Karana.Dynamics.fa2ta

Convert a FA model into a TA model.

Consider converting to C++.

Classes

TreeConverter

Class to do an FA to TA conversion on a Multibody

Module Contents

class Karana.Dynamics.fa2ta.TreeConverter(parent_prefs: collections.abc.Mapping[int, int] | None = None, skip_prefs: collections.abc.Mapping[int, int] | None = None, verbose: bool = False)

Class to do an FA to TA conversion on a Multibody

Whenever a hinge-based loop constraint is between a pair of bodies where at least one of the bodies is FULL6DOF, the loop constraint can be converted to a regular hinge. Using this approach, this class can greedily convert fully or partially FA models to TA models with a minimal number of loop constraints, reducing the total number of constraints and degrees of freedom in the system.

donebds = []

skipbds = []

donelcs = []

parent_prefs

skip_prefs

todo = []

visited = []

verbose = False

canConvertToHinge(lc: Karana.Dynamics.LoopConstraintBase, basebds: collections.abc.Container[Karana.Dynamics.PhysicalBody])

Whether the loop contraint can be converted to a hinge

It must be hinge-based an have at least one free body

convertToHinge(lc: Karana.Dynamics.LoopConstraintHinge, basebds: collections.abc.Container[Karana.Dynamics.PhysicalBody])

Convert the loop constraint into a hinge and return the new child body.

convertBranch(bd: Karana.Dynamics.PhysicalBody, basebds: collections.abc.Container[Karana.Dynamics.PhysicalBody])

Convert this bd’s loop constraints to hinges, and continue down the branch to do this for downstream bodies as well. If bd is in the basebds list, then use it as the parent body.

convertBranchBF(basebds: collections.abc.Container[Karana.Dynamics.PhysicalBody])

Convert this bd’s loop constraints to hinges, and continue down the branch to do this for downstream bodies as well. If bd is in the basebds list, then use it as the parent body. Breadth first traverse.