Class CECompoundBody

Class CECompoundBody#

Defined in File CECompoundBody.h

Inheritance Relationships#

Base Type#

public Karana::Dynamics::CompoundBody (Class CompoundBody)

Derived Types#

public Karana::Dynamics::GearedCompoundBody (Class GearedCompoundBody)
public Karana::Dynamics::LoopsCompoundBody (Class LoopsCompoundBody)

Class Documentation#

class CECompoundBody : public Karana::Dynamics::CompoundBody #

Represents a compound body.

This class is for compound bodies representing a subtree of bodies.

Subclassed by Karana::Dynamics::GearedCompoundBody, Karana::Dynamics::LoopsCompoundBody

Public Functions

CECompoundBody(std::string_view name, kc::ks_ptr<SubGraph> parent_subtree, kc::ks_ptr<SubGraph> component_bodies, size_t indep_n_u)#

CECompoundBody constructor. The constructor is not meant to be called directly. Please use the create(…) method instead to create an instance one of the classes derived from this.

Parameters:

name – Name of the CECompoundBody
parent_subtree – The SubTree to add this CECompoundBody to
component_bodies – The SubTree that contains the bodies that make up this CECompoundBody
indep_n_u – The number of independent velocity coordinates for this CECompoundBody.

virtual ~CECompoundBody()#: CECompoundBody destructor.

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

Returns the type string.

Returns:: The type string.

inline std::vector<unsigned int> independentIndicesU() const#

inline std::vector<unsigned int> independentIndicesQ() const#

Protected Functions

virtual kc::ks_ptr<CompoundSubhinge> _createSubhinge(kc::ks_ptr<CompoundHinge> hinge) override#: Create the compound subhinge

virtual void _updateDependentQ(const km::Vec &min_Q, bool global) const = 0#

Convert the input minimal independent coords Q into the full dependent Q for all the aggregated subhinges for the compound body as appropriate and set the values. Note that the constraints are at the velocity level and not the Q level, and in some cases Q is subject to a different (and perhaps no) constraints, The global flag controls whether the incoming Q values are global are local chart coordinates.

Parameters:

min_Q – the minimal coordinates
global – flag whether incoming coords are local or global

virtual const km::Mat &_constraintX() const#

Return the X matrix that maps the min independent U to the full U (independent, dependent, constraint dofs) for the compound body

Returns:: the full constraint X matrix

virtual void _computeConstraintX(km::Mat &val) const = 0#

virtual km::Mat _matX() const#

Return the X matrix that maps the min independent U to the dependent U (without constraint dofs) for the compound body

Returns:: the non-constraint X matrix

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

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

Parameters:: the – input U vector
Returns:: the Xdot*U product

virtual void _computeXdotU(km::Vec &val) const = 0#

Protected Attributes

kc::ks_ptr<kc::DataCache<km::Mat>> _cache_constraintX = nullptr#

kc::ks_ptr<kc::DataCache<km::Vec>> _cache_XdotU = nullptr#

std::vector<unsigned int> _indep_indices_U#: indices of all independent coords among the multibody level coordinates

std::vector<unsigned int> _indep_indices_Q#

std::vector<std::pair<kc::ks_ptr<PhysicalSubhinge>, size_t>> _indep_cbs_U#: List contains the physical subhinge+offset value for each of the independent indices

std::vector<std::pair<kc::ks_ptr<PhysicalSubhinge>, size_t>> _indep_cbs_Q#