Class PrescribedFrame2Frame

Class PrescribedFrame2Frame#

Inheritance Relationships#

Base Type#

Class Documentation#

class PrescribedFrame2Frame : public Karana::Frame::EdgeFrame2Frame#

An edge Frame2Frame with methods to set the edge data.

See The frames layer for more discussion on the frames layer.

Public Functions

PrescribedFrame2Frame(const kc::ks_ptr<Frame> &oframe, const kc::ks_ptr<Frame> &pframe, const std::string &name = "")#

Constructor for PrescribedFrame2Frame.

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

Returns the type string of LockingBase.

Returns:

The type string.

void setRelTransform(const km::HomTran&)#

Set the relative homogeneous transformation between the oframe and pframe.

void setRelSpVel(const km::SpatialVector&)#

Set the relative velocity between the oframe and pframe.

void setAccel(const km::SpatialVector&)#

Set the relative acceleration between the oframe and pframe.

Public Static Functions

static kc::ks_ptr<PrescribedFrame2Frame> create(const kc::ks_ptr<Frame> &oframe, const kc::ks_ptr<Frame> &pframe)#

Constructor for PrescribedFrame2Frame.

Parameters:
Returns:

The PrescribedFrame2Frame object.

Protected Functions

virtual void _computeTransform(km::HomTran&) override#

Compute the transformation between the oframe and pframe.

Returns:

The computed homogeneous transformation.

virtual void _computeVelocity(km::SpatialVector&) override#

Compute the spatial velocity between the oframe and pframe.

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.

Contents