT#

2 dof hinge with 2 successive SubhingeBase::SUBHINGE_TYPE::PIN subhinges

enumerator GIMBAL#

3 dof hinge with 2 successive SubhingeBase::SUBHINGE_TYPE::PIN subhinges

enumerator BALL#

3 dof hinge with 1 SubhingeBase::SUBHINGE_TYPE::SPHERICAL subhinge

enumerator BALL_QUAT#

3 dof hinge with 1 SubhingeBase::SUBHINGE_TYPE::SPHERICAL_QUAT subhinge

enumerator SLIDER#

1 dof hinge with 1 SubhingeBase::SUBHINGE_TYPE::LINEAR subhinge

enumerator PLANAR#

2 dof hinge with 2 successive SubhingeBase::SUBHINGE_TYPE::LINEAR subhinges

enumerator TRANSLATIONAL#

3 dof hinge with 3 successive SubhingeBase::SUBHINGE_TYPE::LINEAR subhinges

enumerator FULL6DOF#

6 dof hinge with a SubhingeBase::SUBHINGE_TYPE::LINEAR3 subhinge folowed by a

enumerator CYLINDRICAL#

2 dof hinge with a SubhingeBase::SUBHINGE_TYPE::LINEAR subhinge followed by a SubhingeBase::SUBHINGE_TYPE::PIN subhinge

enumerator HELICAL#

1 dof hinge with a single SubhingeBase::SUBHINGE_TYPE::SCREW subhinge

enumerator HOOKE#

2 dof hinge that keeps an outboard body frame’s Y-azis perpendicular to an inboard body frame’s X-axis. The subhinge sequence consists of a pair of SubhingeBase::SUBHINGE_TYPE::PIN subhinges. The hinge parameters can be computed using the HingeBase::getHookeHingeParams() method.

enumerator INLINE#

4 dof hinge that keeps an outboard body frame’s Z-axis constrained to translate along an inboard body frame’s Z-axis. The subhinge sequence consists of a SubhingeBase::SUBHINGE_TYPE::LINEAR subhinge followed by a SubhingeBase::SUBHINGE_TYPE::SPHERICAL subhinge The hinge parameters can be computed using the HingeBase::getInlineHingeParams() method.

enumerator INPLANE#

5 dof hinge that keeps an outboard body frame constrained to translate in an inboard body frame’s XY plane. The subhinge sequence consists of a pair of SubhingeBase::SUBHINGE_TYPE::LINEAR subhinges followed by a !< SubhingeBase::SUBHINGE_TYPE::SPHERICAL subhinge. The hinge parameters can be computed using the HingeBase::getInplaneHingeParams() method.

enumerator PERPENDICULAR#

5 dof hinge that keeps an outboard body frame’s Z-axis to remain perpendicular to an inboard body frame’s Z-axis. The subhinge sequence consists of a SubhingeBase::SUBHINGE_TYPE::LINEAR3 subhinge followed by a pair of SubhingeBase::SUBHINGE_TYPE::PIN subhinges. The hinge parameters can be computed using the HingeBase::getPerpendicularHingeParams() method.

enumerator PARALLEL#

4 dof hinge that keeps an outboarad frame’s Z-axis to remain parallel to an inboard body frame’s Z-axis. The subhinge sequence consists of a SubhingeBase::SUBHINGE_TYPE::LINEAR3 subhinge followed by a SubhingeBase::SUBHINGE_TYPE::PIN subhinge. The hinge parameters can be computed using the HingeBase::getParallelHingeParams() method.

enumerator CUSTOM#

hinge with user specified sequence of subhinge types

enumerator COMPOUND#

hinge with a single SubhingeBase::SUBHINGE_TYPE::COMPOUND subhinge

Public Functions

inline HingeBase(HingeBase::HINGE_TYPE htype)#

Constructs a HingeBase.

virtual const std::string &typeString() const noexcept = 0#

Returns the type string of the HingeBase.

Returns:

The type string.

inline virtual ~HingeBase()#

HingeBase destructor.

virtual const std::string &name() const = 0#

Return the name of the hinge instance.

Returns:

the hinge name

kc::ks_ptr<SubhingeBase> subhinge(size_t index) const#

Return the SubhingeBase subhinge instance at the specified index.

Parameters:

index – the subhinge index

Returns:

the subhinge object

inline size_t nSubhinges() const#

Return the nunber of subhinges in the hinge.

Returns:

the number of subhinges

inline const kc::RegistryList<SubhingeBase> &subhinges() const#

Return the list of SubhingeBase subhinges.

Returns:

the list of subhinges

virtual km::Mat pframeCoordMapMatrix() const = 0#

The overall pframe coordinate map matrix for the hinge.

Return the overall 6xnU() coord map matrix for the hinge in the pframe frame from all of its subhinges. Note that the matrix will be configuration dependent when there are multiple subhinges. This method is specialized by PhysicalHinge and CompoundHinge hinges.

Returns:

the coordinate map matrix

km::Mat pframeCoordMapMatrixOrthoComplement() const#

Return the orthogonal complement for the pframeCoordMapMatrix() matrix.

Compute the orthogonal complement (OC) of the pframe coord map matrix computed by pframeCoordMapMatrix(). The product of this OC with the pframe coord map matrix is zero.

Returns:

the orthogonal complement matrix

km::Mat oframeCoordMapMatrixOrthoComplement() const#

Return the orthogonal complement for the oframe coordinate map matrix.

Compute the orthogonal complement (OC) of the pframe coord map matrix. The product of the OC with the oframe coord map matrix is zero.

Returns:

the orthogonal complement matrix

km::Vec pframeCoordMapSingularValues() const#

Return list of singular values for the hinge’s pframe coord map matrix.

This method is handy for monitoring potential loss in rank for hinges such as ujoint and gimbal hinges. For full rank, there should be nu() singular values.

Returns:

Array of singular values.

size_t nU() const#

Return the total nU dofs from all the subhinges.

Returns:

the total number of dofs

inline HINGE_TYPE hingeType() const#

Return the HINGE_TYPE hinge type for this hinge.

Returns:

The hinge type used by this body.

inline const kc::ks_ptr<CoordData> &coordData() const#

Return the CoordData for the hinge’s list of subhinges.

Returns:

the CoordData for the subhinges

Public Static Functions

static std::vector<SubhingeBase::SUBHINGE_TYPE> getSubhingeTypes(HingeBase::HINGE_TYPE htype)#

Return the list of SubhingeBase::SUBHINGE_TYPE subhinge types for a known hinge type.

A hinge is a container for a list of subhinges. This method returns the list of subhinge types for a known hinge type.

Parameters:

htype – the hinge type

Returns:

list of subhinge types

static std::string hingeTypeString(HINGE_TYPE htype)#

Helper method to return the string name for a HINGE_TYPE hinge type.

Returns:

the hinge type as a string

static HingeParams getHookeHingeParams(const km::UnitQuaternion &ij_q)#

Helper method to compute the onode, pnode transform and axis params for a HINGE_TYPE::HOOKE hinge.

For a HINGE_TYPE::HOOKE joint, an outboard body’s frame’s Y-azis is constrained to remain perpendicular to an inboard body frame’s X-axis, and the pair of frames to remain co-located.

Parameters:

ij_q – the inboard to outboard frames relative orientation unit quaternion

Returns:

struct with the hinge onode, pnode and axis parameter values

static HingeParams getInlineHingeParams()#

Helper method to compute the onode, pnode transform and axis params for an HINGE_TYPE::INLINE hinge.

For an HINGE_TYPE::INLINE joint, an outboard body frame is constrained to translate only along an inboard body frame’s Z-axis

Returns:

struct with the hinge onode, pnode and axis parameter values

static HingeParams getInplaneHingeParams()#

Helper method to compute the onode, pnode transform and axis params for an HINGE_TYPE::INPLANE hinge.

For an HINGE_TYPE::INPLANE joint, an outboard body frame is constrained to translate only within the inboard frame’s XY-plane

Returns:

struct with the hinge onode, pnode and axis parameter values

static HingeParams getPerpendicularHingeParams(const km::UnitQuaternion &ij_q)#

Helper method to compute the onode, pnode transform and axis params for a HINGE_TYPE::PERPENDICULAR hinge.

For a HINGE_TYPE::PERPENDICULAR joint, an outboard body frame’s Z-azis is constrained to remain perpendicular to an inboard body frame’s Z-axis

Parameters:

ij_q – the inboard to outboard frames relative orientation unit quaternion

Returns:

struct with the hinge onode, pnode and axis parameter values

static HingeParams getParallelHingeParams()#

Helper method to compute the onode, pnode transform and axis params for a HINGE_TYPE::PARALLEL hinge.

For a HINGE_TYPE::PARALLEL joint, an outboard body frame’s Z-azis is constrained to remain parallel to an inboard body frame’s Z-axis. It is assumed that the outboard frame’s Z-axis is parallel to the inboard frame’s Z-axis to begin with.

Parameters:

ij_q – the inboard to outboard frames relative orientation unit quaternion

Returns:

struct with the hinge onode, pnode and axis parameter values

Protected Functions

inline virtual km::Mat oframeCoordMapMatrix() const#

Protected Attributes

kc::RegistryList<SubhingeBase> _subhinges_list#

ordered list of subhinges

HINGE_TYPE _hinge_type#
std::vector<SubhingeBase::SUBHINGE_TYPE> _subhinge_types#
kc::ks_ptr<CoordData> _hinge_coord_data = nullptr#
struct HingeParams#

Struct with hinge parameters for the HINGE_TYPE::HOOKE, HINGE_TYPE::INLINE etc hinge types defined by motion constraints between a pair of frames on the inboard and outboard bodies.

Public Members

km::UnitQuaternion i2onode_q = km::UnitQuaternion(0, 0, 0, 1)#

onode orientation wrt the inboard frame

km::UnitQuaternion j2pnode_q = km::UnitQuaternion(0, 0, 0, 1)#

onode orientation wrt the outboard frame

km::Mat axes#

3xm matrix with columns defining the 1-dof subhinge axes

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