Glossary#

Frames#

Frames Layer: A general purpose layer in KDFLEX consisting of a directed tree of frames. The frames layer supports on demand computation of relative pose, velocity, and accelerations for any pair of frames in the system.
Frame container: the container class for all the frames in the frames layer
Homogeneous transformation: An element of SE(3) consisting of a position and orientation pair.
Pose: an informal term for the homogeneous transformation defining the location and orientation of a frame.
Frame: a node in the frame tree used to track the pose of physical locations of interest
Root frame: the root frame for the frames tree
Frame and Frame2Frame, Frame chains, Frame container, PrescribedFrame2Frame, SpiceFrame:
oframe: the inboard (from) frame for a frame-to-frame instance
pframe: the ourboard (to) frame for a frame-to-frame instance

Newtonian frame: the frame treated as the inertial frame for dynamics computations
SubTree: A connected sub-tree of bodies within the full multibody system. Several algorithms in KDFLEX can be limited to the bodies contained in a sub-tree.
Subgraph: A sub-graph is a sub-tree with loop constraints. Several algorithms in KDFLEX can be limited to the bodies contained in a sub-graph.
Subhinges: The most basic unit for articulation. The supported types are defined by Karana::Dynamics::SubhingeBase::SUBHING_TYPES. Hinges are containes for a sequence of subhinges.
onode, pnode
Prescribed motion
Loop constraints
Hinge
Coordinate provider
Coordinate Data
Compound body
Constraint Embedding

Python Interface: A comprehensive interface that allows users to set up and interact with KDFLEX simulations using Python scripts.
KClick