kdFlex C++ API

Full API

Namespaces

• Namespace coal

• Namespace Eigen

• Namespace Karana
  • Namespaces

• Namespace Karana::Collision
  • Classes

• Namespace Karana::Core
  • Classes
  • Functions
  • Typedefs

• Namespace Karana::Dynamics
  • Classes
  • Typedefs

• Namespace Karana::Frame
  • Classes

• Namespace Karana::KUtils
  • Classes
  • Variables

• Namespace Karana::Math
  • Classes
  • Enums
  • Functions
  • Typedefs
  • Variables

• Namespace Karana::Models
  • Classes
  • Functions

• Namespace Karana::Scene
  • Classes
  • Enums
  • Functions
  • Typedefs
  • Variables

• Namespace Karana::WebUI
  • Classes

• Namespace kf
  • Namespaces

• Namespace kf::Frame

• Namespace LockingBase

• Namespace pybind11
  • Namespaces

• Namespace pybind11::detail
  • Classes

• Namespace pybind11::typing
  • Classes

• Namespace spdlog
  • Namespaces

• Namespace spdlog::sinks

• Namespace std

Classes and Structs

• Template Struct has_pybind11_caster
  • Inheritance Relationships
    • Base Type
  • Struct Documentation
    • has_pybind11_caster

• Struct FrameContact
  • Struct Documentation
    • Karana::Collision::FrameContact
      • frame_1
      • part_1
      • location_1
      • normal_1
      • frame_2
      • part_2
      • location_2
      • normal_2
      • penetration

• Struct Base::DumpOptions
  • Nested Relationships
  • Inheritance Relationships
    • Derived Type
  • Struct Documentation
    • Karana::Core::Base::DumpOptions
      • DumpOptions()
      • operator=()
      • DumpOptions()
      • ~DumpOptions()
      • type_string
      • id
      • ref_count
      • cache_deps

• Struct BasicDAGImpl::Node
  • Nested Relationships
  • Struct Documentation
    • Karana::Core::BasicDAGImpl::Node
      • Node()
      • id
      • depth
      • height
      • parents
      • children

• Struct BasicTreeImpl::Node
  • Nested Relationships
  • Struct Documentation
    • Karana::Core::BasicTreeImpl::Node
      • Node()
      • id
      • depth
      • height
      • parent
      • children
      • sorted_offset

• Struct DebugManager
  • Struct Documentation
    • Karana::Core::DebugManager
      • getUsageTrackingErrors()
      • setUsageTrackingErrors()
      • all_destroyed_verbosity
      • enable_locking_trace

• Struct EdgeHash
  • Struct Documentation
    • Karana::Core::EdgeHash
      • operator()()

• Struct LockingBase::DumpOptions
  • Nested Relationships
  • Inheritance Relationships
    • Base Type
    • Derived Type
  • Struct Documentation
    • Karana::Core::LockingBase::DumpOptions
      • DumpOptions()
      • operator=()
      • lock_status
      • upstream_deps
      • downstream_deps

• Struct Algorithms::ModalAnalysis
  • Nested Relationships
  • Struct Documentation
    • Karana::Dynamics::Algorithms::ModalAnalysis
      • w
      • phi

• Struct CompoundBody::ATBIDataCaches
  • Nested Relationships
  • Struct Documentation
    • Karana::Dynamics::CompoundBody::ATBIDataCaches
      • matrix_cache
      • filter_cache
      • smoother_cache
      • upsilon_matrix_cache

• Struct CompoundBody::DumpOptions
  • Nested Relationships
  • Inheritance Relationships
    • Base Type
  • Struct Documentation
    • Karana::Dynamics::CompoundBody::DumpOptions
      • operator=()

• Struct CompoundBody::InvDynVectors
  • Nested Relationships
  • Struct Documentation
    • Karana::Dynamics::CompoundBody::InvDynVectors
      • f

• Struct CompoundSubhinge::ATBIFilterVectors
  • Nested Relationships
  • Inheritance Relationships
    • Base Type
  • Struct Documentation
    • Karana::Dynamics::CompoundSubhinge::ATBIFilterVectors
      • resize()
      • z
      • zplus
      • epsilon
      • nu

• Struct CompoundSubhinge::ATBIMatrices
  • Nested Relationships
  • Inheritance Relationships
    • Base Type
  • Struct Documentation
    • Karana::Dynamics::CompoundSubhinge::ATBIMatrices
      • resize()
      • P
      • Pplus
      • HP
      • D
      • Dinv
      • G
      • tauper
      • psi

• Struct CoordBase::ATBIFilterVectors
  • Nested Relationships
  • Inheritance Relationships
    • Derived Types
  • Struct Documentation
    • Karana::Dynamics::CoordBase::ATBIFilterVectors
      • ATBIFilterVectors()
      • ATBIFilterVectors()
      • ~ATBIFilterVectors()

• Struct CoordBase::ATBIMatrices
  • Nested Relationships
  • Inheritance Relationships
    • Derived Types
  • Struct Documentation
    • Karana::Dynamics::CoordBase::ATBIMatrices
      • ATBIMatrices()
      • ATBIMatrices()
      • ~ATBIMatrices()

• Struct CoordData::CoordOffset
  • Nested Relationships
  • Struct Documentation
    • Karana::Dynamics::CoordData::CoordOffset
      • Q
      • U
      • obj

• Struct HingeBase::HingeParams
  • Nested Relationships
  • Struct Documentation
    • Karana::Dynamics::HingeBase::HingeParams
      • i_to_onode_q
      • j_to_pnode_q
      • axes

• Struct HingeNode::DumpOptions
  • Nested Relationships
  • Inheritance Relationships
    • Base Type
  • Struct Documentation
    • Karana::Dynamics::HingeNode::DumpOptions
      • operator=()

• Struct HingeOnodeATBIDataCaches
  • Struct Documentation
    • Karana::Dynamics::HingeOnodeATBIDataCaches
      • matrix_cache
      • filter_cache
      • smoother_cache
      • interbody_force_cache
      • upsilon_matrix_cache

• Struct HingeOnodeATBIFilterVectors
  • Struct Documentation
    • Karana::Dynamics::HingeOnodeATBIFilterVectors
      • zplus
      • zplus_extra

• Struct HingeOnodeATBIMatrices
  • Struct Documentation
    • Karana::Dynamics::HingeOnodeATBIMatrices
      • Pplus

• Struct HingeOnodeATBISmootherVectors
  • Struct Documentation
    • Karana::Dynamics::HingeOnodeATBISmootherVectors
      • alpha_plus
      • alpha_plus_extra

• Struct HingeOnodeInvDynVectors
  • Struct Documentation
    • Karana::Dynamics::HingeOnodeInvDynVectors
      • f

• Struct HingeOnodeUpsilonMatrices
  • Struct Documentation
    • Karana::Dynamics::HingeOnodeUpsilonMatrices
      • UpsilonPlus

• Struct HingePnode::ATBIDataCaches
  • Nested Relationships
  • Struct Documentation
    • Karana::Dynamics::HingePnode::ATBIDataCaches
      • matrix_cache
      • filter_cache
      • smoother_cache
      • upsilon_matrix_cache

• Struct HingePnode::ATBIFilterVectors
  • Nested Relationships
  • Struct Documentation
    • Karana::Dynamics::HingePnode::ATBIFilterVectors
      • z

• Struct HingePnode::ATBIMatrices
  • Nested Relationships
  • Struct Documentation
    • Karana::Dynamics::HingePnode::ATBIMatrices
      • P

• Struct HingePnode::ATBISmootherVectors
  • Nested Relationships
  • Struct Documentation
    • Karana::Dynamics::HingePnode::ATBISmootherVectors

• Struct HingePnode::InvDynVectors
  • Nested Relationships
  • Struct Documentation
    • Karana::Dynamics::HingePnode::InvDynVectors
      • f

• Struct HingePnode::UpsilonMatrices
  • Nested Relationships
  • Struct Documentation
    • Karana::Dynamics::HingePnode::UpsilonMatrices
      • Upsilon

• Struct LoopConstraintBase::QMats
  • Nested Relationships
  • Struct Documentation
    • Karana::Dynamics::LoopConstraintBase::QMats
      • resize()
      • source_Q
      • target_Q
      • rel_Q

• Struct ModalNodeDeformationProvider::DeformationParams
  • Nested Relationships
  • Inheritance Relationships
    • Base Type
  • Struct Documentation
    • Karana::Dynamics::ModalNodeDeformationProvider::DeformationParams
      • DeformationParams()
      • operator=()
      • nodal_matrix

• Struct Multibody::StickPartsConfig
  • Nested Relationships
  • Struct Documentation
    • Karana::Dynamics::Multibody::StickPartsConfig
      • StickPartsConfig()
      • body_color
      • joint_color
      • constraint_color
      • sensor_node_color
      • force_node_color
      • body_stick_radius
      • pin_hinge_length
      • pin_hinge_radius
      • sphere_hinge_radius
      • hinge_axes_length
      • node_radius
      • layers

• Struct NodeDeformationProvider::DeformationParams
  • Nested Relationships
  • Inheritance Relationships
    • Derived Type
  • Struct Documentation
    • Karana::Dynamics::NodeDeformationProvider::DeformationParams
      • DeformationParams()
      • operator=()
      • body_to_node_transform

• Struct Physical1DofSubhinge::PhysicalSubhingeParams
  • Nested Relationships
  • Inheritance Relationships
    • Base Type
    • Derived Type
  • Struct Documentation
    • Karana::Dynamics::Physical1DofSubhinge::PhysicalSubhingeParams
      • PhysicalSubhingeParams()
      • operator=()
      • unit_axis

• Struct PhysicalBody::DumpOptions
  • Nested Relationships
  • Inheritance Relationships
    • Base Type
  • Struct Documentation
    • Karana::Dynamics::PhysicalBody::DumpOptions
      • operator=()

• Struct PhysicalBody::GatherSweepFlags
  • Nested Relationships
  • Struct Documentation
    • Karana::Dynamics::PhysicalBody::GatherSweepFlags
      • gravity
      • external_forces
      • constraint_forces
      • elastic_forces
      • modal_gen_forces

• Struct PhysicalBody::InvDynVectors
  • Nested Relationships
  • Struct Documentation
    • Karana::Dynamics::PhysicalBody::InvDynVectors
      • f

• Struct PhysicalBodyParams
  • Inheritance Relationships
    • Derived Type
  • Struct Documentation
    • Karana::Dynamics::PhysicalBodyParams
      • operator=()
      • sp_i
      • axes
      • body_to_joint_transform
      • inb_to_joint_transform
      • scene_part_specs

• Struct PhysicalHinge::InterBodyForce
  • Nested Relationships
  • Struct Documentation
    • Karana::Dynamics::PhysicalHinge::InterBodyForce
      • ~InterBodyForce()
      • enable_interbody_force
      • interbody_spforce

• Struct PhysicalModalBody::ATBIFilterVectors
  • Nested Relationships
  • Inheritance Relationships
    • Base Type
  • Struct Documentation
    • Karana::Dynamics::PhysicalModalBody::ATBIFilterVectors
      • resize()
      • dump()
      • z
      • zplus
      • epsilon
      • nu

• Struct PhysicalModalBody::ATBIMatrices
  • Nested Relationships
  • Inheritance Relationships
    • Base Type
  • Struct Documentation
    • Karana::Dynamics::PhysicalModalBody::ATBIMatrices
      • resize()
      • P
      • Pplus
      • HP
      • D
      • Dinv
      • G
      • tauper
      • psi

• Struct PhysicalModalBody::ATBISmootherVectors
  • Nested Relationships
  • Struct Documentation
    • Karana::Dynamics::PhysicalModalBody::ATBISmootherVectors
      • alpha_plus

• Struct PhysicalModalBody::ModalUpsilonMatrices
  • Nested Relationships
  • Struct Documentation
    • Karana::Dynamics::PhysicalModalBody::ModalUpsilonMatrices
      • Upsilon

• Struct PhysicalModalBody::SZNodeMatrices
  • Nested Relationships
  • Struct Documentation
    • Karana::Dynamics::PhysicalModalBody::SZNodeMatrices
      • S
      • Z

• Struct PhysicalModalBodyParams
  • Inheritance Relationships
    • Base Type
  • Struct Documentation
    • Karana::Dynamics::PhysicalModalBodyParams
      • operator=()
      • nmodes
      • stiffness
      • damping
      • pnode_nodal_matrix
      • onode_nodal_matrix

• Struct PhysicalSubhinge::PhysicalSubhingeParams
  • Nested Relationships
  • Inheritance Relationships
    • Derived Types
  • Struct Documentation
    • Karana::Dynamics::PhysicalSubhinge::PhysicalSubhingeParams
      • PhysicalSubhingeParams()
      • PhysicalSubhingeParams()
      • operator=()
      • Q
      • U
      • Udot
      • T
      • prescribed

• Struct PhysicalSubhinge_T::ATBIFilterVectors
  • Nested Relationships
  • Inheritance Relationships
    • Base Type
  • Struct Documentation
    • Karana::Dynamics::PhysicalSubhinge_T::ATBIFilterVectors
      • resize()
      • z
      • zplus
      • epsilon
      • nu

• Struct PhysicalSubhinge_T::ATBIMatrices
  • Nested Relationships
  • Inheritance Relationships
    • Base Type
  • Struct Documentation
    • Karana::Dynamics::PhysicalSubhinge_T::ATBIMatrices
      • P
      • Pplus
      • HP
      • D
      • Dinv
      • G
      • tauper
      • psi

• Struct ScrewSubhinge::PhysicalSubhingeParams
  • Nested Relationships
  • Inheritance Relationships
    • Base Type
  • Struct Documentation
    • Karana::Dynamics::ScrewSubhinge::PhysicalSubhingeParams
      • operator=()
      • pitch

• Struct SphericalSubhinge::PhysicalSubhingeParams
  • Nested Relationships
  • Inheritance Relationships
    • Base Type
  • Struct Documentation
    • Karana::Dynamics::SphericalSubhinge::PhysicalSubhingeParams
      • operator=()
      • max_chart_angle

• Struct StatePropagator::Counters
  • Nested Relationships
  • Struct Documentation
    • Karana::Dynamics::StatePropagator::Counters
      • hops
      • derivs
      • zero_crossings
      • integration_steps

• Struct StatePropagator::SpFunctions
  • Nested Relationships
  • Struct Documentation
    • Karana::Dynamics::StatePropagator::SpFunctions
      • pre_deriv_fns
      • post_deriv_fns
      • pre_hop_fns
      • post_hop_fns
      • step_validate_fn
      • zero_crossing_fns
      • terminate_advance_to_fns

• Struct StatePropagator::SpOptions
  • Nested Relationships
  • Struct Documentation
    • Karana::Dynamics::StatePropagator::SpOptions
      • max_step_size
      • update_state_derivatives_hop_end
      • baumgarte_stiffness
      • baumgarte_damping

• Struct SubTree::DumpTreeOptions
  • Nested Relationships
  • Struct Documentation
    • Karana::Dynamics::SubTree::DumpTreeOptions
      • hinge_type
      • lock_status
      • ref_count
      • hinge_ref_count
      • id

• Struct Frame::DumpFrameTreeOptions
  • Nested Relationships
  • Struct Documentation
    • Karana::Frame::Frame::DumpFrameTreeOptions
      • type_string
      • edge_type
      • lock_status
      • ref_count
      • edge_ref_count
      • id

• Struct FrameContainer::DumpOptions
  • Nested Relationships
  • Inheritance Relationships
    • Base Type
  • Struct Documentation
    • Karana::Frame::FrameContainer::DumpOptions
      • operator=()
      • frames
      • edges
      • oriented
      • chains

• Struct FrameToFrame::DumpOptions
  • Nested Relationships
  • Inheritance Relationships
    • Base Type
    • Derived Type
  • Struct Documentation
    • Karana::Frame::FrameToFrame::DumpOptions
      • DumpOptions()
      • operator=()
      • depth
      • data

• Struct OrientedChainedFrameToFrame::DumpOptions
  • Nested Relationships
  • Inheritance Relationships
    • Base Type
  • Struct Documentation
    • Karana::Frame::OrientedChainedFrameToFrame::DumpOptions
      • operator=()
      • path

• Template Struct extract_matrix_dimensions
  • Struct Documentation
    • Karana::KUtils::extract_matrix_dimensions
      • rows
      • cols

• Template Struct extract_matrix_dimensions< Eigen::Matrix< double, _rows, 1 > >
  • Struct Documentation
    • Karana::KUtils::extract_matrix_dimensions< Eigen::Matrix< double, _rows, 1 > >
      • rows
      • cols

• Template Struct extract_matrix_dimensions< Eigen::Matrix< double, _rows, _cols, Eigen::RowMajor > >
  • Struct Documentation
    • Karana::KUtils::extract_matrix_dimensions< Eigen::Matrix< double, _rows, _cols, Eigen::RowMajor > >
      • rows
      • cols

• Template Struct extract_rows
  • Struct Documentation
    • Karana::KUtils::extract_rows
      • value

• Template Struct extract_rows< Eigen::Matrix< double, rows, 1 > >
  • Struct Documentation
    • Karana::KUtils::extract_rows< Eigen::Matrix< double, rows, 1 > >
      • value

• Template Struct is_eigen_type
  • Inheritance Relationships
    • Base Type
  • Struct Documentation
    • Karana::KUtils::is_eigen_type

• Template Struct is_eigen_type< Eigen::Matrix< double, Rows, 1 > >
  • Inheritance Relationships
    • Base Types
  • Struct Documentation
    • Karana::KUtils::is_eigen_type< Eigen::Matrix< double, Rows, 1 > >

• Template Struct is_eigen_type< Eigen::Matrix< double, Rows, Cols, Eigen::RowMajor > >
  • Inheritance Relationships
    • Base Types
  • Struct Documentation
    • Karana::KUtils::is_eigen_type< Eigen::Matrix< double, Rows, Cols, Eigen::RowMajor > >

• Template Struct is_eigen_vector
  • Inheritance Relationships
    • Base Type
  • Struct Documentation
    • Karana::KUtils::is_eigen_vector

• Template Struct is_eigen_vector< Eigen::Matrix< double, Rows, 1 > >
  • Inheritance Relationships
    • Base Types
  • Struct Documentation
    • Karana::KUtils::is_eigen_vector< Eigen::Matrix< double, Rows, 1 > >

• Struct ArkExplicitIntegrator::IntegratorOptions
  • Nested Relationships
  • Inheritance Relationships
    • Base Type
  • Struct Documentation
    • Karana::Math::ArkExplicitIntegrator::IntegratorOptions
      • operator=()
      • IntegratorOptions()
      • IntegratorOptions()
      • ~IntegratorOptions()
      • rtol
      • atol
      • atol_vec
      • max_num_steps
      • nlsolver
      • method

• Struct CVodeIntegrator::IntegratorOptions
  • Nested Relationships
  • Inheritance Relationships
    • Base Type
  • Struct Documentation
    • Karana::Math::CVodeIntegrator::IntegratorOptions
      • IntegratorOptions()
      • IntegratorOptions()
      • operator=()
      • ~IntegratorOptions()
      • rtol
      • atol
      • atol_vec
      • max_num_steps
      • anderson_accel
      • nlsolver
      • method
      • use_jacobian

• Struct DynamicFunctor
  • Inheritance Relationships
    • Base Type
  • Struct Documentation
    • Karana::Math::DynamicFunctor
      • Base
      • DynamicFunctor()
      • operator()()
      • df()
      • _f
      • _j

• Struct DynamicFunctorNoJac
  • Inheritance Relationships
    • Base Type
  • Struct Documentation
    • Karana::Math::DynamicFunctorNoJac
      • Base
      • DynamicFunctorNoJac()
      • operator()()
      • _f
      • _j

• Template Struct Functor
  • Struct Documentation
    • Karana::Math::Functor
      • InputsAtCompileTime
      • ValuesAtCompileTime
      • Scalar
      • InputType
      • ValueType
      • JacobianType
      • Functor()
      • inputs()
      • values()
      • _inputs
      • _values

• Struct IdaIntegrator::IntegratorOptions
  • Nested Relationships
  • Inheritance Relationships
    • Base Type
  • Struct Documentation
    • Karana::Math::IdaIntegrator::IntegratorOptions
      • IntegratorOptions()
      • IntegratorOptions()
      • operator=()
      • ~IntegratorOptions()
      • rtol
      • atol
      • atol_vec
      • max_num_steps
      • suppress_algebraric
      • anderson_accel
      • nlsolver
      • method

• Struct Integrator::IntegratorOptions
  • Nested Relationships
  • Inheritance Relationships
    • Derived Types
  • Struct Documentation
    • Karana::Math::Integrator::IntegratorOptions
      • IntegratorOptions()
      • IntegratorOptions()
      • operator=()
      • ~IntegratorOptions()

• Template Struct NumDiffBaseFunctor
  • Struct Documentation
    • Karana::Math::NumDiffBaseFunctor
      • InputsAtCompileTime
      • ValuesAtCompileTime
      • Scalar
      • InputType
      • ValueType
      • JacobianType
      • NumDiffBaseFunctor()
      • inputs()
      • values()
      • _inputs
      • _values

• Struct NumDiffFunctor
  • Inheritance Relationships
    • Base Type
  • Struct Documentation
    • Karana::Math::NumDiffFunctor
      • Base
      • NumDiffFunctor()
      • operator()()
      • _f

• Struct StateSpace::SS
  • Nested Relationships
  • Struct Documentation
    • Karana::Math::StateSpace::SS
      • A
      • B
      • C
      • D

• Struct ClientSceneData
  • Struct Documentation
    • Karana::Scene::ClientSceneData
      • ClientSceneData()
      • scene
      • origin_frame
      • layers

• Struct CollisionInfo
  • Struct Documentation
    • Karana::Scene::CollisionInfo
      • hasContact()
      • operator bool()
      • contacts
      • part1
      • part2
      • singleton()

• Struct Contact
  • Struct Documentation
    • Karana::Scene::Contact
      • penetration
      • witness1
      • witness2
      • normal

• Struct DistanceInfo
  • Struct Documentation
    • Karana::Scene::DistanceInfo
      • distance
      • nearest1
      • nearest2
      • singleton()

• Struct ImportResult
  • Struct Documentation
    • Karana::Scene::ImportResult
      • parts
      • geometries
      • materials

• Struct OrthographicProjection
  • Struct Documentation
    • Karana::Scene::OrthographicProjection
      • height
      • near
      • far

• Struct PerspectiveProjection
  • Struct Documentation
    • Karana::Scene::PerspectiveProjection
      • fov
      • near
      • far

• Struct PhongMaterialInfo
  • Struct Documentation
    • Karana::Scene::PhongMaterialInfo
      • color
      • color_map
      • ambient_color
      • ambient_color_map
      • specular_color
      • specular_color_map
      • emissive_color
      • emissive_color_map

• Struct PhysicalMaterialInfo
  • Struct Documentation
    • Karana::Scene::PhysicalMaterialInfo
      • color
      • color_map
      • metalness
      • metalness_map
      • roughness
      • roughness_map
      • normal_map

• Struct RGBABuffer
  • Struct Documentation
    • Karana::Scene::RGBABuffer
      • data
      • width
      • height

• Struct ScenePartSpec
  • Struct Documentation
    • Karana::Scene::ScenePartSpec
      • name
      • geometry
      • material
      • transform
      • scale
      • layers

• Struct TextParameters
  • Struct Documentation
    • Karana::Scene::TextParameters
      • align
      • size
      • color

• Struct LocalClientOptions
  • Struct Documentation
    • Karana::WebUI::LocalClientOptions
      • silent
      • sandbox

• Template Struct handle_type_name< typing::Sequence< T > >
  • Struct Documentation
    • pybind11::detail::handle_type_name< typing::Sequence< T > >
      • name

• Template Struct PyTypeWrapper
  • Struct Documentation
    • PyTypeWrapper
      • PyTypeWrapper()
      • obj

• Template Class duration_caster
  • Class Documentation
    • duration_caster
      • rep
      • period
      • days
      • load()
      • get_duration()
      • get_duration()
      • cast()

• Class ContactForceBase
  • Inheritance Relationships
    • Base Type
    • Derived Types
  • Class Documentation
    • Karana::Collision::ContactForceBase
      • applyForce()
      • computeForce()
      • Base()
      • Base()
      • Base()

• Class ContactForceManager
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Collision::ContactForceManager
      • ContactForceManager()
      • ~ContactForceManager()
      • computeForce()
      • getDelegate()
      • getDelegate()
      • setDelegate()
      • getDelegate()
      • setDelegate()
      • clearDelegates()
      • create()

• Class FrameCollider
  • Class Documentation
    • Karana::Collision::FrameCollider
      • col_func
      • filter_func
      • FrameCollider()
      • FrameCollider()
      • operator=()
      • ~FrameCollider()
      • collide()
      • lookupPartFrame()
      • lookupPartFrame()
      • ignoreFramePair()
      • unignoreFramePair()
      • ignoreAllCurrentlyTouchingPairs()
      • clearIgnoredFramePairs()

• Class HuntCrossley
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Collision::HuntCrossley
      • computeForce()
      • isFinalized()
      • dumpString()
      • params
      • create()
      • Karana::Collision::HuntCrossley::HuntCrossleyParams
        • kp
        • kc
        • n
        • mu
        • linear_region_tol

• Class HuntCrossley::HuntCrossleyParams
  • Nested Relationships
  • Class Documentation
    • Karana::Collision::HuntCrossley::HuntCrossleyParams
      • kp
      • kc
      • n
      • mu
      • linear_region_tol

• Class Base
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
    • Derived Types
  • Class Documentation
    • Karana::Core::Base
      • Base()
      • ~Base()
      • Base()
      • operator=()
      • Base()
      • operator=()
      • id()
      • typeString()
      • isFinalized()
      • name()
      • dumpString()
      • dump()
      • _discard()
      • _name
      • Karana::Core::Base::DumpOptions
        • DumpOptions()
        • operator=()
        • DumpOptions()
        • ~DumpOptions()
        • type_string
        • id
        • ref_count
        • cache_deps

• Class BaseContainer
  • Class Documentation
    • Karana::Core::BaseContainer
      • iterator
      • const_iterator
      • reverse_iterator
      • const_reverse_iterator
      • BaseContainer()
      • ~BaseContainer()
      • name()
      • contains()
      • at()
      • begin()
      • end()
      • begin()
      • end()
      • cbegin()
      • cend()
      • rbegin()
      • rend()
      • rbegin()
      • rend()
      • crbegin()
      • crend()
      • at_exit_fns
      • check_all_destroyed
      • create()
      • discard()
      • singleton()
      • _atExit()

• Template Class BasicDAGImpl
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Core::BasicDAGImpl
      • BasicDAGImpl()
      • BasicDAGImpl()
      • BasicDAGImpl()
      • operator==()
      • operator!=()
      • operator<()
      • operator<=()
      • operator>()
      • operator>=()
      • hasVertex()
      • hasEdge()
      • parents()
      • isRoot()
      • roots()
      • children()
      • depth()
      • height()
      • height()
      • isLeaf()
      • leaves()
      • sortedVertices()
      • isAncestor()

• Template Class BasicTreeImpl
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Core::BasicTreeImpl
      • BasicTreeImpl()
      • BasicTreeImpl()
      • BasicTreeImpl()
      • offset()
      • descendants()
      • operator==()
      • operator!=()
      • operator<()
      • areDisjoint()
      • operator<=()
      • operator>()
      • operator>=()
      • hasVertex()
      • hasEdge()
      • parent()
      • isRoot()
      • root()
      • children()
      • depth()
      • height()
      • height()
      • isLeaf()
      • sortedVertices()
      • bases()
      • leaves()
      • isAncestorOf()
      • lowestCommonAncestor()
      • lowestCommonAncestor()
      • subpathOrientation()
      • isOnPath()
      • path()
      • descendantTree()
      • spanningTree()
      • aggregationTree()
      • topologicalSort()
      • sparseSubTree()
      • dumpStringTree()
      • edges()

• Template Class CallbackRegistry
  • Class Documentation
    • Karana::Core::CallbackRegistry
      • f
      • operator[]()
      • operator[]()
      • operator[]()
      • operator[]()
      • execute()
      • executeReverse()
      • size()
      • dumpString()
      • dump()
      • erase()
      • erase()
      • pop()
      • pop()
      • clear()
      • contains()

• Template Class DAG
  • Inheritance Relationships
    • Derived Type
  • Class Documentation
    • Karana::Core::DAG
      • ~DAG()
      • operator==()
      • operator!=()
      • operator<()
      • operator<=()
      • operator>()
      • operator>=()
      • hasVertex()
      • hasEdge()
      • parents()
      • isRoot()
      • roots()
      • children()
      • isLeaf()
      • leaves()
      • depth()
      • height()
      • height()
      • sortedVertices()
      • isAncestor()

• Template Class DataCache
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Core::DataCache
      • DataCache()
      • get()
      • setCallback()
      • updateDataBuffer()
      • getRaw()
      • typeString()

• Class IdGenerator
  • Class Documentation
    • Karana::Core::IdGenerator
      • generate()
      • reset()
      • singleton()

• Class IdHashStruct
  • Class Documentation
    • Karana::Core::IdHashStruct
      • operator()()

• Class JsonLogger
  • Class Documentation
    • Karana::Core::JsonLogger
      • JsonLogger()
      • ~JsonLogger()
      • log()
      • log()
      • verbosity

• Class LockingBase
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
    • Derived Types
  • Class Documentation
    • Karana::Core::LockingBase
      • LockingBase()
      • ~LockingBase()
      • LockingBase()
      • operator=()
      • LockingBase()
      • operator=()
      • isCurrent()
      • ensureCurrent()
      • ensureStale()
      • dumpString()
      • dumpDependencyTree()
      • dumpDependencyGraphviz()
      • addDependent()
      • removeDependent()
      • clearDependencies()
      • isDependent()
      • freeze()
      • unfreeze()
      • isFrozen()
      • createDependencyDAG()
      • _getPtr()
      • _getPtr()
      • _makeCurrent()
      • _makeStale()
      • _dumpDependencyTree()
      • _dumpDependencyGraphviz()
      • _current
      • _within_ensureCurrent
      • _within_ensureStale
      • _upstream_deps
      • _upstream_deps_cp
      • _downstream_deps
      • _downstream_deps_cp
      • _request_remove
      • _request_add
      • _frozen
      • _upstream_deps_changed
      • _downstream_deps_changed
      • _trace_indent
      • Karana::Core::LockingBase::DumpOptions
        • DumpOptions()
        • operator=()
        • lock_status
        • upstream_deps
        • downstream_deps

• Class MsgLogger
  • Class Documentation
    • Karana::Core::MsgLogger
      • LogLevel
        • NUM_TRACE
        • TRACE
        • DEBUG
        • INFO
        • WARN
        • ERROR
        • OFF
      • ~MsgLogger()
      • addConsoleLogger()
      • addFileLogger()
      • addJsonLogger()
      • removeLogger()
      • changeVerbosity()
      • error
      • warn
      • info
      • debug
      • trace
      • _numTraceCheck

• Class my_formatter_flag
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Core::my_formatter_flag
      • format()
      • clone()
      • _levels

• Template Class RegistryList
  • Class Documentation
    • Karana::Core::RegistryList
      • iterator
      • const_iterator
      • reverse_iterator
      • const_reverse_iterator
      • add()
      • remove()
      • contains()
      • contains()
      • items()
      • lookup()
      • lookupAll()
      • lookup()
      • size()
      • at()
      • dumpString()
      • clear()
      • items()
      • begin()
      • end()
      • begin()
      • end()
      • cbegin()
      • cend()
      • front()
      • rbegin()
      • rend()
      • rbegin()
      • rend()
      • crbegin()
      • crend()

• Class SideEffect
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Core::SideEffect
      • callback_t
      • SideEffect()

• Class StderrLog
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Core::StderrLog

• Class StdoutLog
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Core::StdoutLog

• Template Class Tree
  • Inheritance Relationships
    • Derived Type
  • Class Documentation
    • Karana::Core::Tree
      • ~Tree()
      • operator==()
      • operator!=()
      • operator<()
      • operator<=()
      • operator>()
      • operator>=()
      • areDisjoint()
      • hasVertex()
      • hasEdge()
      • parent()
      • isRoot()
      • root()
      • children()
      • depth()
      • height()
      • height()
      • isLeaf()
      • descendants()
      • descendantTree()
      • sortedVertices()
      • edges()
      • offset()
      • bases()
      • leaves()
      • isAncestorOf()
      • lowestCommonAncestor()
      • lowestCommonAncestor()
      • isOnPath()
      • subpathOrientation()
      • path()
      • spanningTree()
      • aggregationTree()
      • topologicalSort()
      • sparseSubTree()
      • dumpStringTree()

• Template Class UsageTrackingMap
  • Class Documentation
    • Karana::Core::UsageTrackingMap
      • ~UsageTrackingMap()
      • add()
      • map()
      • erase()
      • purge()
      • size()
      • at()
      • contains()
      • empty()
      • forEach()
      • items()
      • dumpString()

• Class Algorithms
  • Nested Relationships
    • Nested Types
  • Class Documentation
    • Karana::Dynamics::Algorithms
      • evalKineticEnergy()
      • evalCmLocation()
      • evalSpatialMomentum()
      • evalCentroidalMomentum()
      • evalCentroidalMomentumMatrix()
      • evalTreeMassMatrixCRB()
      • evalTreeMassMatrixInvDyn()
      • evalTreeMassMatrixInvFwdDyn()
      • evalSerialChainMassMatrixInverse()
      • evalTreeMassMatrixInverse()
      • evalInverseDynamics()
      • evalTreeForwardDynamics()
      • evalTAForwardDynamics()
      • evalBaumgarteForwardDynamics()
      • evalComputedTorque()
      • evalGravityCompensation()
      • evalVelocityConstraintMatrix()
      • evalIndepPoseCoordIndices()
      • evalIndepPoseConstraintIndices()
      • evalIndepVelConstraintCoordIndices()
      • evalVelCoordinatePartitioning()
      • evalDependentVelCoordinatesMatrix()
      • evalSqueezeMatrix()
      • stateSpaceGenerator()
      • evalSpatialInertia()
      • jacobianGenerator()
      • constraintKinematicsSolver()
      • modalAnalysis()
      • evalFramesOSCM()
      • Karana::Dynamics::Algorithms::ModalAnalysis
        • w
        • phi

• Class BilateralConstraintBase
  • Inheritance Relationships
    • Base Type
    • Derived Types
  • Class Documentation
    • Karana::Dynamics::BilateralConstraintBase
      • BilateralConstraintType
        • HINGE_LOOP
        • CONVEL_LOOP
        • COORDINATE
      • BilateralConstraintBase()
      • typeString()
      • nResiduals()
      • poseError()
      • velError()
      • accelError()
      • type()
      • _type
      • _mb

• Class BodyBase
  • Inheritance Relationships
    • Base Type
    • Derived Types
  • Class Documentation
    • Karana::Dynamics::BodyBase
      • multibody()
      • isCompoundBody()
      • ~BodyBase()
      • physicalParentBody()
      • parentHinge()
      • isRootBody()
      • _parentSubtree()
      • BodyBase()
      • _setupChildBodyCacheDependencies()
      • _setupChildPhysicalBodyCacheDependencies()
      • _setupChildCompoundBodyCacheDependencies()
      • _setupBaseBodyCacheDependencies()
      • _teardownChildBodyCacheDependencies()
      • _teardownChildPhysicalBodyCacheDependencies()
      • _teardownChildCompoundBodyCacheDependencies()
      • _teardownBaseBodyCacheDependencies()
      • getATBIMatPsi()
      • getATBID()
      • getATBIDinv()
      • getATBIG()
      • getATBITauper()
      • getUpsilonMatrix()
      • _oframe2pframePsi()
      • _oframe2pframePhi()
      • _pframe2otherPhi()
      • jacobian()
      • jacobianDot()
      • _computeCoordMapMatrix()
      • _parent_subtree
      • _is_compound_body
      • _algorithmic_gather_child_onodes

• Class CECompoundBody
  • Inheritance Relationships
    • Base Type
    • Derived Types
  • Class Documentation
    • Karana::Dynamics::CECompoundBody
      • CECompoundBody()
      • ~CECompoundBody()
      • typeString()
      • _createSubhinge()
      • _updateDependentQ()
      • _constraintX()
      • _matX()
      • _constraintXdotU()
      • _indep_indices_U
      • _indep_indices_Q
      • _indep_cbs_U
      • _indep_cbs_Q

• Class CECompoundSubhinge
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::CECompoundSubhinge
      • ~CECompoundSubhinge()
      • typeString()
      • setQ()
      • setU()
      • getQ()
      • getU()
      • setT()
      • getT()
      • setUdot()
      • getUdot()
      • getQdot()
      • CECompoundSubhinge()
      • _localChartSetQ()
      • _localChartGetQ()
      • _getHingeXdotU()
      • atbiCoordMapMatrix()
      • _dependent_coord_map_matrix
      • _dependents_nU
      • _getQ_min_cache
      • _getQdot_min_cache
      • _getU_min_cache
      • _getUdot_min_cache
      • _getT_min_cache

• Class CompoundBody
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Types
    • Derived Type
  • Class Documentation
    • Karana::Dynamics::CompoundBody
      • CompoundBody()
      • ~CompoundBody()
      • typeString()
      • id()
      • name()
      • f2f()
      • bodiesTree()
      • physicalBodiesTree()
      • setQ()
      • getQ()
      • setU()
      • getU()
      • setUdot()
      • getUdot()
      • parentHinge()
      • physicalParentBody()
      • dumpString()
      • atbiMatrixCache()
      • atbiFilterCache()
      • atbiSmootherCache()
      • upsilonMatrixCache()
      • create()
      • _inverseDynamicsCache()
      • _inverseDynamicsVectors()
      • _createSubhinge()
      • _discard()
      • _physicalBodiesList()
      • _setupChildBodyCacheDependencies()
      • _setupChildPhysicalBodyCacheDependencies()
      • _setupChildCompoundBodyCacheDependencies()
      • _setupBaseBodyCacheDependencies()
      • _teardownChildBodyCacheDependencies()
      • _teardownChildPhysicalBodyCacheDependencies()
      • _teardownChildCompoundBodyCacheDependencies()
      • _teardownBaseBodyCacheDependencies()
      • _initialSetup()
      • _postSetup()
      • _oneTimeSetupDataCaches()
      • _oneTimeTeardownDataCaches()
      • _oframe2pframePsi()
      • _oframe2pframePhi()
      • _pframe2otherPhi()
      • _computeInvDynForces()
      • _getBaseOnodeInvDynForces()
      • _physical_parent_body
      • _base_onodes_list
      • _bodies_tree
      • _physical_bodies_tree
      • _hinge
      • _child_onodes_map
      • _invdyn_data_cache
      • _atbi_data_caches
      • Karana::Dynamics::CompoundBody::ATBIDataCaches
        • matrix_cache
        • filter_cache
        • smoother_cache
        • upsilon_matrix_cache
      • Karana::Dynamics::CompoundBody::DumpOptions
        • operator=()
      • Karana::Dynamics::CompoundBody::InvDynVectors
        • f

• Class CompoundHinge
  • Inheritance Relationships
    • Base Types
  • Class Documentation
    • Karana::Dynamics::CompoundHinge
      • ~CompoundHinge()
      • typeString()
      • compoundBody()
      • CompoundHinge()
      • name()
      • pframeCoordMapMatrix()
      • _discard()
      • _body

• Class CompoundSubhinge
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Types
    • Derived Type
  • Class Documentation
    • Karana::Dynamics::CompoundSubhinge
      • ~CompoundSubhinge()
      • name()
      • id()
      • typeString()
      • atbiCoordMapMatrix()
      • subhingeType()
      • f2f()
      • dumpString()
      • setQ()
      • setQ()
      • getQ()
      • setU()
      • setU()
      • getU()
      • setT()
      • setT()
      • getT()
      • setUdot()
      • setUdot()
      • getUdot()
      • getQdot()
      • CompoundSubhinge()
      • _localChartSetQ()
      • _localChartGetQ()
      • getUpsilonMatrix()
      • _aprimeAccel()
      • jacobian()
      • jacobianDot()
      • _getE_Phi_G()
      • _computeATBICoordMapMatrix()
      • _discard()
      • _getVrootPnodeATBIMatrixP()
      • _getVrootPnodeATBIFilterZ()
      • _getVrootPnodeInvDynF()
      • _getBaseOnodeATBIFilterZplus()
      • _computeATBIMatrices()
      • _computeATBIFilterVectors()
      • _computeATBISmootherVectors()
      • _computeUpsilonMatrices()
      • _computeAprimeAccel()
      • getATBIMatPsi()
      • getATBID()
      • getATBIDinv()
      • getATBIG()
      • getATBITauper()
      • _getHingeXdotU()
      • _computeInvDynGenForce()
      • _computeE_Phi_G()
      • _oframe2pframePsi()
      • _oframe2pframePhi()
      • _pframe2otherPhi()
      • _parent_body
      • _body_pnodes_orientation_map
      • _aprime_caches
      • _matE_Phi_G_cache
      • _coord_map_rows
      • _atbi_coord_map_matrix_cache
      • _getQ_cache
      • _getQdot_cache
      • _getU_cache
      • _getUdot_cache
      • _getT_cache
      • Karana::Dynamics::CompoundSubhinge::ATBIFilterVectors
        • resize()
        • z
        • zplus
        • epsilon
        • nu
      • Karana::Dynamics::CompoundSubhinge::ATBIMatrices
        • resize()
        • P
        • Pplus
        • HP
        • D
        • Dinv
        • G
        • tauper
        • psi

• Class ConstraintKinematicsSolver
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::ConstraintKinematicsSolver
      • ConstraintKinematicsSolver()
      • ~ConstraintKinematicsSolver()
      • solveQ()
      • solveU()
      • solveUdot()
      • freezeCoord()
      • unfreezeCoord()
      • clearFrozenCoords()
      • frozenCoords()
      • nonfrozenNU()
      • getNonfrozenQ()
      • setNonfrozenQ()
      • getNonfrozenU()
      • setNonfrozenU()
      • getNonfrozenUdot()
      • setNonfrozenUdot()
      • dump()
      • checkVelJacobian()
      • create()
      • _nlSolver()
      • _discard()
      • _makeCurrent()
      • _setup()
      • _makeNlSolver()
      • _updateDependentCoordsQ()
      • _velJacobianNumDiff()
      • _recomputeNonFrozenCoord()
      • _sg
      • _hinge_loops_multi_jacgen
      • _non_hinge_loops_multi_jacgen
      • _nl_solver
      • _dependent_Q_coord_indices
      • _frozen_indices
      • _nonfrozen_indices

• Class ConstraintNode
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::ConstraintNode
      • ConstraintNode()
      • typeString()
      • lookupOrCreate()
      • detach()
      • setExternalSpForce()
      • _discard()

• Class CoordBase
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Derived Types
  • Class Documentation
    • Karana::Dynamics::CoordBase
      • CoordBase()
      • ~CoordBase()
      • dumpString()
      • f2f()
      • isOriented()
      • name()
      • id()
      • typeString()
      • jacobian()
      • jacobianDot()
      • isFinalized()
      • getATBIMatPsi()
      • getATBID()
      • getATBIDinv()
      • getATBIG()
      • getATBITauper()
      • pframeCoordMapMatrix()
      • atbiCoordMapMatrix()
      • getUpsilonMatrix()
      • setQ()
      • setQ()
      • getQ()
      • setU()
      • setU()
      • getU()
      • setT()
      • setT()
      • getT()
      • setUdot()
      • setUdot()
      • getUdot()
      • getQdot()
      • nQ()
      • nU()
      • jacobianNumDiff()
      • poseGradient()
      • poseGradientNumDiff()
      • _atbiMatrices()
      • _atbiFilterVectors()
      • _oframe2pframePsi()
      • _oframe2pframePhi()
      • _pframe2otherPhi()
      • _localChartSetQ()
      • _localChartGetQ()
      • _resizeCoordBuffers()
      • _newtonian_frame
      • _name
      • _id
      • _cache_Q
      • _cache_U
      • _cache_Udot
      • _cache_T
      • _cache_Qdot
      • _atbi_matrices
      • _atbi_filter_vectors
      • _nQ
      • _nU
      • _buf_Q
      • _buf_U
      • _buf_Udot
      • _buf_T
      • Karana::Dynamics::CoordBase::ATBIFilterVectors
        • ATBIFilterVectors()
        • ATBIFilterVectors()
        • ~ATBIFilterVectors()
      • Karana::Dynamics::CoordBase::ATBIMatrices
        • ATBIMatrices()
        • ATBIMatrices()
        • ~ATBIMatrices()

• Template Class CoordBase_T
  • Class Documentation
    • Karana::Dynamics::CoordBase_T

• Class CoordData
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::CoordData
      • CoordData()
      • ~CoordData()
      • typeString()
      • getQ()
      • getU()
      • getUdot()
      • getT()
      • getQdot()
      • setQ()
      • setQ()
      • setU()
      • setU()
      • setT()
      • setT()
      • setUdot()
      • setUdot()
      • nQ()
      • nU()
      • isFinalized()
      • dumpState()
      • dumpString()
      • contains()
      • contains()
      • coordOffsets()
      • coordAt()
      • coordBases()
      • parent()
      • toMap()
      • _children()
      • _isAncestorOf()
      • _getAncestor()
      • _coordOffsets()
      • _makeTree()
      • _localChartSetQ()
      • _localChartGetQ()
      • _nQ
      • _nU
      • _coord_objs_list
      • _coord_offsets
      • _tree
      • _mergeCoordData()
      • Karana::Dynamics::CoordData::CoordOffset
        • Q
        • U
        • obj

• Class CoordinateConstraint
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::CoordinateConstraint
      • CoordinateConstraint()
      • typeString()
      • nResiduals()
      • accelResidual()
      • setScaleRatio()
      • getScaleRatio()
      • osubhinge()
      • psubhinge()
      • isFinalized()
      • velError()
      • accelError()
      • poseError()
      • create()
      • _lambda2ConstraintGenForces()
      • _discard()
      • _oshg
      • _pshg
      • _scale_ratio

• Class F2FJacobianGenerator
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::F2FJacobianGenerator
      • F2FJacobianGenerator()
      • typeString()
      • jacobian()
      • jacobianDot()
      • poseGradient()
      • create()
      • _getPolarityMap()
      • _setupPolarityMap()
      • _makeCurrent()
      • _discard()
      • _f2f
      • _polarity_map
      • _coord_data

• Class FramePairHinge
  • Inheritance Relationships
    • Base Types
    • Derived Type
  • Class Documentation
    • Karana::Dynamics::FramePairHinge
      • ~FramePairHinge()
      • FramePairHinge()
      • typeString()
      • name()
      • pframeCoordMapMatrix()
      • oframeCoordMapMatrix()
      • fitQ()
      • fitU()
      • fitUdot()
      • subhingeTypes()
      • dumpString()
      • create()
      • _jacgen()
      • _changeActionT()
      • _oneTimeSetup()
      • _oneTimeTeardown()
      • _createPhysicalSubhinges()
      • _discardPhysicalSubhinges()
      • _makeNlSolver()
      • _makeJacobianGenerator()
      • _newtonian_frame
      • _hinge_jacgen
      • _nl_solver
      • _fit_frame

• Class GearedCompoundBody
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::GearedCompoundBody
      • ~GearedCompoundBody()
      • typeString()
      • GearedCompoundBody()
      • setGearRatio()
      • create()
      • _updateDependentQ()
      • _constraintX()
      • _constraintXdotU()
      • _gear_ratio

• Class HingeBase
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Derived Types
  • Class Documentation
    • Karana::Dynamics::HingeBase
      • HingeType
        • LOCKED
        • PIN
        • UJOINT
        • GIMBAL
        • BALL
        • BALL_QUAT
        • SLIDER
        • PLANAR
        • TRANSLATIONAL
        • FULL6DOF
        • CYLINDRICAL
        • HELICAL
        • HOOKE
        • INLINE
        • INPLANE
        • PERPENDICULAR
        • PARALLEL
        • CUSTOM
        • COMPOUND
      • HingeBase()
      • typeString()
      • ~HingeBase()
      • name()
      • subhinge()
      • nSubhinges()
      • subhinges()
      • pframeCoordMapMatrix()
      • pframeCoordMapMatrixOrthoComplement()
      • oframeCoordMapMatrixOrthoComplement()
      • pframeCoordMapSingularValues()
      • nU()
      • hingeType()
      • coordData()
      • getSubhingeTypes()
      • hingeTypeString()
      • getHookeHingeParams()
      • getInlineHingeParams()
      • getInplaneHingeParams()
      • getPerpendicularHingeParams()
      • getParallelHingeParams()
      • oframeCoordMapMatrix()
      • _subhinges_list
      • _hinge_type
      • _subhinge_types
      • _hinge_coord_data
      • Karana::Dynamics::HingeBase::HingeParams
        • i_to_onode_q
        • j_to_pnode_q
        • axes

• Class HingeNode
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
    • Derived Types
  • Class Documentation
    • Karana::Dynamics::HingeNode
      • ~HingeNode()
      • typeString()
      • hinge()
      • HingeNode()
      • _hinge
      • Karana::Dynamics::HingeNode::DumpOptions
        • operator=()

• Class HingeOnode
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::HingeOnode
      • HingeOnode()
      • ~HingeOnode()
      • typeString()
      • dumpString()
      • isFinalized()
      • atbiMatrixCache()
      • atbiMatrices()
      • atbiFilterCache()
      • atbiFilterVectors()
      • atbiSmootherCache()
      • atbiSmootherVectors()
      • interBodyForce()
      • upsilonMatrixCache()
      • upsilonMatrices()
      • inverseDynamicsCache()
      • inverseDynamicsVectors()
      • getTAInterBodyForce()
      • _saveExtraATBIVariables()
      • _computeInvDynForces()
      • _computeATBIMatrices()
      • _computeATBIFilterVectors()
      • _computeATBISmootherVectors()
      • _computeUpsilonMatrices()
      • _getInterBodyForce()
      • _oneTimeSetupDataCaches()
      • _oneTimeTeardownDataCaches()
      • _oneTimeSetupDataCacheGatherCallbacks()
      • _oneTimeTeardownDataCacheGatherCallbacks()
      • _oneTimeTeardown()
      • _setupDataCachesWithParentPnode()
      • _teardownDataCachesWithParentPnode()
      • _pnode2onode_f2f
      • _body2onode_f2f
      • _atbi_data_caches
      • _invdyn_data_cache

• Class HingePnode
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::HingePnode
      • HingePnode()
      • ~HingePnode()
      • typeString()
      • isFinalized()
      • atbiMatrixCache()
      • atbiMatrices()
      • upsilonMatrixCache()
      • upsilonMatrices()
      • atbiFilterCache()
      • atbiFilterVectors()
      • atbiSmootherCache()
      • atbiSmootherVectors()
      • inverseDynamicsCache()
      • inverseDynamicsVectors()
      • crbInertiaMatrix()
      • dumpString()
      • _oneTimeSetupDataCaches()
      • _oneTimeTeardownDataCaches()
      • _oneTimeTeardown()
      • _externalForces()
      • _constraintForces()
      • _isFloatingFrame()
      • _computeMassMatrix()
      • _computeGyroscopicForce()
      • _computeInvDynForces()
      • _computeATBIMatrices()
      • _computeATBIFilterVectors()
      • _computeATBISmootherVectors()
      • _computeUpsilonMatrices()
      • _computeCRBInertiaMatrix()
      • _pnode2body_f2f
      • _gyroscopic_force_cache
      • _massmat_cache
      • _atbi_data_caches
      • _invdyn_data_cache
      • _apparent_mass_data
      • _crb_inertia_matrix_cache
      • Karana::Dynamics::HingePnode::ATBIDataCaches
        • matrix_cache
        • filter_cache
        • smoother_cache
        • upsilon_matrix_cache
      • Karana::Dynamics::HingePnode::ATBIFilterVectors
        • z
      • Karana::Dynamics::HingePnode::ATBIMatrices
        • P
      • Karana::Dynamics::HingePnode::ATBISmootherVectors
      • Karana::Dynamics::HingePnode::InvDynVectors
        • f
      • Karana::Dynamics::HingePnode::UpsilonMatrices
        • Upsilon

• Class Linear3Subhinge
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::Linear3Subhinge
      • ~Linear3Subhinge()
      • typeString()
      • subhingeType()
      • Linear3Subhinge()
      • _computeTransform()
      • _computeVelocity()
      • _computeAccel()
      • _getParams()

• Class LinearSubhinge
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::LinearSubhinge
      • ~LinearSubhinge()
      • subhingeType()
      • typeString()
      • setUnitAxis()
      • LinearSubhinge()
      • _computeTransform()
      • _computeVelocity()
      • _computeAccel()

• Class LockedSubhinge
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::LockedSubhinge
      • LockedSubhinge()
      • ~LockedSubhinge()
      • typeString()
      • subhingeType()
      • _getParams()
      • _setParams()

• Class LoopConstraintBase
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
    • Derived Types
  • Class Documentation
    • Karana::Dynamics::LoopConstraintBase
      • LoopConstraintBase()
      • constraintFrameToFrame()
      • hasHinge()
      • constrainsQ()
      • sourceNode()
      • targetNode()
      • getQMats()
      • _accelResidual()
      • _baumgarteResidual()
      • _lambda2ConstraintForces()
      • _discard()
      • _computeQMats()
      • _constraint_f2f
      • _source_node
      • _target_node
      • _matsQ_cache
      • Karana::Dynamics::LoopConstraintBase::QMats
        • resize()
        • source_Q
        • target_Q
        • rel_Q

• Class LoopConstraintConVel
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::LoopConstraintConVel
      • LoopConstraintConVel()
      • typeString()
      • constrainsQ()
      • nResiduals()
      • poseError()
      • setInput()
      • setUnitAxis()
      • getUnitAxis()
      • isRotational()
      • isFinalized()
      • velError()
      • accelError()
      • create()
      • _computeQMats()
      • _accelResidual()

• Class LoopConstraintHinge
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::LoopConstraintHinge
      • LoopConstraintHinge()
      • typeString()
      • hasHinge()
      • hinge()
      • errorFrameToFrame()
      • spExternalForceFromT()
      • poseError()
      • getTAInterBodyForce()
      • nResiduals()
      • velError()
      • accelError()
      • create()
      • toPhysicalHinge()
      • _accelResidual()
      • _updateInvDynT()
      • _discard()
      • _computeQMats()
      • _constraintSpForceT2Target()
      • _constraintSpForceT2Source()
      • _error_f2f
      • _hinge_type

• Class LoopsCompoundBody
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::LoopsCompoundBody
      • ~LoopsCompoundBody()
      • typeString()
      • LoopsCompoundBody()
      • LoopsCompoundBody()
      • create()
      • create()
      • _updateDependentQ()
      • _constraintX()
      • _constraintXdotU()
      • _discard()
      • _cks
      • _rows_Y
      • _rows_Ydot
      • _dep_indices_U

• Class ModalNodeDeformationProvider
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::ModalNodeDeformationProvider
      • ModalNodeDeformationProvider()
      • ~ModalNodeDeformationProvider()
      • typeString()
      • setNodalMatrix()
      • getNodalMatrix()
      • undeformedFrame()
      • deformedTransFrame()
      • deformedRotFrame()
      • isFinalized()
      • dumpString()
      • _getParams()
      • _setParams()
      • _discard()
      • _transFrameRelTransformHelper()
      • _transFrameRelSpVelHelper()
      • _transFrameRelSpAccelHelper()
      • _rotFrameRelTransformHelper()
      • _rotFrameRelSpVelHelper()
      • _rotFrameRelSpAccelHelper()
      • _transFrameRelTransformReversedHelper()
      • _transFrameRelSpVelReversedHelper()
      • _transFrameRelSpAccelReversedHelper()
      • _rotFrameRelTransformReversedHelper()
      • _rotFrameRelSpVelReversedHelper()
      • _rotFrameRelSpAccelReversedHelper()
      • _nodal_matrix
      • _undeformed_frame
      • _deformed_trans_frame
      • _deformed_rot_frame
      • Karana::Dynamics::ModalNodeDeformationProvider::DeformationParams
        • DeformationParams()
        • operator=()
        • nodal_matrix

• Class Multibody
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::Multibody
      • Multibody()
      • ~Multibody()
      • toUrdf()
      • typeString()
      • toFullyAugmentedModel()
      • dumpString()
      • getNodeAncestor()
      • getNewtonianFrame()
      • frameContainer()
      • constraints()
      • getConstraint()
      • createStickParts()
      • setScene()
      • getScene()
      • addPhysicalBodiesChain()
      • addPhysicalBodiesTree()
      • create()
      • fromUrdf()
      • _trackUsageCoordinateConstraint()
      • _trackUsagePhysicalBody()
      • _makeCurrent()
      • _makeStale()
      • _discardCmFrame()
      • _discard()
      • _fc
      • _newtonian_frame
      • _physical_unsorted_bodies_list
      • _algorithmic_subtrees
      • _detached_nodes_list
      • _detached_constraint_nodes_list
      • _existing_loop_constraints_list
      • _scene
      • _coordinate_constraint_usage_map
      • _loop_constraint_base_usage_map
      • Karana::Dynamics::Multibody::StickPartsConfig
        • StickPartsConfig()
        • body_color
        • joint_color
        • constraint_color
        • sensor_node_color
        • force_node_color
        • body_stick_radius
        • pin_hinge_length
        • pin_hinge_radius
        • sphere_hinge_radius
        • hinge_axes_length
        • node_radius
        • layers

• Class MultiJacobianGenerator
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::MultiJacobianGenerator
      • MultiJacobianGenerator()
      • ~MultiJacobianGenerator()
      • typeString()
      • jacobian()
      • jacobianDot()
      • poseGradient()
      • create()
      • _discard()
      • _f2fs
      • _jac_gen_map
      • _coord_data

• Class Node
  • Inheritance Relationships
    • Base Type
    • Derived Types
  • Class Documentation
    • Karana::Dynamics::Node
      • detach()
      • Node()
      • ~Node()
      • typeString()
      • parentBody()
      • isFinalized()
      • setBodyToNodeTransform()
      • getBodyToNodeTransform()
      • isExternalForceNode()
      • nodeObservedSpatialAccel()
      • getSpForce()
      • setExternalSpForce()
      • accumExternalSpForce()
      • deformationProvider()
      • dumpString()
      • newtonian2NodeF2F()
      • lookupOrCreate()
      • lookupOrCreateContact()
      • _clearExternals()
      • _discard()
      • _parent_body
      • _node_frame_spforce
      • _external_force_cache
      • _newtonian2node_f2f
      • _pnode2node_f2f
      • _deformation_provider
      • _multibody

• Class NodeDeformationProvider
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
    • Derived Type
  • Class Documentation
    • Karana::Dynamics::NodeDeformationProvider
      • NodeDeformationProvider()
      • ~NodeDeformationProvider()
      • typeString()
      • _getParams()
      • _setParams()
      • _nd
      • Karana::Dynamics::NodeDeformationProvider::DeformationParams
        • DeformationParams()
        • operator=()
        • body_to_node_transform

• Class Physical1DofSubhinge
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
    • Derived Types
  • Class Documentation
    • Karana::Dynamics::Physical1DofSubhinge
      • Physical1DofSubhinge()
      • ~Physical1DofSubhinge()
      • setUnitAxis()
      • getUnitAxis()
      • setJointLimits()
      • getJointLimits()
      • setGearRatio()
      • getGearRatio()
      • isFinalized()
      • _getParams()
      • _setParams()
      • _joint_limits
      • _gear_ratio
      • _unit_axis
      • Karana::Dynamics::Physical1DofSubhinge::PhysicalSubhingeParams
        • PhysicalSubhingeParams()
        • operator=()
        • unit_axis

• Class PhysicalBody
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Types
    • Derived Type
  • Class Documentation
    • Karana::Dynamics::PhysicalBody
      • PhysicalBody()
      • ~PhysicalBody()
      • typeString()
      • id()
      • name()
      • isRootBody()
      • setParams()
      • setSpatialInertia()
      • getSpatialInertia()
      • setBodyToJointTransform()
      • getBodyToJointTransform()
      • bodyObservedSpatialAccel()
      • splitSubhinges()
      • insertDummyParentBody()
      • reattach()
      • detach()
      • getSceneParts()
      • getScenePartSpecs()
      • toLoopConstraint()
      • shiftBaseBody()
      • pnode()
      • onode()
      • physicalParentBody()
      • parentHinge()
      • newtonian2BodyF2F()
      • nodeList()
      • constraintNodeList()
      • getNode()
      • getConstraintNode()
      • setGravAccel()
      • accumGravAccel()
      • getGravAccel()
      • setGravityGradient()
      • accumGravityGradient()
      • getNodeUpsilonFromPnode()
      • getNodeUpsilonFromBody()
      • dumpString()
      • isFinalized()
      • kineticEnergy()
      • spatialMomentum()
      • getUpsilonMatrix()
      • f2f()
      • addScenePartSpec()
      • discardAllNodes()
      • create()
      • addSerialChain()
      • addTree()
      • _gatherSweepFlags()
      • _trackUsageNode()
      • _moveNode()
      • _asSharedPtr()
      • _realizeScenePart()
      • _detachNode()
      • _discard()
      • _setupNode()
      • _processScenePartSpecs()
      • _getPnodeMassMatrix()
      • _getPnodeCRBInertiaMatrix()
      • _setBodyToNodeTransform()
      • _getBodyToNodeTransform()
      • _computeGyroscopicForce()
      • _pnodeToChildNodeTransform()
      • _bodyToChildNodeTransform()
      • _pnode2BodyPsi()
      • _clearExternals()
      • _createPnode()
      • _createOnode()
      • _discardHingePnode()
      • _discardHingeOnode()
      • _registerChildOnode()
      • _unregisterChildOnode()
      • _getPnodeATBIFilterZ()
      • _getPnodeATBIMatricesP()
      • _getOnodeATBISmootherAlphaPlus()
      • _processPnodeATBISmootherVectors()
      • _processPnodeUpsilonMatrices()
      • _getPnodeInvDynForcesF()
      • _setupChildBodyCacheDependencies()
      • _setupChildPhysicalBodyCacheDependencies()
      • _setupChildCompoundBodyCacheDependencies()
      • _setupBaseBodyCacheDependencies()
      • _teardownChildBodyCacheDependencies()
      • _teardownChildPhysicalBodyCacheDependencies()
      • _teardownChildCompoundBodyCacheDependencies()
      • _teardownBaseBodyCacheDependencies()
      • _spI
      • _grav_accel_body_frame
      • _grav_gradient_body_frame
      • _parent_pnode
      • _newtonian2body_f2f
      • _gather_sweep_flags
      • _scene_part_specs
      • _scene_part_spec_parts
      • _spI_cache
      • _grav_accel_cache
      • _gyroscopic_force_cache
      • _child_onodes_list
      • _nodes_list
      • _external_force_nodes_list
      • _contact_force_nodes_list
      • _active_contact_force_node_index
      • _constraint_nodes_list
      • Karana::Dynamics::PhysicalBody::DumpOptions
        • operator=()
      • Karana::Dynamics::PhysicalBody::GatherSweepFlags
        • gravity
        • external_forces
        • constraint_forces
        • elastic_forces
        • modal_gen_forces
      • Karana::Dynamics::PhysicalBody::InvDynVectors
        • f

• Class PhysicalHinge
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::PhysicalHinge
      • ~PhysicalHinge()
      • PhysicalHinge()
      • typeString()
      • pnode()
      • onode()
      • dumpString()
      • create()
      • _discard()
      • _setupATBIDataCaches()
      • _teardownATBIDataCaches()
      • _setupInvDynDataCaches()
      • _teardownInvDynDataCaches()
      • _oneTimeTeardown()
      • _changeActionT()
      • _acorPrime()
      • Karana::Dynamics::PhysicalHinge::InterBodyForce
        • ~InterBodyForce()
        • enable_interbody_force
        • interbody_spforce

• Class PhysicalModalBody
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::PhysicalModalBody
      • PhysicalModalBody()
      • ~PhysicalModalBody()
      • typeString()
      • setBodyToJointTransform()
      • getBodyToJointTransform()
      • isFinalized()
      • getStiffnessVector()
      • setStiffnessVector()
      • getDampingVector()
      • setDampingVector()
      • dumpString()
      • jacobian()
      • getNodeUpsilonFromPnode()
      • getNodeUpsilonFromBody()
      • getUpsilonMatrix()
      • setParams()
      • atbiCoordMapMatrix()
      • create()
      • addSerialChain()
      • addTree()
      • _atbiCoordMapMatrix()
      • pframeCoordMapMatrix()
      • getATBIMatPsi()
      • getATBID()
      • getATBIDinv()
      • getATBIG()
      • getATBITauper()
      • _oframe2pframePsi()
      • _oframe2pframePhi()
      • _pframe2otherPhi()
      • _setupNode()
      • _detachNode()
      • _getM()
      • _getMff()
      • _getMfr()
      • _discardNodeDeformationProvider()
      • _discardPnodeDeformationProvider()
      • _getPnodeATBIFilterZ()
      • _getPnodeATBIMatricesP()
      • _getOnodeATBISmootherAlphaPlus()
      • _processPnodeATBISmootherVectors()
      • _getPnodeInvDynForcesF()
      • _computeSZMatrices()
      • _pnodeToChildNodeTransform()
      • _bodyToChildNodeTransform()
      • _computeATBICoordMapMatrix()
      • _computeHst_Mfl()
      • _externalModalForces()
      • _constraintModalForces()
      • _setupNodeDeformation()
      • _setupPnodeDeformation()
      • _discardHingePnode()
      • _discardHingeOnode()
      • _createPnode()
      • _createOnode()
      • _setBodyToNodeTransform()
      • _getBodyToNodeTransform()
      • _getMassAtFrame()
      • _getPnodeCRBInertiaMatrix()
      • _oneTimeSetupDataCaches()
      • _oneTimeTeardownDataCaches()
      • _stiffness_vector
      • _damping_vector
      • _using_modal_integrals
      • _modal_upsilon_matrices
      • _atbi_coord_map_matrix_cache
      • Karana::Dynamics::PhysicalModalBody::ATBIFilterVectors
        • resize()
        • dump()
        • z
        • zplus
        • epsilon
        • nu
      • Karana::Dynamics::PhysicalModalBody::ATBIMatrices
        • resize()
        • P
        • Pplus
        • HP
        • D
        • Dinv
        • G
        • tauper
        • psi
      • Karana::Dynamics::PhysicalModalBody::ATBISmootherVectors
        • alpha_plus
      • Karana::Dynamics::PhysicalModalBody::ModalUpsilonMatrices
        • Upsilon
      • Karana::Dynamics::PhysicalModalBody::SZNodeMatrices
        • S
        • Z

• Class PhysicalSubhinge
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Types
    • Derived Types
  • Class Documentation
    • Karana::Dynamics::PhysicalSubhinge
      • ~PhysicalSubhinge()
      • typeString()
      • name()
      • id()
      • f2f()
      • oframeCoordMapMatrix()
      • sanitizeCoords()
      • requiresCoordSanitization()
      • resetChart()
      • setPrescribed()
      • getIndex()
      • _enableCoordChart()
      • _oframe2pframePsi()
      • _oframe2pframePhi()
      • _pframe2otherPhi()
      • _getUpstreamSubhinge()
      • getUpsilonMatrix()
      • _getParams()
      • _fillCoordParams()
      • _setParams()
      • _setReversedParams()
      • _computeATBIMatrices()
      • _computeATBIFilterVectors()
      • _computeInvDynGenForce()
      • _computeATBISmootherVectors()
      • _computeUpsilonMatrices()
      • _coriolisAccel()
      • PhysicalSubhinge()
      • _oframe2pnode_f2f
      • _newtonian2oframe_f2f
      • _newtonian2pframe_f2f
      • _pframe_Upsilon
      • _index
      • Karana::Dynamics::PhysicalSubhinge::PhysicalSubhingeParams
        • PhysicalSubhingeParams()
        • PhysicalSubhingeParams()
        • operator=()
        • Q
        • U
        • Udot
        • T
        • prescribed

• Template Class PhysicalSubhinge_T
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::PhysicalSubhinge_T
      • ~PhysicalSubhinge_T()
      • getATBIMatPsi()
      • getATBID()
      • getATBIDinv()
      • getATBIG()
      • getATBITauper()
      • pframeCoordMapMatrix()
      • setUdot()
      • setT()
      • jacobian()
      • jacobianDot()
      • atbiCoordMapMatrix()
      • oframeCoordMapMatrix()
      • typeString()
      • dumpString()
      • dump()
      • body_6_NU_Mat
      • PhysicalSubhinge_T()
      • _computeATBIMatrices()
      • _computeATBIFilterVectors()
      • _computeATBISmootherVectors()
      • _computeUpsilonMatrices()
      • _computeATBICoordMapMatrix()
      • _atbiCoordMapMatrix()
      • _oframeCoordMapMatrix()
      • _computeInvDynGenForce()
      • _computeTransform()
      • _computeVelocity()
      • _computeAccel()
      • _getParams()
      • _fillCoordParams()
      • _setParams()
      • _setReversedParams()
      • _atbi_coord_map_matrix_cache
      • _oframe_coord_map_matrix_cache
      • Karana::Dynamics::PhysicalSubhinge_T::ATBIFilterVectors
        • resize()
        • z
        • zplus
        • epsilon
        • nu
      • Karana::Dynamics::PhysicalSubhinge_T::ATBIMatrices
        • P
        • Pplus
        • HP
        • D
        • Dinv
        • G
        • tauper
        • psi

• Class PinSubhinge
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::PinSubhinge
      • ~PinSubhinge()
      • typeString()
      • subhingeType()
      • PinSubhinge()
      • setUnitAxis()
      • _computeTransform()
      • _computeVelocity()
      • _computeAccel()

• Class Scheduler
  • Class Documentation
    • Karana::Dynamics::Scheduler
      • registerTimedEvent()
      • unregisterTimedEvent()
      • hasRegisteredTimedEvent()
      • executeBeforeHopEvents()
      • executeAfterHopEvents()
      • getNextExplicitHopEndTime()
      • dumpString()

• Class ScrewSubhinge
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::ScrewSubhinge
      • ~ScrewSubhinge()
      • typeString()
      • subhingeType()
      • setUnitAxis()
      • isFinalized()
      • setPitch()
      • getPitch()
      • ScrewSubhinge()
      • _computeTransform()
      • _computeVelocity()
      • _computeAccel()
      • _getParams()
      • _setParams()
      • Karana::Dynamics::ScrewSubhinge::PhysicalSubhingeParams
        • operator=()
        • pitch

• Class SphericalQuatSubhinge
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::SphericalQuatSubhinge
      • ~SphericalQuatSubhinge()
      • typeString()
      • subhingeType()
      • SphericalQuatSubhinge()
      • setU()
      • getQdot()
      • dumpString()
      • _localChartSetQ()
      • _computeTransform()
      • _computeVelocity()
      • _computeAccel()
      • _computeQdot()
      • poseGradient()
      • _genvel2qdotMap()
      • _qdot2genvelMap()
      • _getParams()

• Class SphericalSubhinge
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::SphericalSubhinge
      • ~SphericalSubhinge()
      • typeString()
      • subhingeType()
      • SphericalSubhinge()
      • getQdot()
      • setU()
      • dumpString()
      • requiresCoordSanitization()
      • setMaxChartAngle()
      • getMaxChartAngle()
      • sanitizeCoords()
      • getChartOffset()
      • resetChart()
      • getQ()
      • setQ()
      • _computeTransform()
      • _computeVelocity()
      • _computeAccel()
      • _computeQdot()
      • poseGradient()
      • _genvel2qdotMap()
      • _qdot2genvelMap()
      • _getParams()
      • _setParams()
      • _enableCoordChart()
      • Karana::Dynamics::SphericalSubhinge::PhysicalSubhingeParams
        • operator=()
        • max_chart_angle

• Class StatePropagator
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::StatePropagator
      • SpStatusEnum
        • UNKNOWN
        • REACHED_END_TIME
        • REACHED_TERMINATION_CONDITION
        • REACHED_ZERO_CROSSING
        • FAILED_STEP_VALIDATION
      • SpSolverType
        • TREE_DYNAMICS
        • TREE_AUGMENTED_DYNAMICS
        • BAUMGARTE_DYNAMICS
        • KINEMATICS
        • UNDEFINED
      • StatePropagator()
      • ~StatePropagator()
      • solverType()
      • advanceTo()
      • advanceBy()
      • getIntegrator()
      • setIntegrator()
      • setTime()
      • setState()
      • assembleState()
      • assembleStateDeriv()
      • nstates()
      • getTime()
      • getMaxStepSize()
      • setMaxStepSize()
      • getUpdateStateDerivativesHopEnd()
      • setUpdateStateDerivativesHopEnd()
      • derivFunction()
      • computeJacobian()
      • registerModel()
      • unregisterModel()
      • dumpString()
      • registerTimedEvent()
      • unregisterTimedEvent()
      • hasRegisteredTimedEvent()
      • counters()
      • getRegisteredModels()
      • getRegisteredModel()
      • getTimeKeeper()
      • getSubTree()
      • trace_state_propagator
      • fns
      • create()
      • _hopStep()
      • _integrationStep()
      • _setStateWithModels()
      • _discard()
      • _makeCurrent()
      • _checkConstraintErrors()
      • _scheduler
      • _st
      • _sg
      • _integrator
      • _options
      • _tolerance
      • _nstates
      • _time_keeper
      • _curr_X
      • Karana::Dynamics::StatePropagator::Counters
        • hops
        • derivs
        • zero_crossings
        • integration_steps
      • Karana::Dynamics::StatePropagator::SpFunctions
        • pre_deriv_fns
        • post_deriv_fns
        • pre_hop_fns
        • post_hop_fns
        • step_validate_fn
        • zero_crossing_fns
        • terminate_advance_to_fns
      • Karana::Dynamics::StatePropagator::SpOptions
        • max_step_size
        • update_state_derivatives_hop_end
        • baumgarte_stiffness
        • baumgarte_damping

• Class SubGraph
  • Inheritance Relationships
    • Base Type
    • Derived Type
  • Class Documentation
    • Karana::Dynamics::SubGraph
      • SubGraph()
      • ~SubGraph()
      • typeString()
      • isSubGraph()
      • constraintCoordData()
      • aggregationSubGraph()
      • getEnabledConstraint()
      • getBodyCoordinateConstraints()
      • getBodyLoopConstraints()
      • getLoopConstraintBodies()
      • inheritConstraints()
      • displayModel()
      • dumpString()
      • enabledConstraints()
      • enableConstraint()
      • disableConstraint()
      • cks()
      • coordAt()
      • constraintErrorAt()
      • constraintResidualAt()
      • constraintsGc()
      • Gamma()
      • graphCoordData()
      • treeCoordData()
      • articulateSubhinge()
      • dumpTree()
      • poseError()
      • velError()
      • accelError()
      • constraintsErrorPoseGradient()
      • constraintsErrorVelJacobian()
      • constraintsErrorVelJacobianDot()
      • enabledHingeLoopConstraints()
      • enabledNonHingeLoopConstraints()
      • enabledCoordinateConstraints()
      • nLoopConstraintResiduals()
      • enableSubhingeCharts()
      • create()
      • complementaryIndices()
      • _coordDataList()
      • _constraintsQmat()
      • _constraintsNodesTreeJacobianGen()
      • _constraintNodes()
      • _getEnabledCoordinateConstraint()
      • _getEnabledHingeLoopConstraint()
      • _getEnabledNonHingeLoopConstraint()
      • _hingeLoopConstraintsErrorJacobianGen()
      • _nonHingeLoopConstraintsJacobianGen()
      • _getCoordinateConstraintsErrorJacobian()
      • _getNonHingeLoopConstraintsErrorJacobian()
      • _getNonHingeLoopConstraintsErrorJacobianDot()
      • _coordOffsets()
      • _resetSubhingeCharts()
      • _clearExternals()
      • _discard()
      • _makeConstrainCoordData()
      • _enableLoopConstraint()
      • _disableLoopConstraint()
      • _enableCoordinateConstraint()
      • _disableCoordinateConstraint()
      • _enabled_hinge_loop_constraints_list
      • _enabled_nonhinge_loop_constraints_list
      • _enabled_coordinate_constraints_list
      • _rowsQ_loop
      • _rowsQ_coord
      • _loop_constraint_nodes_list
      • _coordinate_constraint_subhinges_list
      • _constraint_coord_data
      • _cks
      • _graph_coord_data
      • _hinge_loops_multi_jacgen
      • _non_hinge_loops_multi_jacgen
      • _constraint_nodes_tree_multi_jacgen

• Class SubhingeBase
  • Inheritance Relationships
    • Base Type
    • Derived Types
  • Class Documentation
    • Karana::Dynamics::SubhingeBase
      • SubhingeType
        • LOCKED
        • PIN
        • LINEAR
        • LINEAR3
        • SPHERICAL
        • SPHERICAL_QUAT
        • SCREW
        • COMPOUND
      • ~SubhingeBase()
      • typeString()
      • subhingeType()
      • setPrescribed()
      • getPrescribed()
      • parentHinge()
      • jacobian()
      • subhingeTypeString()
      • SubhingeBase()
      • _parent_hinge
      • _prescribed

• Class SubTree
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
    • Derived Type
  • Class Documentation
    • Karana::Dynamics::SubTree
      • SubTree()
      • ~SubTree()
      • typeString()
      • isSubGraph()
      • virtualRoot()
      • parentBody()
      • baseBodies()
      • leafBodies()
      • ancestorBody()
      • containsBody()
      • hasBody()
      • getBody()
      • getBodies()
      • childrenBodies()
      • isBaseBody()
      • numBodies()
      • coordAt()
      • coordOffsets()
      • nQ()
      • nU()
      • getQ()
      • setQ()
      • setQ()
      • getQdot()
      • getU()
      • setU()
      • setU()
      • getUdot()
      • setUdot()
      • setUdot()
      • getT()
      • setT()
      • setT()
      • multibody()
      • bodyPnodesOSCM()
      • bodyOSCM()
      • framesOSCM()
      • showState()
      • enableSubhingeCharts()
      • subhingeChartsEnabled()
      • dumpString()
      • displayModel()
      • dumpTree()
      • subhingeCoordData()
      • treeCoordData()
      • bodyCoordData()
      • hasCompoundBodies()
      • sortedPhysicalBodiesList()
      • sortedBodiesList()
      • enableAlgorithmicUse()
      • disableAlgorithmicUse()
      • setUniformGravAccel()
      • accumUniformGravAccel()
      • cmFrame()
      • articulateSubhinge()
      • articulateBodies()
      • sanitizedCoords()
      • resetData()
      • crossUpsilonMatrix()
      • getCrossUpsilonMatrix()
      • getBodyPairPnodePsiMatrix()
      • getBodyPairPsiMatrix()
      • getBodyPairPhiMatrix()
      • getCoordBasePairPsiMatrix()
      • getCoordBasePairOframePsiMatrix()
      • getCoordBasePairPhiMatrix()
      • dumpDynamics()
      • enable_dump_dynamics
      • create()
      • _stateToDynamics()
      • _dynamicsToState()
      • _dynamicsToState()
      • _dynamicsToStateDeriv()
      • _dynamicsToStateDeriv()
      • _coordDataList()
      • _localChartSetQ()
      • _localChartGetQ()
      • _resetSubhingeCharts()
      • _coordOffsets()
      • _getCrossUpsilonMatrix()
      • _getMinvBlock()
      • _getMinvBlock()
      • _getMinvBlock()
      • _getMinvOSCMBlock()
      • _clearExternals()
      • _discard()
      • _lookupOrCreateCoordBasePairPhiCache()
      • _trackUsageCoordBasePhiCache()
      • _lookupOrCreateCoordBasePairPsiCache()
      • _trackUsageCoordBasePsiCache()
      • _lookupOrCreateCoordBasePairOframePsiCache()
      • _trackUsageCoordBaseOframePsiCache()
      • _computeBodyPairPnodePsi()
      • _computeBodyPairPsi()
      • _computeBodyPairPhi()
      • _computeCoordBasePairPhi()
      • _computeCoordBasePairPsi()
      • _computeCoordBasePairOframePsi()
      • _dumpTree()
      • _trackUsageCompoundBody()
      • _setupTree()
      • _setupCoordSanitizationSubhinges()
      • _makeStale()
      • _discardAllSubTrees()
      • _discardCmFrame()
      • _filteredChildOnodes()
      • _registerBody()
      • _unregisterBody()
      • _areDisjoint()
      • _populateNewChildTreeWithBodies()
      • _setupSortedPhysicalBodiesList()
      • _setupSortedBodiesList()
      • _computeCMPose()
      • _computeCMSpVel()
      • _computeCMSpAccel()
      • _framesOSCM()
      • _framesSubhingesOSCM()
      • _multibody
      • _virtual_root_body
      • _unsorted_bodies_list
      • _sorted_bodies
      • _parent_subtree
      • _cm_frame
      • _subhinge_coord_data
      • _body_coord_data
      • _tree_coord_data
      • _child_subtrees_usage_map
      • _compound_bodies_usage_map
      • _coordbase_phi_cache_usage_map
      • _coordbase_psi_cache_usage_map
      • _coordbase_oframe_psi_cache_usage_map
      • _body2parent_map
      • _base_bodies
      • _leaf_bodies
      • _sorted_physical_bodies
      • _coord_sanitization_subhinges
      • _tree
      • _has_compound_bodies
      • _enabled_algorthmic
      • _enabled_subhinge_charts
      • _dump_dynamics_prefix
      • Karana::Dynamics::SubTree::DumpTreeOptions
        • hinge_type
        • lock_status
        • ref_count
        • hinge_ref_count
        • id

• Class TimedEvent
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::TimedEvent
      • TimedEvent()
      • TimedEvent()
      • TimedEvent()
      • dumpString()
      • reschedule()
      • operator>()
      • isBeforeHop()
      • nextEventTime()
      • fn
      • priority
      • period
      • reschedule_fn
      • create()

• Class TimeKeeper
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Dynamics::TimeKeeper
      • TimeKeeper()
      • TimeKeeper()
      • getTime()
      • setTime()
      • isFinalized()
      • setInitialEphemeris()
      • setInitialEphemeris()
      • utcTimeToEphemeris()
      • _time
      • _fc
      • _initial_ephemeris

• Class ChainedFrameToFrame
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Frame::ChainedFrameToFrame
      • ChainedFrameToFrame()
      • dumpString()
      • lookupOrCreate()
      • _empty()
      • _makeStale()
      • _setup()
      • _makeCurrent()
      • _computeTransform()
      • _computeVelocity()
      • _computeAccel()
      • _discard()

• Class EdgeFrameToFrame
  • Inheritance Relationships
    • Base Type
    • Derived Types
  • Class Documentation
    • Karana::Frame::EdgeFrameToFrame
      • ~EdgeFrameToFrame()
      • EdgeFrameToFrame()
      • _discard()

• Class Frame
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
    • Derived Types
  • Class Documentation
    • Karana::Frame::Frame
      • discard()
      • ~Frame()
      • parent()
      • edge()
      • container()
      • containerPtr()
      • frameToFrame()
      • frameToFrameRef()
      • orientedFrameToFrame()
      • orientedFrameToFrameRef()
      • isAncestorOf()
      • getAncestor()
      • Frame()
      • dumpString()
      • dumpFrameTree()
      • create()
      • _discard()
      • Karana::Frame::Frame::DumpFrameTreeOptions
        • type_string
        • edge_type
        • lock_status
        • ref_count
        • edge_ref_count
        • id

• Class FrameContainer
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Frame::FrameContainer
      • FrameContainer()
      • ~FrameContainer()
      • dumpString()
      • root()
      • lookupFrame()
      • isAncestorOf()
      • getAncestor()
      • trackUsageFrame()
      • trackUsageEdgeFrameToFrame()
      • trackUsageOrientedChainedFrameToFrame()
      • trackUsageChainedFrameToFrame()
      • chainedFrameToFrames()
      • frames()
      • edgeFrameToFrames()
      • freezeUpstream()
      • unfreezeUpstream()
      • setEphemerisTime()
      • getEphemerisTime()
      • isUsingSpice()
      • dumpFrameTree()
      • tree()
      • create()
      • _discard()
      • _makeStale()
      • _makeCurrent()
      • _subchainOrientation()
      • _spice_f2fs_list
      • Karana::Frame::FrameContainer::DumpOptions
        • operator=()
        • frames
        • edges
        • oriented
        • chains

• Class FrameToFrame
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
    • Derived Types
  • Class Documentation
    • Karana::Frame::FrameToFrame
      • ~FrameToFrame()
      • oframe()
      • pframe()
      • subchainOrientation()
      • relTransform()
      • relSpVel()
      • oframeDerivRelRates()
      • relSpAccel()
      • pframeObservedRelSpVel()
      • pframeObservedRelSpAccel()
      • toPframeDerivSpVel()
      • toPframeDerivSpAccel()
      • toOframeObserved()
      • phiDotMatrix()
      • transformCache()
      • velocityCache()
      • accelCache()
      • coriolisAccelOop()
      • coriolisAccelTpp()
      • solveTransform()
      • solveSpVel()
      • solveSpAccel()
      • dumpString()
      • freezeDataCaches()
      • unfreezeDataCaches()
      • FrameToFrame()
      • _empty()
      • _makeCurrent()
      • _computeTransform()
      • _computeVelocity()
      • _computeAccel()
      • _propagateVelocity_oop()
      • _propagateAccel_oop()
      • _transform_cache
      • _velocity_cache
      • _accel_cache
      • _oframe
      • _pframe
      • _mkName()
      • Karana::Frame::FrameToFrame::DumpOptions
        • DumpOptions()
        • operator=()
        • depth
        • data

• Class OrientedChainedFrameToFrame
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
    • Derived Type
  • Class Documentation
    • Karana::Frame::OrientedChainedFrameToFrame
      • OrientedChainedFrameToFrame()
      • numEdges()
      • getPath()
      • dumpString()
      • lookupOrCreate()
      • _empty()
      • _computeTransform()
      • _computeVelocity()
      • _computeAccel()
      • _makeCurrent()
      • _makeStale()
      • _setup()
      • _discard()
      • _pframe_parent
      • _pframe_edge_f2f
      • _to_parent_f2f
      • Karana::Frame::OrientedChainedFrameToFrame::DumpOptions
        • operator=()
        • path

• Class PrescribedFrameToFrame
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Frame::PrescribedFrameToFrame
      • PrescribedFrameToFrame()
      • setRelTransform()
      • setRelSpVel()
      • setAccel()
      • create()
      • _computeTransform()
      • _computeVelocity()
      • _computeAccel()

• Class SpiceFrame
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Frame::SpiceFrame
      • SpiceFrame()
      • typeString()
      • loadNaifKernel()
      • lookupOrCreate()
      • _discard()
      • _naif_frame_id
      • _naif_body_id

• Class SpiceFrameToFrame
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Frame::SpiceFrameToFrame
      • SpiceFrameToFrame()
      • typeString()
      • lookupOrCreate()
      • _computeTransform()
      • _computeVelocity()
      • _computeAccel()

• Class H5Writer
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::KUtils::H5Writer
      • H5Writer()
      • ~H5Writer()
      • createTable()
      • log()
      • logTable()
      • activateTable()
      • deactivateTable()
      • activeTableNames()
      • tableNames()
      • create()

• Class PacketTableConfig
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::KUtils::PacketTableConfig
      • PacketTableConfig()
      • ~PacketTableConfig()
      • addData()
      • addData()
      • addData()
      • addData()
      • fillBuf()
      • create()
      • _makeCurrent()
      • _makeStale()

• Class AABB
  • Class Documentation
    • Karana::Math::AABB
      • AABB()
      • AABB()
      • AABB()
      • operator=()
      • min()
      • max()
      • dumpString()
      • dump()
      • operator+()
      • operator+=()
      • translate()
      • rotate()
      • scale()
      • scale()
      • transform()

• Class AkimaSplineInterpolator
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Math::AkimaSplineInterpolator
      • Extrapolation
        • CONSTANT
        • LINEAR
        • CUBIC
      • AkimaSplineInterpolator()
      • operator()()
      • operator()()
      • operator()()

• Class ArkExplicitIntegrator
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Math::ArkExplicitIntegrator
      • NLSOLVER
        • FIXEDPOINT
        • NEWTON
      • METHOD
        • HUEN_EULER
        • ZONNEVELD
        • CASH_KARP
        • DORMAND_PRINCE
        • FEHLBERG78
      • ArkExplicitIntegrator()
      • ~ArkExplicitIntegrator()
      • typeString()
      • getOptions()
      • getIntegratorType()
      • hardReset()
      • softReset()
      • advanceTo()
      • butcher_table_id
      • _sunctx
      • _y
      • _a_mat
      • _ls
      • _nls
      • _arkode_mem
      • _dx
      • _arkode_f()
      • Karana::Math::ArkExplicitIntegrator::IntegratorOptions
        • operator=()
        • IntegratorOptions()
        • IntegratorOptions()
        • ~IntegratorOptions()
        • rtol
        • atol
        • atol_vec
        • max_num_steps
        • nlsolver
        • method

• Class BaseInterpolator
  • Inheritance Relationships
    • Derived Types
  • Class Documentation
    • Karana::Math::BaseInterpolator
      • ~BaseInterpolator()
      • operator()()
      • operator()()
      • operator()()

• Class ConstantInterpolator
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Math::ConstantInterpolator
      • ConstantInterpolator()
      • operator()()
      • operator()()
      • operator()()

• Class CVodeIntegrator
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Math::CVodeIntegrator
      • NLSOLVER
        • FIXEDPOINT
        • NEWTON
      • METHOD
        • ADAMS
        • BDF
      • CVodeIntegrator()
      • ~CVodeIntegrator()
      • typeString()
      • hardReset()
      • softReset()
      • advanceTo()
      • updateJacobian()
      • getOptions()
      • getIntegratorType()
      • getErrorContributions()
      • getCurrentOrder()
      • getLastStepSize()
      • _sunctx
      • _y
      • _a_mat
      • _jacobian_buffer
      • _ls
      • _nls
      • _cvode_mem
      • _dx
      • _integrator_type
      • _cvode_f()
      • _cvode_jacobian()
      • Karana::Math::CVodeIntegrator::IntegratorOptions
        • IntegratorOptions()
        • IntegratorOptions()
        • operator=()
        • ~IntegratorOptions()
        • rtol
        • atol
        • atol_vec
        • max_num_steps
        • anderson_accel
        • nlsolver
        • method
        • use_jacobian

• Class EulerIntegrator
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Math::EulerIntegrator
      • EulerIntegrator()
      • hardReset()
      • advanceTo()
      • typeString()
      • getOptions()
      • getIntegratorType()

• Class HomTran
  • Class Documentation
    • Karana::Math::HomTran
      • HomTran()
      • HomTran()
      • HomTran()
      • HomTran()
      • HomTran()
      • operator=()
      • HomTran()
      • operator=()
      • operator==()
      • isApprox()
      • typeString()
      • setTranslation()
      • uninitialize()
      • isInitialized()
      • dumpString()
      • dump()
      • setUnitQuaternion()
      • getMatrix()
      • getTranslation()
      • getUnitQuaternion()
      • toVector6()
      • setIdentity()
      • isIdentity()
      • hasTranslation()
      • hasRotation()
      • operator*()
      • operator*()
      • inverse()
      • phi()
      • phiVec()
      • phiMat()
      • phiSymmetric()
      • phiStar()
      • phiStarVec()
      • phiStarMat()
      • phiStarSymmetric()
      • phiMatrix()

• Class IdaIntegrator
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Math::IdaIntegrator
      • NLSOLVER
        • FIXEDPOINT
        • NEWTON
      • METHOD
        • ADAMS
        • BDF
      • IdaIntegrator()
      • ~IdaIntegrator()
      • typeString()
      • hardReset()
      • softReset()
      • advanceTo()
      • getOptions()
      • getIntegratorType()
      • getErrorContributions()
      • residuals()
      • _sunctx
      • _y
      • _ydot
      • _y_id
      • _iresiduals
      • _nalgebraic
      • _a_mat
      • _ls
      • _nls
      • _ida_mem
      • _residuals_fn
      • _ida_f()
      • Karana::Math::IdaIntegrator::IntegratorOptions
        • IntegratorOptions()
        • IntegratorOptions()
        • operator=()
        • ~IntegratorOptions()
        • rtol
        • atol
        • atol_vec
        • max_num_steps
        • suppress_algebraric
        • anderson_accel
        • nlsolver
        • method

• Class Integrator
  • Nested Relationships
    • Nested Types
  • Inheritance Relationships
    • Derived Types
  • Class Documentation
    • Karana::Math::Integrator
      • Integrator()
      • ~Integrator()
      • typeString()
      • advanceTo()
      • softReset()
      • hardReset()
      • getX()
      • getTime()
      • getOptions()
      • getIntegratorType()
      • derivFunction()
      • updateJacobian()
      • nStates()
      • create()
      • create()
      • _t
      • _x
      • _nstates
      • _deriv_fn
      • _opts
      • Karana::Math::Integrator::IntegratorOptions
        • IntegratorOptions()
        • IntegratorOptions()
        • operator=()
        • ~IntegratorOptions()

• Class Jacobian
  • Class Documentation
    • Karana::Math::Jacobian
      • Jacobian()
      • getF()
      • setF()
      • getMode()
      • setMode()
      • operator()()

• Class LinearInterpolator
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Math::LinearInterpolator
      • Extrapolation
        • CONSTANT
        • LINEAR
      • LinearInterpolator()
      • operator()()
      • operator()()
      • operator()()

• Class NearestNeighborInterpolator
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Math::NearestNeighborInterpolator
      • NearestNeighborInterpolator()
      • operator()()
      • operator()()
      • operator()()

• Class NonlinearSolver
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Math::NonlinearSolver
      • NonlinearSolver()
      • getF()
      • setF()
      • getJac()
      • setJac()
      • getSolver()
      • setSolver()
      • createSolver()
      • solve()
      • status
      • create()
      • _makeCurrent()

• Class NoopIntegrator
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Math::NoopIntegrator
      • NoopIntegrator()
      • advanceTo()
      • typeString()
      • getOptions()
      • getIntegratorType()

• Class RK4Integrator
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Math::RK4Integrator
      • RK4Integrator()
      • hardReset()
      • advanceTo()
      • typeString()
      • getOptions()
      • getIntegratorType()

• Class RotationMatrix
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Math::RotationMatrix
      • RotationMatrix()
      • RotationMatrix()
      • RotationMatrix()
      • RotationMatrix()
      • operator=()
      • RotationMatrix()
      • operator=()
      • operator==()
      • isApprox()
      • typeString()
      • setValues()

• Class RotationVector
  • Class Documentation
    • Karana::Math::RotationVector
      • RotationVector()
      • RotationVector()
      • RotationVector()
      • operator=()
      • RotationVector()
      • operator=()
      • operator==()
      • isApprox()
      • typeString()
      • angle()
      • unitAxis()
      • toVec3()
      • uninitialize()
      • isInitialized()
      • ratesToOmega()
      • omegaToRates()
      • ratesToOmegaMap()
      • omegaToRatesMap()
      • ratesToQuatRatesMap()
      • dumpString()

• Class SimTran
  • Class Documentation
    • Karana::Math::SimTran
      • SimTran()
      • SimTran()
      • SimTran()
      • SimTran()
      • SimTran()
      • operator=()
      • SimTran()
      • operator=()
      • operator==()
      • isApprox()
      • typeString()
      • setTranslation()
      • dumpString()
      • dump()
      • setUnitQuaternion()
      • setScale()
      • getMatrix()
      • getTranslation()
      • getUnitQuaternion()
      • getScale()
      • setIdentity()
      • isIdentity()
      • hasTranslation()
      • hasRotation()
      • hasScale()
      • operator*()
      • operator*()
      • inverse()
      • uninitialize()
      • isInitialized()

• Class SpatialInertia
  • Class Documentation
    • Karana::Math::SpatialInertia
      • SpatialInertia()
      • uninitialize()
      • isInitialized()
      • SpatialInertia()
      • SpatialInertia()
      • setZero()
      • operator=()
      • SpatialInertia()
      • operator=()
      • operator+()
      • operator-()
      • operator+=()
      • operator-=()
      • operator==()
      • isApprox()
      • typeString()
      • mass()
      • bodyToCm()
      • mp()
      • inertia()
      • cmInertia()
      • dumpString()
      • dump()
      • operator*()
      • matrix()
      • parallelAxis()
      • _setInertia()
      • _validateInertia()
      • _parallelAxisCmInertiaOffset()

• Class SpatialVector
  • Class Documentation
    • Karana::Math::SpatialVector
      • SpatialVector()
      • SpatialVector()
      • SpatialVector()
      • SpatialVector()
      • operator=()
      • SpatialVector()
      • operator=()
      • typeString()
      • dumpString()
      • dump()
      • isZero()
      • setZero()
      • uninitialize()
      • isInitialized()
      • operator==()
      • operator*()
      • operator*()
      • operator+()
      • operator+=()
      • operator-()
      • operator-()
      • operator-=()
      • operator+()
      • operator-()
      • isApprox()
      • getw()
      • setw()
      • getv()
      • setv()
      • toVector6()
      • cross()
      • tilde()
      • barprod()
      • multiplyFromLeft()

• Class StateSpace
  • Nested Relationships
    • Nested Types
  • Class Documentation
    • Karana::Math::StateSpace
      • StateSpace()
      • generate()
      • Karana::Math::StateSpace::SS
        • A
        • B
        • C
        • D

• Class UnitQuaternion
  • Class Documentation
    • Karana::Math::UnitQuaternion
      • UnitQuaternion()
      • UnitQuaternion()
      • UnitQuaternion()
      • UnitQuaternion()
      • UnitQuaternion()
      • UnitQuaternion()
      • UnitQuaternion()
      • UnitQuaternion()
      • typeString()
      • dumpString()
      • dump()
      • uninitialize()
      • isInitialized()
      • UnitQuaternion()
      • UnitQuaternion()
      • operator=()
      • operator=()
      • asEigen()
      • toRotationMatrix()
      • toEulerAngles()
      • isIdentity()
      • setIdentity()
      • operator==()
      • isApprox()
      • operator*()
      • operator*()
      • operator*()
      • inverse()
      • vec()
      • toAngleAxis()
      • toRotationVector()
      • toVector4()
      • rotate()
      • rotateLeft6N()
      • rotateRightN6()
      • rotate66()
      • omegaToRates()
      • vectorRatesToOmegaMap()
      • omegaToVectorRatesMap()
      • omegaToScalarRateMap()
      • ratesToOmegaMap()
      • omegaToRatesMap()
      • ratesToRotVecRatesMap()

• Class BaseKModel
  • Inheritance Relationships
    • Base Type
    • Derived Types
  • Class Documentation
    • Karana::Models::BaseKModel
      • BaseKModel()
      • getNextModelStepTime()
      • getPeriod()
      • setPeriod()
      • stdDebugMsg()
      • state_propagator
      • debug_model
      • _registerModel()
      • _unregisterModel()
      • _getContinuousStates()
      • _getContinuousStatesDeriv()
      • _setContinuousStates()
      • _period
      • _registered
      • _has_continuous_states

• Class ComputedTorque
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::ComputedTorque
      • ComputedTorque()
      • preDeriv()
      • ~ComputedTorque()
      • create()

• Class DataLogger
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::DataLogger
      • DataLogger()
      • postModelStep()
      • getH5Writer()
      • ~DataLogger()
      • create()
      • _registerModel()
      • _unregisterModel()

• Class DataLoggerParams
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::DataLoggerParams
      • DataLoggerParams()
      • isFinalized()
      • log_first_step

• Class GraphicalSceneMovie
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::GraphicalSceneMovie
      • GraphicalSceneMovie()
      • ~GraphicalSceneMovie()
      • postModelStep()
      • getFfmpegCommand()
      • create()
      • _registerModel()
      • _unregisterModel()

• Class GraphicalSceneMovieParams
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::GraphicalSceneMovieParams
      • GraphicalSceneMovieParams()
      • isFinalized()
      • dir
      • filename_prefix
      • render_first_frame

• Template Class KModel
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::KModel
      • isFinalized()
      • getNextModelStepTime()
      • getPeriod()
      • setPeriod()
      • BaseKModel()
      • params
      • scratch
      • discrete_states
      • continuous_states
      • _registerModel()
      • _unregisterModel()
      • _getContinuousStates()
      • _getContinuousStatesDeriv()
      • _setContinuousStates()
      • dumpString()

• Class KModelContinuousStates
  • Inheritance Relationships
    • Base Type
    • Derived Type
  • Class Documentation
    • Karana::Models::KModelContinuousStates
      • KModelContinuousStates()
      • isFinalized()
      • getX()
      • getdX()
      • setX()

• Class KModelDiscreteStates
  • Inheritance Relationships
    • Base Type
    • Derived Type
  • Class Documentation
    • Karana::Models::KModelDiscreteStates
      • KModelDiscreteStates()
      • isFinalized()

• Class KModelParams
  • Inheritance Relationships
    • Base Type
    • Derived Types
  • Class Documentation
    • Karana::Models::KModelParams
      • KModelParams()
      • isFinalized()

• Class KModelScratch
  • Inheritance Relationships
    • Base Type
    • Derived Types
  • Class Documentation
    • Karana::Models::KModelScratch
      • KModelScratch()

• Class NoContinuousStates
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::NoContinuousStates

• Class NoDiscreteStates
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::NoDiscreteStates

• Class NoParams
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::NoParams

• Class NoScratch
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::NoScratch

• Class PenaltyContact
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::PenaltyContact
      • CollisionModelFn
      • PenaltyContact()
      • ~PenaltyContact()
      • preDeriv()
      • dumpString()
      • create()

• Class PID
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::PID
      • PID()
      • ~PID()
      • preDeriv()
      • preModelStep()
      • create()

• Class PIDParams
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::PIDParams
      • PIDParams()
      • isFinalized()
      • kp
      • kd
      • ki

• Class PinJointLimits
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::PinJointLimits
      • PinJointLimits()
      • ~PinJointLimits()
      • preDeriv()
      • create()

• Class PinJointLimitsParams
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::PinJointLimitsParams
      • PinJointLimitsParams()
      • isFinalized()
      • upper_limit
      • lower_limit
      • k
      • d

• Class PointMassGravity
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::PointMassGravity
      • PointMassGravity()
      • ~PointMassGravity()
      • preDeriv()
      • getObjIds()
      • create()

• Class PointMassGravityParams
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::PointMassGravityParams
      • PointMassGravityParams()
      • isFinalized()
      • mu

• Class ProjectConstraintError
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::ProjectConstraintError
      • ProjectConstraintError()
      • ~ProjectConstraintError()
      • postModelStep()
      • create()

• Class ProjectConstraintErrorParams
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::ProjectConstraintErrorParams
      • ProjectConstraintErrorParams()
      • isFinalized()
      • tol

• Class SpringDamper
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::SpringDamper
      • SpringDamper()
      • ~SpringDamper()
      • preDeriv()
      • getNodeIds()
      • sourceNode()
      • targetNode()
      • create()

• Class SpringDamperParams
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::SpringDamperParams
      • SpringDamperParams()
      • isFinalized()
      • dumpString()
      • unsprung_length
      • k
      • d

• Class SpringDamperScratch
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::SpringDamperScratch
      • SpringDamperScratch()
      • dumpString()
      • offset
      • position_error
      • velocity_error
      • stiffness_force
      • damping_force
      • total_force

• Class SubhingeForceLimits
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::SubhingeForceLimits
      • SubhingeForceLimits()
      • ~SubhingeForceLimits()
      • preDeriv()
      • isFinalized()
      • create()

• Class SubhingeForceLimitsParams
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::SubhingeForceLimitsParams
      • SubhingeForceLimitsParams()
      • isFinalized()
      • lower_limits
      • upper_limits

• Class SubhingeSpringDamper
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::SubhingeSpringDamper
      • SubhingeSpringDamper()
      • ~SubhingeSpringDamper()
      • preDeriv()
      • isFinalized()
      • create()

• Class SubhingeSpringDamperParams
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::SubhingeSpringDamperParams
      • SubhingeSpringDamperParams()
      • isFinalized()
      • setpoint
      • k
      • d

• Class SyncRealTime
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::SyncRealTime
      • SyncRealTime()
      • ~SyncRealTime()
      • preHop()
      • postHop()
      • create()

• Class TimeDisplay
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::TimeDisplay
      • TimeDisplay()
      • ~TimeDisplay()
      • postModelStep()
      • _unregisterModel()
      • create()

• Class TimeDisplayParams
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::TimeDisplayParams
      • TimeDisplayParams()
      • isFinalized()
      • color

• Class UniformGravity
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::UniformGravity
      • UniformGravity()
      • ~UniformGravity()
      • preDeriv()
      • create()

• Class UniformGravityParams
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::UniformGravityParams
      • UniformGravityParams()
      • isFinalized()
      • g

• Class UpdateProxyScene
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Models::UpdateProxyScene
      • UpdateProxyScene()
      • ~UpdateProxyScene()
      • postHop()
      • create()

• Class AbstractImporter
  • Inheritance Relationships
    • Derived Type
  • Class Documentation
    • Karana::Scene::AbstractImporter
      • ~AbstractImporter()
      • importFrom()

• Class AbstractStaticGeometry
  • Inheritance Relationships
    • Base Type
    • Derived Types
  • Class Documentation
    • Karana::Scene::AbstractStaticGeometry
      • AbstractStaticGeometry()
      • ~AbstractStaticGeometry()
      • operator StaticMeshGeometry()
      • aabb()

• Class AssimpImporter
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Scene::AssimpImporter
      • AssimpImporter()
      • importFrom()

• Class BoxGeometry
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Scene::BoxGeometry
      • BoxGeometry()
      • BoxGeometry()
      • operator=()
      • BoxGeometry()
      • operator=()
      • operator StaticMeshGeometry()
      • aabb()
      • width
      • height
      • depth

• Class CapsuleGeometry
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Scene::CapsuleGeometry
      • CapsuleGeometry()
      • CapsuleGeometry()
      • operator=()
      • CapsuleGeometry()
      • operator=()
      • operator StaticMeshGeometry()
      • aabb()
      • radius
      • height

• Class ClientRegistry
  • Class Documentation
    • Karana::Scene::ClientRegistry
      • ClientRegistry()
      • insert()
      • erase()
      • erase()
      • clear()
      • contains()
      • contains()
      • at()
      • at()
      • forEach()
      • root_frame

• Class CoalGeometryCache
  • Class Documentation
    • Karana::Scene::CoalGeometryCache
      • CoalGeometryCache()
      • ~CoalGeometryCache()
      • CoalGeometryCache()
      • operator=()
      • CoalGeometryCache()
      • operator=()
      • get()

• Class CoalScene
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Scene::CoalScene
      • CoalScene()
      • ~CoalScene()
      • broadphase()
      • sweep()
      • cachedCollisions()
      • lookupPart()
      • create()
      • _discard()

• Class CoalSceneNode
  • Inheritance Relationships
    • Base Type
    • Derived Type
  • Class Documentation
    • Karana::Scene::CoalSceneNode
      • CoalSceneNode()
      • create()

• Class CoalScenePart
  • Inheritance Relationships
    • Base Types
  • Class Documentation
    • Karana::Scene::CoalScenePart
      • CoalScenePart()
      • ~CoalScenePart()
      • collide()
      • distance()
      • create()

• Class CollisionScene
  • Inheritance Relationships
    • Base Type
    • Derived Type
  • Class Documentation
    • Karana::Scene::CollisionScene
      • ~CollisionScene()
      • broadphase()
      • sweep()
      • cachedCollisions()
      • lookupPart()
      • CollisionScene()

• Class CollisionSceneNode
  • Inheritance Relationships
    • Base Type
    • Derived Types
  • Class Documentation
    • Karana::Scene::CollisionSceneNode
      • ~CollisionSceneNode()
      • create()
      • CollisionSceneNode()

• Class CollisionScenePart
  • Inheritance Relationships
    • Base Types
    • Derived Type
  • Class Documentation
    • Karana::Scene::CollisionScenePart
      • ~CollisionScenePart()
      • collide()
      • distance()
      • create()
      • CollisionScenePart()

• Class Color
  • Class Documentation
    • Karana::Scene::Color
      • Color()
      • Color()
      • operator=()
      • r()
      • g()
      • b()
      • alpha()
      • fromRGB()
      • fromRGBA()
      • fromHex()
      • ALICEBLUE
      • ANTIQUEWHITE
      • AQUA
      • AQUAMARINE
      • AZURE
      • BEIGE
      • BISQUE
      • BLACK
      • BLANCHEDALMOND
      • BLUE
      • BLUEVIOLET
      • BROWN
      • BURLYWOOD
      • CADETBLUE
      • CHARTREUSE
      • CHOCOLATE
      • CORAL
      • CORNFLOWERBLUE
      • CORNSILK
      • CRIMSON
      • CYAN
      • DARKBLUE
      • DARKCYAN
      • DARKGOLDENROD
      • DARKGRAY
      • DARKGREEN
      • DARKGREY
      • DARKKHAKI
      • DARKMAGENTA
      • DARKOLIVEGREEN
      • DARKORANGE
      • DARKORCHID
      • DARKRED
      • DARKSALMON
      • DARKSEAGREEN
      • DARKSLATEBLUE
      • DARKSLATEGRAY
      • DARKSLATEGREY
      • DARKTURQUOISE
      • DARKVIOLET
      • DEEPPINK
      • DEEPSKYBLUE
      • DIMGRAY
      • DIMGREY
      • DODGERBLUE
      • FIREBRICK
      • FLORALWHITE
      • FORESTGREEN
      • FUCHSIA
      • GAINSBORO
      • GHOSTWHITE
      • GOLD
      • GOLDENROD
      • GRAY
      • GREEN
      • GREENYELLOW
      • GREY
      • HONEYDEW
      • HOTPINK
      • INDIANRED
      • INDIGO
      • IVORY
      • KHAKI
      • LAVENDER
      • LAVENDERBLUSH
      • LAWNGREEN
      • LEMONCHIFFON
      • LIGHTBLUE
      • LIGHTCORAL
      • LIGHTCYAN
      • LIGHTGOLDENRODYELLOW
      • LIGHTGRAY
      • LIGHTGREEN
      • LIGHTGREY
      • LIGHTPINK
      • LIGHTSALMON
      • LIGHTSEAGREEN
      • LIGHTSKYBLUE
      • LIGHTSLATEGRAY
      • LIGHTSLATEGREY
      • LIGHTSTEELBLUE
      • LIGHTYELLOW
      • LIME
      • LIMEGREEN
      • LINEN
      • MAGENTA
      • MAROON
      • MEDIUMAQUAMARINE
      • MEDIUMBLUE
      • MEDIUMORCHID
      • MEDIUMPURPLE
      • MEDIUMSEAGREEN
      • MEDIUMSLATEBLUE
      • MEDIUMSPRINGGREEN
      • MEDIUMTURQUOISE
      • MEDIUMVIOLETRED
      • MIDNIGHTBLUE
      • MINTCREAM
      • MISTYROSE
      • MOCCASIN
      • NAVAJOWHITE
      • NAVY
      • OLDLACE
      • OLIVE
      • OLIVEDRAB
      • ORANGE
      • ORANGERED
      • ORCHID
      • PALEGOLDENROD
      • PALEGREEN
      • PALETURQUOISE
      • PALEVIOLETRED
      • PAPAYAWHIP
      • PEACHPUFF
      • PERU
      • PINK
      • PLUM
      • POWDERBLUE
      • PURPLE
      • REBECCAPURPLE
      • RED
      • ROSYBROWN
      • ROYALBLUE
      • SADDLEBROWN
      • SALMON
      • SANDYBROWN
      • SEAGREEN
      • SEASHELL
      • SIENNA
      • SILVER
      • SKYBLUE
      • SLATEBLUE
      • SLATEGRAY
      • SLATEGREY
      • SNOW
      • SPRINGGREEN
      • STEELBLUE
      • TAN
      • TEAL
      • THISTLE
      • TOMATO
      • TURQUOISE
      • VIOLET
      • WHEAT
      • WHITE
      • WHITESMOKE
      • YELLOW
      • YELLOWGREEN

• Class ConeGeometry
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Scene::ConeGeometry
      • ConeGeometry()
      • ConeGeometry()
      • operator=()
      • ConeGeometry()
      • operator=()
      • operator StaticMeshGeometry()
      • aabb()
      • radius
      • height

• Class CylinderGeometry
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Scene::CylinderGeometry
      • CylinderGeometry()
      • CylinderGeometry()
      • operator=()
      • CylinderGeometry()
      • operator=()
      • operator StaticMeshGeometry()
      • aabb()
      • radius
      • height

• Class ExtMime
  • Class Documentation
    • Karana::Scene::ExtMime
      • ExtMime()
      • ~ExtMime()
      • getMimeType()
      • ExtMime()
      • operator=()
      • ExtMime()
      • operator=()

• Class GraphicalScene
  • Inheritance Relationships
    • Base Type
    • Derived Type
  • Class Documentation
    • Karana::Scene::GraphicalScene
      • ~GraphicalScene()
      • defaultCamera()
      • renderToFile()
      • addOverlayText()
      • setOverlayText()
      • removeOverlayText()
      • GraphicalScene()

• Class GraphicalSceneCamera
  • Inheritance Relationships
    • Base Type
    • Derived Type
  • Class Documentation
    • Karana::Scene::GraphicalSceneCamera
      • getProjection()
      • setProjection()
      • getMask()
      • setMask()
      • pointCameraAt()
      • GraphicalSceneCamera()

• Class GraphicalSceneNode
  • Inheritance Relationships
    • Base Type
    • Derived Types
  • Class Documentation
    • Karana::Scene::GraphicalSceneNode
      • ~GraphicalSceneNode()
      • showAxes()
      • trail()
      • removeTrail()
      • GraphicalSceneNode()
      • create()

• Class GraphicalScenePart
  • Inheritance Relationships
    • Base Types
    • Derived Type
  • Class Documentation
    • Karana::Scene::GraphicalScenePart
      • ~GraphicalScenePart()
      • create()
      • GraphicalScenePart()

• Class GrayscaleTexture
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Scene::GrayscaleTexture
      • GrayscaleTexture()
      • ~GrayscaleTexture()
      • setData()
      • setData()
      • create()
      • create()
      • lookupOrCreateGrayscaleTexture()

• Class ImplDatabase
  • Class Documentation
    • Karana::Scene::ImplDatabase
      • ImplDatabase()
      • ~ImplDatabase()
      • lookupProxy()
      • registerProxyImpl()
      • unregisterProxyImpl()

• Class PhongMaterial
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Scene::PhongMaterial
      • PhongMaterial()
      • ~PhongMaterial()
      • info
      • create()

• Class PhysicalMaterial
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Scene::PhysicalMaterial
      • PhysicalMaterial()
      • ~PhysicalMaterial()
      • info
      • create()

• Class ProxyScene
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Scene::ProxyScene
      • ProxyScene()
      • ~ProxyScene()
      • update()
      • update()
      • registerClientScene()
      • unregisterClientScene()
      • graphics()
      • collision()
      • lookupProxyFromImpl()
      • originFrame()
      • getNodesAttachedToFrame()
      • showAxes()
      • viewAroundFrame()
      • update_callbacks
      • create()
      • _discard()

• Class ProxySceneNode
  • Inheritance Relationships
    • Base Type
    • Derived Type
  • Class Documentation
    • Karana::Scene::ProxySceneNode
      • ProxySceneNode()
      • ~ProxySceneNode()
      • update()
      • update()
      • of()
      • graphics()
      • graphics()
      • collision()
      • collision()
      • setUnitQuaternion()
      • setTranslation()
      • setScale()
      • setVisible()
      • attachTo()
      • attachTo()
      • detach()
      • ancestorFrame()
      • create()
      • _implement()
      • _unimplement()
      • _initialize()
      • _forEachImpl()
      • _client_registry
      • _impl_database
      • _parent_frame
      • _impls

• Class ProxyScenePart
  • Inheritance Relationships
    • Base Types
  • Class Documentation
    • Karana::Scene::ProxyScenePart
      • ProxyScenePart()
      • ~ProxyScenePart()
      • setMaterial()
      • of()
      • graphics()
      • graphics()
      • collision()
      • collision()
      • setIntrinsicScale()
      • create()
      • fromScenePartSpec()
      • _implement()
      • _unimplement()

• Class RoundFrustumGeometry
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Scene::RoundFrustumGeometry
      • RoundFrustumGeometry()
      • RoundFrustumGeometry()
      • operator=()
      • RoundFrustumGeometry()
      • operator=()
      • operator StaticMeshGeometry()
      • aabb()
      • bottom_radius
      • top_radius
      • height

• Class Scene
  • Inheritance Relationships
    • Base Type
    • Derived Types
  • Class Documentation
    • Karana::Scene::Scene
      • ~Scene()
      • getManager()
      • setManager()
      • Scene()
      • _discard()
      • _createNodeBase()
      • _discardNodeBase()
      • _createPartBase()
      • _discardPartBase()
      • _track()
      • _untrack()
      • _manager

• Class SceneNode
  • Inheritance Relationships
    • Base Type
    • Derived Types
  • Class Documentation
    • Karana::Scene::SceneNode
      • ~SceneNode()
      • getTranslation()
      • setTranslation()
      • getUnitQuaternion()
      • setUnitQuaternion()
      • getScale()
      • setScale()
      • getTransform()
      • getWorldTransform()
      • getWorldTranslation()
      • getWorldUnitQuaternion()
      • getWorldScale()
      • parent()
      • attachTo()
      • detach()
      • children()
      • setVisible()
      • getVisible()
      • getManager()
      • setManager()
      • create()
      • discardNonRecursive()
      • SceneNode()
      • _computeWorldTransform()
      • _discard()
      • _world_transform_cache
      • _manager

• Class ScenePart
  • Inheritance Relationships
    • Base Type
    • Derived Types
  • Class Documentation
    • Karana::Scene::ScenePart
      • ~ScenePart()
      • getGeometry()
      • getMaterial()
      • setMaterial()
      • getLayers()
      • setIntrinsicScale()
      • getIntrinsicScale()
      • create()
      • ScenePart()
      • _discard()
      • _intrinsic_scale

• Class SphereGeometry
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Scene::SphereGeometry
      • SphereGeometry()
      • SphereGeometry()
      • operator=()
      • SphereGeometry()
      • operator=()
      • operator StaticMeshGeometry()
      • aabb()
      • radius

• Class StaticMeshGeometry
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Scene::StaticMeshGeometry
      • Float3Array
      • Float2Array
      • Int3Array
      • StaticMeshGeometry()
      • StaticMeshGeometry()
      • operator=()
      • StaticMeshGeometry()
      • operator=()
      • operator StaticMeshGeometry()
      • aabb()
      • positions
      • faces
      • normals
      • surface_map_coords
      • filename

• Class Texture
  • Inheritance Relationships
    • Base Type
    • Derived Type
  • Class Documentation
    • Karana::Scene::Texture
      • Texture()
      • ~Texture()
      • writeToFile()
      • writeToPngMem()
      • getData()
      • setData()
      • setData()
      • create()
      • create()
      • lookupOrCreateTexture()
      • _data

• Class WebResourceManager
  • Class Documentation
    • Karana::Scene::WebResourceManager
      • WebResourceManager()
      • ~WebResourceManager()
      • ensureGeometry()
      • ensureMaterial()
      • ioHandleConn()

• Class WebScene
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • Karana::Scene::WebScene
      • WebScene()
      • ~WebScene()
      • renderToFile()
      • addOverlayText()
      • setOverlayText()
      • removeOverlayText()
      • defaultCamera()
      • _forceRender()
      • _setShadows()
      • _setBackgroundColor()
      • _addLineBetween()
      • _removeLineBetween()
      • create()
      • _discard()

• Class WebSceneCamera
  • Inheritance Relationships
    • Base Types
  • Class Documentation
    • Karana::Scene::WebSceneCamera
      • WebSceneCamera()
      • setProjection()
      • setMask()
      • pointCameraAt()

• Class WebSceneNode
  • Inheritance Relationships
    • Base Type
    • Derived Types
  • Class Documentation
    • Karana::Scene::WebSceneNode
      • WebSceneNode()
      • setUnitQuaternion()
      • setTranslation()
      • setScale()
      • setVisible()
      • attachTo()
      • detach()
      • showAxes()
      • trail()
      • removeTrail()
      • create()
      • _ioHandleConn()
      • _server

• Class WebScenePart
  • Inheritance Relationships
    • Base Types
  • Class Documentation
    • Karana::Scene::WebScenePart
      • WebScenePart()
      • setMaterial()
      • setIntrinsicScale()
      • getIntrinsicScale()
      • create()

• Class Connection
  • Class Documentation
    • Karana::WebUI::Connection
      • conn_t
      • handler_t
      • msg_handler_t
      • Connection()
      • ~Connection()
      • send()
      • onMessage()
      • onClose()

• Class Server
  • Class Documentation
    • Karana::WebUI::Server
      • Server()
      • ~Server()
      • callAsync()
      • callSync()
      • sync()
      • guessUrl()
      • port()
      • onThread()
      • broadcast()
      • sendOne()
      • onConnect()
      • onMessage()
      • onClose()
      • waitForClients()
      • launchLocalClient()
      • closeLocalClients()
      • printConnectionInfo()
      • canFindLocalClientExecutable()

• Template Class Sequence
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • pybind11::typing::Sequence

• Template Class type_caster< std::chrono::duration< Rep, Period > >
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • type_caster< std::chrono::duration< Rep, Period > >

• Template Class type_caster< std::chrono::time_point< Clock, Duration > >
  • Inheritance Relationships
    • Base Type
  • Class Documentation
    • type_caster< std::chrono::time_point< Clock, Duration > >

Enums

• Enum IntegratorType
  • Enum Documentation
    • IntegratorType
      • NO_OP
      • EULER
      • RK4
      • CVODE
      • CVODE_STIFF
      • CVODE_NEWTON
      • ARKEXPLICIT
      • ARKEXPLICIT_HUEN_EULER
      • ARKEXPLICIT_STIFF
      • ARKEXPLICIT_CASH
      • ARKEXPLICIT_FEHLBERG78
      • ARKEXPLICIT_DOPRI
      • IDA

• Enum SolverType
  • Enum Documentation
    • SolverType
      • LEVENBERG_MARQUARDT
      • HYBRID_NON_LINEAR_SOLVER

• Enum Alignment
  • Enum Documentation
    • Alignment
      • LEFT
      • CENTER
      • RIGHT

Functions

• Function cast
  • Function Documentation
    • cast()

• Function Karana::Core::_dummy
  • Function Documentation
    • _dummy()

• Function Karana::Core::_ensureRegisteredPy
  • Function Documentation
    • _ensureRegisteredPy()

• Function Karana::Core::_numTraceCheck
  • Function Documentation
    • _numTraceCheck()

• Function Karana::Core::_numTraceInt(std::string_view)
  • Function Documentation
    • _numTraceInt()

• Function Karana::Core::_numTraceInt(msg_f)
  • Function Documentation
    • _numTraceInt()

• Template Function Karana::Core::_numTraceInt(spdlog::format_string_t<Args…>, Args&&…)
  • Function Documentation
    • _numTraceInt()

• Function Karana::Core::allCurrent
  • Function Documentation
    • allCurrent()

• Function Karana::Core::allDestroyed
  • Function Documentation
    • allDestroyed()

• Function Karana::Core::allFinalized
  • Function Documentation
    • allFinalized()

• Template Function Karana::Core::CallbackRegistryPybind11
  • Function Documentation
    • CallbackRegistryPybind11()

• Template Function Karana::Core::const_pointer_cast
  • Function Documentation
    • const_pointer_cast()

• Template Function Karana::Core::createSharedPtrDiscard
  • Function Documentation
    • createSharedPtrDiscard()

• Function Karana::Core::debug(std::string_view)
  • Function Documentation
    • debug()

• Function Karana::Core::debug(msg_f)
  • Function Documentation
    • debug()

• Template Function Karana::Core::debug(spdlog::format_string_t<Args…>, Args&&…)
  • Function Documentation
    • debug()

• Function Karana::Core::debugJson(const nlohmann::ordered_json&, OrderedJsonToString)
  • Function Documentation
    • debugJson()

• Function Karana::Core::debugJson(const nlohmann::json&, JsonToString)
  • Function Documentation
    • debugJson()

• Function Karana::Core::defaultJsonToString
  • Function Documentation
    • defaultJsonToString()

• Function Karana::Core::defaultOrderedJsonToString
  • Function Documentation
    • defaultOrderedJsonToString()

• Function Karana::Core::deprecated
  • Function Documentation
    • deprecated()

• Template Function Karana::Core::deprecatedWrapper
  • Function Documentation
    • deprecatedWrapper()

• Template Function Karana::Core::discard
  • Function Documentation
    • discard()

• Template Function Karana::Core::dynamic_pointer_cast
  • Function Documentation
    • dynamic_pointer_cast()

• Function Karana::Core::error(std::string_view)
  • Function Documentation
    • error()

• Function Karana::Core::error(msg_f)
  • Function Documentation
    • error()

• Template Function Karana::Core::error(spdlog::format_string_t<Args…>, Args&&…)
  • Function Documentation
    • error()

• Function Karana::Core::info(std::string_view)
  • Function Documentation
    • info()

• Function Karana::Core::info(msg_f)
  • Function Documentation
    • info()

• Template Function Karana::Core::info(spdlog::format_string_t<Args…>, Args&&…)
  • Function Documentation
    • info()

• Function Karana::Core::sharedPtrDiscard
  • Function Documentation
    • sharedPtrDiscard()

• Function Karana::Core::sharedPtrDiscardVec
  • Function Documentation
    • sharedPtrDiscardVec()

• Template Function Karana::Core::static_pointer_cast
  • Function Documentation
    • static_pointer_cast()

• Function Karana::Core::trace(std::string_view)
  • Function Documentation
    • trace()

• Function Karana::Core::trace(msg_f)
  • Function Documentation
    • trace()

• Template Function Karana::Core::trace(spdlog::format_string_t<Args…>, Args&&…)
  • Function Documentation
    • trace()

• Function Karana::Core::traceJson(const nlohmann::ordered_json&, OrderedJsonToString)
  • Function Documentation
    • traceJson()

• Function Karana::Core::traceJson(const nlohmann::json&, JsonToString)
  • Function Documentation
    • traceJson()

• Function Karana::Core::warn(std::string_view)
  • Function Documentation
    • warn()

• Function Karana::Core::warn(msg_f)
  • Function Documentation
    • warn()

• Template Function Karana::Core::warn(spdlog::format_string_t<Args…>, Args&&…)
  • Function Documentation
    • warn()

• Function Karana::Math::buildNaNWithPayload
  • Function Documentation
    • buildNaNWithPayload()

• Template Function Karana::Math::dump
  • Function Documentation
    • dump()

• Template Function Karana::Math::dumpString
  • Function Documentation
    • dumpString()

• Template Function Karana::Math::getIndepColIndices
  • Function Documentation
    • getIndepColIndices()

• Template Function Karana::Math::getIndepRowColIndices
  • Function Documentation
    • getIndepRowColIndices()

• Template Function Karana::Math::getRank
  • Function Documentation
    • getRank()

• Template Function Karana::Math::getSingularValues
  • Function Documentation
    • getSingularValues()

• Template Function Karana::Math::isInitialized(const Eigen::MatrixBase<Derived>&)
  • Function Documentation
    • isInitialized()

• Template Function Karana::Math::isInitialized(const Eigen::ArrayBase<Derived>&)
  • Function Documentation
    • isInitialized()

• Function Karana::Math::isNaNWithPayload
  • Function Documentation
    • isNaNWithPayload()

• Function Karana::Math::isUninitialized
  • Function Documentation
    • isUninitialized()

• Function Karana::Math::isUninitializedNaN
  • Function Documentation
    • isUninitializedNaN()

• Function Karana::Math::ktimeToSeconds
  • Function Documentation
    • ktimeToSeconds()

• Function Karana::Math::secondsToKtime
  • Function Documentation
    • secondsToKtime()

• Function Karana::Math::strToIntegratorType
  • Function Documentation
    • strToIntegratorType()

• Function Karana::Math::tilde
  • Function Documentation
    • tilde()

• Function Karana::Math::uninitialize(Ktime&)
  • Function Documentation
    • uninitialize()

• Template Function Karana::Math::uninitialize(Eigen::DenseBase<Derived>&)
  • Function Documentation
    • uninitialize()

• Template Function Karana::Models::addToDSMethod
  • Function Documentation
    • addToDSMethod()

• Template Function Karana::Models::KModelPybind11
  • Function Documentation
    • KModelPybind11()

• Function Karana::Scene::defaultGeometry
  • Function Documentation
    • defaultGeometry()

• Function Karana::Scene::defaultMaterial
  • Function Documentation
    • defaultMaterial()

• Function load
  • Function Documentation

• Function localtime_thread_safe
  • Function Documentation
    • localtime_thread_safe()

• Function operator<<
  • Function Documentation
    • operator<<()

• Function PYBIND11_DECLARE_HOLDER_TYPE
  • Function Documentation
    • PYBIND11_DECLARE_HOLDER_TYPE()

• Function PYBIND11_MODULE
  • Function Documentation

• Function PYBIND11_TYPE_CASTER
  • Function Documentation

Variables

• Variable has_pybind11_caster_v
  • Variable Documentation
    • has_pybind11_caster_v

• Variable Karana::KUtils::extract_cols_v
  • Variable Documentation
    • extract_cols_v

• Variable Karana::KUtils::extract_rows_v
  • Variable Documentation
    • extract_rows_v

• Variable Karana::KUtils::extract_vector_rows_v
  • Variable Documentation
    • extract_vector_rows_v

• Variable Karana::KUtils::is_eigen_type_v
  • Variable Documentation
    • is_eigen_type_v

• Variable Karana::KUtils::is_eigen_vector_v
  • Variable Documentation
    • is_eigen_vector_v

• Variable Karana::Math::uninitializedNaN
  • Variable Documentation
    • uninitializedNaN

• Variable Karana::Math::uninitializedPayload
  • Variable Documentation
    • uninitializedPayload

• Variable Karana::Scene::LAYER_ALL
  • Variable Documentation
    • LAYER_ALL

• Variable Karana::Scene::LAYER_COLLISION
  • Variable Documentation
    • LAYER_COLLISION

• Variable Karana::Scene::LAYER_CUSTOM0
  • Variable Documentation
    • LAYER_CUSTOM0

• Variable Karana::Scene::LAYER_CUSTOM1
  • Variable Documentation
    • LAYER_CUSTOM1

• Variable Karana::Scene::LAYER_CUSTOM10
  • Variable Documentation
    • LAYER_CUSTOM10

• Variable Karana::Scene::LAYER_CUSTOM11
  • Variable Documentation
    • LAYER_CUSTOM11

• Variable Karana::Scene::LAYER_CUSTOM12
  • Variable Documentation
    • LAYER_CUSTOM12

• Variable Karana::Scene::LAYER_CUSTOM13
  • Variable Documentation
    • LAYER_CUSTOM13

• Variable Karana::Scene::LAYER_CUSTOM14
  • Variable Documentation
    • LAYER_CUSTOM14

• Variable Karana::Scene::LAYER_CUSTOM15
  • Variable Documentation
    • LAYER_CUSTOM15

• Variable Karana::Scene::LAYER_CUSTOM16
  • Variable Documentation
    • LAYER_CUSTOM16

• Variable Karana::Scene::LAYER_CUSTOM17
  • Variable Documentation
    • LAYER_CUSTOM17

• Variable Karana::Scene::LAYER_CUSTOM18
  • Variable Documentation
    • LAYER_CUSTOM18

• Variable Karana::Scene::LAYER_CUSTOM19
  • Variable Documentation
    • LAYER_CUSTOM19

• Variable Karana::Scene::LAYER_CUSTOM2
  • Variable Documentation
    • LAYER_CUSTOM2

• Variable Karana::Scene::LAYER_CUSTOM20
  • Variable Documentation
    • LAYER_CUSTOM20

• Variable Karana::Scene::LAYER_CUSTOM21
  • Variable Documentation
    • LAYER_CUSTOM21

• Variable Karana::Scene::LAYER_CUSTOM22
  • Variable Documentation
    • LAYER_CUSTOM22

• Variable Karana::Scene::LAYER_CUSTOM23
  • Variable Documentation
    • LAYER_CUSTOM23

• Variable Karana::Scene::LAYER_CUSTOM3
  • Variable Documentation
    • LAYER_CUSTOM3

• Variable Karana::Scene::LAYER_CUSTOM4
  • Variable Documentation
    • LAYER_CUSTOM4

• Variable Karana::Scene::LAYER_CUSTOM5
  • Variable Documentation
    • LAYER_CUSTOM5

• Variable Karana::Scene::LAYER_CUSTOM6
  • Variable Documentation
    • LAYER_CUSTOM6

• Variable Karana::Scene::LAYER_CUSTOM7
  • Variable Documentation
    • LAYER_CUSTOM7

• Variable Karana::Scene::LAYER_CUSTOM8
  • Variable Documentation
    • LAYER_CUSTOM8

• Variable Karana::Scene::LAYER_CUSTOM9
  • Variable Documentation
    • LAYER_CUSTOM9

• Variable Karana::Scene::LAYER_GRAPHICS
  • Variable Documentation
    • LAYER_GRAPHICS

• Variable Karana::Scene::LAYER_NONE
  • Variable Documentation
    • LAYER_NONE

• Variable Karana::Scene::LAYER_ORNAMENTAL
  • Variable Documentation
    • LAYER_ORNAMENTAL

• Variable Karana::Scene::LAYER_PHYSICAL
  • Variable Documentation
    • LAYER_PHYSICAL

• Variable Karana::Scene::LAYER_PHYSICAL_GRAPHICS
  • Variable Documentation
    • LAYER_PHYSICAL_GRAPHICS

• Variable Karana::Scene::LAYER_RESERVED0
  • Variable Documentation
    • LAYER_RESERVED0

• Variable Karana::Scene::LAYER_RESERVED1
  • Variable Documentation
    • LAYER_RESERVED1

• Variable Karana::Scene::LAYER_RESERVED2
  • Variable Documentation
    • LAYER_RESERVED2

• Variable Karana::Scene::LAYER_RESERVED3
  • Variable Documentation
    • LAYER_RESERVED3

• Variable Karana::Scene::LAYER_RESERVED4
  • Variable Documentation
    • LAYER_RESERVED4

• Variable Karana::Scene::LAYER_RESERVED5
  • Variable Documentation
    • LAYER_RESERVED5

• Variable Karana::Scene::LAYER_RESERVED6
  • Variable Documentation
    • LAYER_RESERVED6

• Variable Karana::Scene::LAYER_RESERVED7
  • Variable Documentation
    • LAYER_RESERVED7

• Variable Karana::Scene::LAYER_STICK_FIGURE
  • Variable Documentation
    • LAYER_STICK_FIGURE

Defines

• Define KARANA_MODIFIED
  • Define Documentation
    • KARANA_MODIFIED

• Define KARANA_VERSION_MAJOR
  • Define Documentation
    • KARANA_VERSION_MAJOR

• Define KARANA_VERSION_MINOR
  • Define Documentation
    • KARANA_VERSION_MINOR

• Define KARANA_VERSION_PATCH
  • Define Documentation
    • KARANA_VERSION_PATCH

• Define KARANA_VERSION_STRING
  • Define Documentation
    • KARANA_VERSION_STRING

• Define MATH_EPSILON
  • Define Documentation
    • MATH_EPSILON

• Define numTrace
  • Define Documentation
    • numTrace

Typedefs

• Typedef Karana::Core::Allocator
  • Typedef Documentation
    • Allocator

• Typedef Karana::Core::id_t
  • Typedef Documentation
    • id_t

• Typedef Karana::Core::JsonToString
  • Typedef Documentation
    • JsonToString

• Typedef Karana::Core::ks_ptr
  • Typedef Documentation
    • ks_ptr

• Typedef Karana::Core::msg_f
  • Typedef Documentation
    • msg_f

• Typedef Karana::Core::OrderedJsonToString
  • Typedef Documentation
    • OrderedJsonToString

• Typedef Karana::Dynamics::f
  • Typedef Documentation
    • f

• Typedef Karana::Math::Array
  • Typedef Documentation
    • Array

• Typedef Karana::Math::ArrayVec
  • Typedef Documentation
    • ArrayVec

• Typedef Karana::Math::ConstMatSlice
  • Typedef Documentation
    • ConstMatSlice

• Typedef Karana::Math::ConstVec3Slice
  • Typedef Documentation
    • ConstVec3Slice

• Typedef Karana::Math::ConstVecSlice
  • Typedef Documentation
    • ConstVecSlice

• Typedef Karana::Math::cost_fn
  • Typedef Documentation
    • cost_fn

• Typedef Karana::Math::DerivativeFunction
  • Typedef Documentation
    • DerivativeFunction

• Typedef Karana::Math::DynamicFunctorNumJac
  • Typedef Documentation
    • DynamicFunctorNumJac

• Typedef Karana::Math::fn
  • Typedef Documentation
    • fn

• Typedef Karana::Math::functor_type
  • Typedef Documentation
    • functor_type

• Typedef Karana::Math::jac_fn
  • Typedef Documentation
    • jac_fn

• Typedef Karana::Math::Ktime
  • Typedef Documentation
    • Ktime

• Typedef Karana::Math::lin_fn
  • Typedef Documentation
    • lin_fn

• Typedef Karana::Math::Mat
  • Typedef Documentation
    • Mat

• Typedef Karana::Math::Mat33
  • Typedef Documentation
    • Mat33

• Typedef Karana::Math::Mat44
  • Typedef Documentation
    • Mat44

• Typedef Karana::Math::Mat66
  • Typedef Documentation
    • Mat66

• Typedef Karana::Math::Mat6n
  • Typedef Documentation
    • Mat6n

• Typedef Karana::Math::MatSlice
  • Typedef Documentation
    • MatSlice

• Typedef Karana::Math::num_diff_functor_type
  • Typedef Documentation
    • num_diff_functor_type

• Typedef Karana::Math::ResidualsFunction
  • Typedef Documentation
    • ResidualsFunction

• Typedef Karana::Math::solver_type
  • Typedef Documentation
    • solver_type

• Typedef Karana::Math::Vec
  • Typedef Documentation
    • Vec

• Typedef Karana::Math::Vec3
  • Typedef Documentation
    • Vec3

• Typedef Karana::Math::Vec3Slice
  • Typedef Documentation
    • Vec3Slice

• Typedef Karana::Math::Vec4
  • Typedef Documentation
    • Vec4

• Typedef Karana::Math::Vec6
  • Typedef Documentation
    • Vec6

• Typedef Karana::Math::VecSlice
  • Typedef Documentation
    • VecSlice

• Typedef Karana::Scene::layer_t
  • Typedef Documentation
    • layer_t

• Typedef Karana::Scene::TextureCache
  • Typedef Documentation
    • TextureCache

• Typedef Karana::Scene::TextureData
  • Typedef Documentation
    • TextureData

• Typedef Karana::Scene::VarMaterial
  • Typedef Documentation
    • VarMaterial

• Typedef Karana::Scene::VarProjection
  • Typedef Documentation
    • VarProjection

• Typedef Karana::Scene::VarStaticGeometry
  • Typedef Documentation
    • VarStaticGeometry

• Typedef type
  • Typedef Documentation
    • type