Class SpringDamper

Class SpringDamper#

Inheritance Relationships#

Base Type#

Class Documentation#

class SpringDamper : public Karana::Models::KModel<SpringDamper, SpringDamperParams>#

Adds a spring-damper between two nodes.

Public Functions

SpringDamper(std::string_view name, const kc::ks_ptr<kd::StatePropagator> &sp, const kc::ks_ptr<kd::Node> nd1, const kc::ks_ptr<kd::Node> nd2)#

Constructor. The SpringDamper model applies an equal and opposing force to two nodes based on their current distance apart.

Parameters:

  • name – The name of the model.

  • sp – The StatePropagator to register this model with.

  • nd1 – The first node in the spring damper model.

  • nd2 – The second node in the spring damper model.

~SpringDamper()#

Destructor for SpringDamper.

void preDeriv(const km::Ktime &t, const km::Vec &x)#

Calculate and apply the spring/damper force.

Parameters:

  • t – Current time. Not used.

  • x – Current state. Not used.

std::vector<kc::id_t> getNodeIds()#

Get node IDs for DataStruct.

This method retrieves the IDs of the two nodes. This is designed primarily for use with the SpringDamperDS DataStruct.

Returns:

Nodes’ IDs.

double getPositionError() const#

Get the signed length offset from unsprung length.

Returns:

The error

const km::Vec3 &getVelocityError() const#

Get the relative linear velocity.

Returns:

The relative velocity

double getStiffnessForce() const#

Get the signed scalar force due to stiffness.

Returns:

The force

const km::Vec3 &getDampingForce() const#

Get the linear force due to damping.

Returns:

The force

const km::Vec3 &getTotalForce() const#

Get the overall spring force.

Returns:

The force

const kc::ks_ptr<kd::Node> &sourceNode() const#

Get the first node of the spring-damper.

Returns:

The node

const kc::ks_ptr<kd::Node> &targetNode() const#

Get the second node of the spring-damper.

Returns:

The node

Public Static Functions

static kc::ks_ptr<SpringDamper> create(std::string_view name, const kc::ks_ptr<kd::StatePropagator> &sp, const kc::ks_ptr<kd::Node> nd1, const kc::ks_ptr<kd::Node> nd2)#

Constructor. The SpringDamper model applies an equal and opposing force to two nodes based on their current distance apart.

Parameters:

  • name – The name of the model.

  • sp – The StatePropagator to register this model with.

  • nd1 – The first node in the spring damper model.

  • nd2 – The second node in the spring damper model.

Returns:

A ks_ptr to the newly created instance of the SpringDamper model.

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