Struct LoopConstraintBase::QMats

Struct LoopConstraintBase::QMats#

Nested Relationships#

This struct is a nested type of Class LoopConstraintBase.

Struct Documentation#

struct QMats#

Struct for the constraint QMat matrices needed for Gamma and TA dynamics algorithm. The constraint requirement is that. 

[sourceQ, targetQ] * [V_source \\ V_target] = 0

where V_source and V_target are the spatial velocities of the source and target frames respectively defined by teh constraint Karana::Frame::Frame2Frame f2f’s oframe/pframe pair.

Public Functions

inline void resize(size_t nC)#

Resize the constraint matrices.

Parameters:

The – number of constrained dofs.

Public Members

km::Mat sourceQ#

Q at the source frame.

km::Mat targetQ#

Q at the target frame.

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