Class SubhingeSpringDamper

Class SubhingeSpringDamper#

Inheritance Relationships#

Base Type#

  • public Karana::Models::KModel< SubhingeSpringDamper, SubhingeSpringDamperParams > (Template Class KModel)

Class Documentation#

class SubhingeSpringDamper : public Karana::Models::KModel<SubhingeSpringDamper, SubhingeSpringDamperParams>#

Adds a spring damper to the provided subhinge.

Public Functions

SubhingeSpringDamper(std::string_view name, const kc::ks_ptr<kd::StatePropagator> &sp, const kc::ks_ptr<kd::PhysicalSubhinge> &sh)#

SubhingeSpringDamper constructor. The constructor is not meant to be called directly. Please use the create(…) method instead to create an instance. The SubhingeSpringDamper model a spring damper force to a subhinge based on a given setpoint.

Parameters:

  • name – The name of the model.

  • sp – The StatePropagator to register this model with.

  • sh – The subhinge to add the spring damper to.

~SubhingeSpringDamper()#

Destructor for SubhingeSpringDamper.

void preDeriv(const km::Ktime &t, const km::Vec &x)#

Calculate and apply the spring/damper force.

Parameters:

  • t – Current time. Not used.

  • x – Current state. Not used.

virtual bool isFinalized() const final#

Ensure the model is finalized.

Returns:

true if the model is finalized, `false otherwise.

Public Static Functions

static kc::ks_ptr<SubhingeSpringDamper> create(std::string_view name, const kc::ks_ptr<kd::StatePropagator> &sp, const kc::ks_ptr<kd::PhysicalSubhinge> &sh)#

Constructor. The SubhingeSpringDamper model a spring damper force to a subhinge based on a given setpoint.

Parameters:

  • name – The name of the model.

  • sp – The StatePropagator to register this model with.

  • sh – The subhinge to add the spring damper to.

Returns:

A ks_ptr to the newly created instance of the SubhingeSpringDamper model.

Contents