Class GearedCompoundBody

Class GearedCompoundBody#

Inheritance Relationships#

Base Type#

Class Documentation#

class GearedCompoundBody : public Karana::Dynamics::CECompoundBody#

Constraint embedding class for a body pair connected by a gear.

This class is for a parent/child body pair with 1 dof hinge with a gear ratio relating the outboard body hinge coordinates to those of the inboard body. The inboard body coordinates are treated as the indepedent coordiantes.

Public Functions

virtual ~GearedCompoundBody()#

Destructor.

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

Returns the type string.

Returns:

The type string.

GearedCompoundBody(std::string_view name, kc::ks_ptr<SubGraph> parent_subtree, kc::ks_ptr<SubGraph> bodies_tree)#

Constructs a GearedCompoundBody (to be retired)

inline void setGearRatio(double gear_ratio)#

Set the gear ratio.

Parameters:

the – gear ratio

Public Static Functions

static kc::ks_ptr<GearedCompoundBody> create(std::string_view name, kc::ks_ptr<SubGraph> parent_subtree, kc::ks_ptr<SubGraph> component_bodies)#

Protected Functions

virtual void _updateDependentQ(const km::Vec &min_Q, bool global) const override#

Convert the input minimal coords Q into the full dependent Q for all the aggregated subhinges for the compound body

virtual km::Mat _constraintX() const override#

Return the X matrix that maps the min independent U to the full dependent U for the compound body

virtual km::Vec _constraintXdotU(const km::Vec &U) const override#

Return the Xdot*U product vector where Xdot is the time derivative of the X constraint matrix

Parameters:

the – input U vector

Returns:

the Xdot*U product

Protected Attributes

double _gear_ratio#

Return the X matrix pseudo inverse that maps the full dependent U for the compound body to the min independent U the ratio of the outboard subhinge coords rate to that for the inboard subhige

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