Class CompoundHinge

Class CompoundHinge#

Inheritance Relationships#

Base Types#

Class Documentation#

class CompoundHinge : public Karana::Dynamics::HingeBase, public Karana::Core::LockingBase#

The hinge class for compound bodies.

Public Functions

inline virtual ~CompoundHinge()#

CompoundHinge destructor.

inline virtual std::string_view typeString() const noexcept override#

Returns the type string of the HingeBase.

Returns:

The type string.

inline kc::ks_ptr<CompoundBody> compoundBody() const#

Returns the CompoundBody for the hinge.

Returns:

the outboard CompoundBody instance

CompoundHinge(kc::ks_ptr<CompoundBody> compound_body)#

Constructor.

Parameters:

the – compound child body being attached

inline virtual std::string_view name() const override#

Return the name of the hinge instance.

Returns:

the hinge name

virtual km::Mat pframeCoordMapMatrix() const override#

The overall pframe coordinate map matrix for the hinge.

Return the overall 6xnU() coord map matrix for the hinge in the pframe frame from all of its subhinges. Note that the matrix will be configuration dependent when there are multiple subhinges. This method is specialized by PhysicalHinge and CompoundHinge hinges.

Returns:

the coordinate map matrix

Protected Functions

void _discard(kc::ks_ptr<Base> &base) override#

Discard the provided CompoundHinge.

Parameters:

base – - Base pointer to the CompoundHinge to discard.

Protected Attributes

kc::ks_ptr<CompoundBody> _body = nullptr#

the outboard CompoundBody for this hinge

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