Class Physical1DofSubhinge

Class Physical1DofSubhinge#

Defined in File PinSubhinge.h

Nested Relationships#

Nested Types#

Struct Physical1DofSubhinge::PhysicalSubhingeParams

Inheritance Relationships#

Base Type#

public Karana::Dynamics::PhysicalSubhinge_T< 1, 1 > (Template Class PhysicalSubhinge_T)

Derived Types#

public Karana::Dynamics::LinearSubhinge (Class LinearSubhinge)
public Karana::Dynamics::PinSubhinge (Class PinSubhinge)
public Karana::Dynamics::ScrewSubhinge (Class ScrewSubhinge)

Class Documentation#

class Physical1DofSubhinge : public Karana::Dynamics::PhysicalSubhinge_T<1, 1>#

Base class for 1 degree of freedom physical subhinges.

See Subhinges section for more information on physical subhinges.

Subclassed by Karana::Dynamics::LinearSubhinge, Karana::Dynamics::PinSubhinge, Karana::Dynamics::ScrewSubhinge

Public Functions

Physical1DofSubhinge(kc::ks_ptr<kf::Frame> oframe, kc::ks_ptr<kf::Frame> pframe, std::string_view name, kc::ks_ptr<FramePairHinge> hge)#: Constructs a Physical1DofSubhinge.

inline ~Physical1DofSubhinge()#

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

Set the unit axis for the pin hinge.

Parameters:: axis – The unit axis for the pin hinge.

inline const km::Vec3 &getUnitAxis() const#

Get the unit axis for the pin hinge.

Returns:: The unit axis for the pin hinge.

void setJointLimits(const Karana::Math::Vec &limits)#

Set the lower/upper pair of joint limit values for the 1 dof subhinge.

Parameters:: limits – the lower and upper limit values

inline km::Vec getJointLimits() const#

Return the lower/upper pair of joint limit values for the 1 dof subhinge.

Returns:: array with the lower and upper joint limit values

void setGearRatio(double gear_ratio)#

Set the gear ratio for the 1 dof subhinge.

Parameters:: gear_ratio – the gear ratio

inline double getGearRatio() const#

Return the gear ratio for the 1 dof subhinge.

Returns:: the gear ratio value

virtual bool isFinalized() const override#

Checks is the params for the object have been initialized.

Returns:: True if the params have set up.

Protected Functions

virtual kc::ks_ptr<PhysicalSubhinge::PhysicalSubhingeParams> _getParams() const override#: Get/set params for a subhinge.

virtual void _setParams(const PhysicalSubhinge::PhysicalSubhingeParams &params) override#: apply the params from the twin subhinge to this subhinge

Protected Attributes

km::Vec _joint_limits = km::Vec(2)#: joint limits for the subhinge, initialized by default to NaNs

double _gear_ratio = km::uninitializedNaN#: gear ratio for the pin subhinge, initialized by default to a NaN

km::Vec3 _unit_axis = {0, 0, 0}#: axis of rotation in pframe

struct PhysicalSubhingeParams : public Karana::Dynamics::PhysicalSubhinge::PhysicalSubhingeParams #

Specialization of param class for this subhinge type.

Subclassed by Karana::Dynamics::ScrewSubhinge::PhysicalSubhingeParams