Class Linear3Subhinge

• Defined in File PinSubhinge.h

Inheritance Relationships

Base Type

• public Karana::Dynamics::PhysicalSubhinge_T< 3, 3 > (Template Class PhysicalSubhinge_T)

Class Documentation

class Linear3Subhinge : public Karana::Dynamics::PhysicalSubhinge_T<3, 3>

Represents a 3 dof translational subhinge.

See Subhinges section for more information on physical subhinges.

Public Functions

virtual ~Linear3Subhinge()

Linear3Subhinge destructor.

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

Returns the type string of the SubTree.

Returns:

The type string.

virtual SubhingeBase::SUBHINGE_TYPE subhingeType() const override

Helper method to return the subhinge type.

Returns:

the subhinge type

Linear3Subhinge(kc::ks_ptr<kf::Frame> oframe, kc::ks_ptr<kf::Frame> pframe, const std::string &name, kc::ks_ptr<FramePairHinge> hge)

Constructs a Linear3Subhinge_T.

Protected Functions

virtual void _computeTransform(km::HomTran&) override

Compute the transformation between the oframe and pframe.

This the relTransform data cache callback.

Returns:

The computed homogeneous transformation.

virtual void _computeVelocity(km::SpatialVector&) override

Compute the spatial velocity between the oframe and pframe.

This the relSpVel data cache callback.

Returns:

The computed spatial velocity.

virtual void _computeAccel(km::SpatialVector&) override

Compute the spatial acceleration between the oframe and pframe.

This the relSpAccel data cache callback.

Returns:

The computed spatial acceleration.

virtual kc::ks_ptr<PhysicalSubhingeParams> _getParams() const override

Get/set params for a subhinge.