Class PrescribedFrameToFrame

• Defined in File PrescribedFrameToFrame.h

Inheritance Relationships

Base Type

• public Karana::Frame::EdgeFrameToFrame (Class EdgeFrameToFrame)

Class Documentation

class PrescribedFrameToFrame : public Karana::Frame::EdgeFrameToFrame

An edge FrameToFrame with methods to set the edge data.

See Coordinate Frames for more discussion on the frames layer.

Public Functions

PrescribedFrameToFrame(const kc::ks_ptr<Frame> &oframe, const kc::ks_ptr<Frame> &pframe, std::string_view name = "")

Constructor for PrescribedFrameToFrame.

Parameters:

• oframe – oframe of the PrescribedFrameToFrame.

• pframe – pframe of the PrescribedFrameToFrame.

• name – the name for the edge.

void setRelTransform(const km::HomTran&)

Set the relative homogeneous transformation between the oframe and pframe.

void setRelSpVel(const km::SpatialVector&)

Set the relative velocity between the oframe and pframe.

void setAccel(const km::SpatialVector&)

Set the relative acceleration between the oframe and pframe.

Public Static Functions

static kc::ks_ptr<PrescribedFrameToFrame> create(const kc::ks_ptr<Frame> &oframe, const kc::ks_ptr<Frame> &pframe)

Constructor for PrescribedFrameToFrame.

Parameters:

• oframe – - oframe of the PrescribedFrameToFrame.

• pframe – - pframe of the PrescribedFrameToFrame.

Returns:

The PrescribedFrameToFrame object.

Protected Functions

virtual void _computeTransform(km::HomTran&) override

Compute the transformation between the oframe and pframe.

Returns:

The computed homogeneous transformation.

virtual void _computeVelocity(km::SpatialVector&) override

Compute the spatial velocity between the oframe and pframe.

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.