Struct PhysicalSubhinge_T::ATBIMatrices

Struct PhysicalSubhinge_T::ATBIMatrices#

Nested Relationships#

This struct is a nested type of Template Class PhysicalSubhinge_T.

Inheritance Relationships#

Base Type#

Struct Documentation#

struct ATBIMatrices : public Karana::Dynamics::CoordBase::ATBIMatrices#

Overall struct for ATBI dynamics matrix quantities for an articulation subhinge which includes the fixed and subhinge dof size matrices.

Public Members

km::Mat66 P#

The 6x6 PR articulated body inertia for the subhinge on the pframe/outboard side of the subhinge. The value is about and expressed in the pframe frame for the subhinge.

km::Mat66 Pplus#

the Pplus matrix after crossing the deformation dofs, about and expressed in the oframe frame for the subhinge.

Eigen::Matrix<double, NU, 6, Eigen::RowMajor> HP#

HP = H*P (nU x body_nU)

For a subhinge the lhs is in the pframe, while it in the pnode deformed translational frame for a flex body.

Eigen::Matrix<double, NU, NU, Eigen::RowMajor> D#

D = H*P*HT (nU x nU)

Eigen::Matrix<double, NU, NU, Eigen::RowMajor> Dinv#

Dinv = inverse(D) (nU x nU)

body_6_NU_Mat G#

G = P*H*Dinv (body_nU x nU)

For a subhinge the lhs is in the pframe, while it in the pnode deformed translational frame for a flex body.

km::Mat66 tauper#

tauper = I - GH (body_nU x body_nU)

For a subhinge the lhs is in the pframe, while it in the pnode deformed translational frame for a flex body.

km::Mat66 psi#

psi = phi * tauper (body_nU x body_nU)

For a subhinge, the left is in the oframe, right in the pframe. For a flex body, the lefts is in the pnode frame and the right in the body frame.

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