Class PinSubhinge

• Defined in File PinSubhinge.h

Inheritance Relationships

Base Type

• public Karana::Dynamics::Physical1DofSubhinge (Class Physical1DofSubhinge)

Class Documentation

class PinSubhinge : public Karana::Dynamics::Physical1DofSubhinge

Represents a 1 dof rotational subhinge.

See Subhinges section for more information on physical subhinges.

Public Functions

inline virtual ~PinSubhinge()

PinSubhinge destructor.

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

Returns the type string of the SubTree.

Returns:

The type string.

virtual SubhingeBase::SubhingeType subhingeType() const override

Helper method to return the subhinge type.

Returns:

the subhinge type

PinSubhinge(kc::ks_ptr<kf::Frame> oframe, kc::ks_ptr<kf::Frame> pframe, std::string_view name, kc::ks_ptr<FramePairHinge> hge)

Constructs a PinSubhinge_T.

virtual void setUnitAxis(const km::Vec3 &axis) override

Set the unit axis for the pin hinge.

Parameters:

axis – The unit axis for the pin hinge.

Protected Functions

virtual void _computeTransform(km::HomTran&) override

Compute the transformation between the oframe and pframe.

This the relTransform data cache callback.

Returns:

The computed homogeneous transformation.

virtual void _computeVelocity(km::SpatialVector&) override

Compute the spatial velocity between the oframe and pframe.

This the relSpVel data cache callback.

Returns:

The computed spatial velocity.

virtual void _computeAccel(km::SpatialVector&) override

Compute the spatial acceleration between the oframe and pframe.

This the relSpAccel data cache callback.

Returns:

The computed spatial acceleration.