Class PhysicalHinge

Class PhysicalHinge#

Defined in File PhysicalHinge.h

Nested Relationships#

Nested Types#

Struct PhysicalHinge::InterBodyForce

Inheritance Relationships#

Base Type#

public Karana::Dynamics::FramePairHinge (Class FramePairHinge)

Class Documentation#

class PhysicalHinge : public Karana::Dynamics::FramePairHinge #

Represents the class for physical articulation hinges.

This class is the container for physical subhinges that define articulation for physical bodies. See Connecting bodies via hinges section for more information on physical hinges.

Public Functions

virtual ~PhysicalHinge()#: Hinge destructor.

PhysicalHinge(PhysicalBody &parent_body, PhysicalBody &child_body, const std::string &name, HingeBase::HINGE_TYPE htype, const std::vector<SubhingeBase::SUBHINGE_TYPE> &subhinge_types = std::vector<SubhingeBase::SUBHINGE_TYPE>())#: Hinge Constructor.

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

Returns the type string of the HingeBase.

Returns:: The type string.

const kc::ks_ptr<HingePnode> &pnode() const#

Return the pnode for the hinge See.

Connecting bodies via hinges section for more information on onodes and pnodes.

Returns:: the HingePnode instance

const kc::ks_ptr<HingeOnode> &onode() const#

Return the onode for the hinge See.

Connecting bodies via hinges section for more information on onodes and pnodes.

Returns:: the HingeOnode instance

virtual std::string dumpString(const std::string &prefix, const Karana::Core::Base::dumpOptions *options) const override#

Return information about the object.

Parameters:

prefix – A string to use as prefix for each output line
options – Struct with options to tailor the output

Returns:

String with the information about the object.

Public Static Functions

static const kc::ks_ptr<PhysicalHinge> create(PhysicalBody &parent, PhysicalBody &child, HingeBase::HINGE_TYPE htype, const std::vector<SubhingeBase::SUBHINGE_TYPE> &subhinge_types = std::vector<SubhingeBase::SUBHINGE_TYPE>())#

Factory method to create a PhysicalHinge instance.

Parameters:

parent – The parent body
child – The child body
htype – The hinge type
subhinge_types – The list of subhinge types for a custom hinge type

Returns:

A new PhysicalHinge instance

Protected Functions

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

Discard the PhysicalHinge.

Parameters:: base – - Pointer to the PhysicalHinge.

void _setupATBIDataCaches()#

void _teardownATBIDataCaches()#

void _setupInvDynDataCaches()#

void _teardownInvDynDataCaches()#

void _oneTimeTeardown()#

virtual void _TChangeAction() override#

km::SpatialVector _acorPrime() const#: Compute the overall Coriolis accel term for all of the subhinges about and in the pnode frame. This is needed for compound bodies ATBI filter step.

struct InterBodyForce#

Struct for inter-body force data at the hinge.