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kdFlex 1.0.1 documentation - Home
  • Chatbot

Contents:

  • Chatbot
  • Quick Start
  • Usage Guide
  • Examples
    • Importing a robot arm multibody model from a URDF file
    • 2-link Pendulum
    • Load Mars 2020 rover model from a URDF file
    • n-link Pendulum
    • Spice Frames
    • Import/Export Multibodies
    • Graphics demo
    • Data Logging
    • Slider crank example
    • Double-Wishbone
    • 2-link Pendulum Collision Example
    • Procedural n-link pendulum collision example
    • Flexible Slider-Crank
    • Flexible Double-Wishbone
    • \(n\)-link Pendulum Benchmark Comparison
    • Fully Augmented \(n\)-link Pendulum Benchmark Comparison
    • ATRVjr Driving
    • Cart Pole Reinforcement Learning
    • ATRVjr Reinforcement Learning
    • ATRVjr ROS Integration
  • Program skeletons
  • Recipes
  • API
    • kdFlex Python API
      • Karana
        • Karana.Collision
        • Karana.Core
        • Karana.Dynamics
        • Karana.Frame
        • Karana.KUtils
        • Karana.Math
        • Karana.Models
        • Karana.Scene
        • Karana.WebUI
        • Karana.version
    • kdFlex C++ API
      • Namespace coal
      • Namespace Eigen
      • Namespace Karana
      • Namespace Karana::Collision
      • Namespace Karana::Core
      • Namespace Karana::Dynamics
      • Namespace Karana::Frame
      • Namespace Karana::KUtils
      • Namespace Karana::Math
      • Namespace Karana::Models
      • Namespace Karana::Scene
      • Namespace Karana::WebUI
      • Namespace kf
      • Namespace kf::Frame
      • Namespace LockingBase
      • Namespace pybind11
      • Namespace pybind11::detail
      • Namespace pybind11::typing
      • Namespace spdlog
      • Namespace spdlog::sinks
      • Namespace std
      • Template Struct has_pybind11_caster
      • Struct FrameContact
      • Struct Base::DumpOptions
      • Struct BasicDAGImpl::Node
      • Struct BasicTreeImpl::Node
      • Struct DebugManager
      • Struct EdgeHash
      • Struct LockingBase::DumpOptions
      • Struct Algorithms::ModalAnalysis
      • Struct CompoundBody::ATBIDataCaches
      • Struct CompoundBody::DumpOptions
      • Struct CompoundBody::InvDynVectors
      • Struct CompoundSubhinge::ATBIFilterVectors
      • Struct CompoundSubhinge::ATBIMatrices
      • Struct CoordBase::ATBIFilterVectors
      • Struct CoordBase::ATBIMatrices
      • Struct CoordData::CoordOffset
      • Struct HingeBase::HingeParams
      • Struct HingeNode::DumpOptions
      • Struct HingeOnodeATBIDataCaches
      • Struct HingeOnodeATBIFilterVectors
      • Struct HingeOnodeATBIMatrices
      • Struct HingeOnodeATBISmootherVectors
      • Struct HingeOnodeInvDynVectors
      • Struct HingeOnodeUpsilonMatrices
      • Struct HingePnode::ATBIDataCaches
      • Struct HingePnode::ATBIFilterVectors
      • Struct HingePnode::ATBIMatrices
      • Struct HingePnode::ATBISmootherVectors
      • Struct HingePnode::InvDynVectors
      • Struct HingePnode::UpsilonMatrices
      • Struct LoopConstraintBase::QMats
      • Struct ModalNodeDeformationProvider::DeformationParams
      • Struct Multibody::StickPartsConfig
      • Struct NodeDeformationProvider::DeformationParams
      • Struct Physical1DofSubhinge::PhysicalSubhingeParams
      • Struct PhysicalBody::DumpOptions
      • Struct PhysicalBody::GatherSweepFlags
      • Struct PhysicalBody::InvDynVectors
      • Struct PhysicalBodyParams
      • Struct PhysicalModalBody::ATBIFilterVectors
      • Struct PhysicalModalBody::ATBIMatrices
      • Struct PhysicalModalBody::ATBISmootherVectors
      • Struct PhysicalModalBody::ModalUpsilonMatrices
      • Struct PhysicalModalBody::SZNodeMatrices
      • Struct PhysicalModalBodyParams
      • Struct PhysicalSubhinge::PhysicalSubhingeParams
      • Struct PhysicalSubhinge_T::ATBIFilterVectors
      • Struct PhysicalSubhinge_T::ATBIMatrices
      • Struct ScrewSubhinge::PhysicalSubhingeParams
      • Struct SphericalSubhinge::PhysicalSubhingeParams
      • Struct StatePropagator::Counters
      • Struct StatePropagator::SpFunctions
      • Struct StatePropagator::SpOptions
      • Struct SubTree::DumpTreeOptions
      • Struct Frame::DumpFrameTreeOptions
      • Struct FrameContainer::DumpOptions
      • Struct FrameToFrame::DumpOptions
      • Struct OrientedChainedFrameToFrame::DumpOptions
      • Template Struct extract_matrix_dimensions
      • Template Struct extract_matrix_dimensions< Eigen::Matrix< double, _rows, 1 > >
      • Template Struct extract_matrix_dimensions< Eigen::Matrix< double, _rows, _cols, Eigen::RowMajor > >
      • Template Struct extract_rows
      • Template Struct extract_rows< Eigen::Matrix< double, rows, 1 > >
      • Template Struct is_eigen_type
      • Template Struct is_eigen_type< Eigen::Matrix< double, Rows, 1 > >
      • Template Struct is_eigen_type< Eigen::Matrix< double, Rows, Cols, Eigen::RowMajor > >
      • Template Struct is_eigen_vector
      • Template Struct is_eigen_vector< Eigen::Matrix< double, Rows, 1 > >
      • Struct ArkExplicitIntegrator::IntegratorOptions
      • Struct CVodeIntegrator::IntegratorOptions
      • Struct DynamicFunctor
      • Struct DynamicFunctorNoJac
      • Template Struct Functor
      • Struct IdaIntegrator::IntegratorOptions
      • Struct Integrator::IntegratorOptions
      • Template Struct NumDiffBaseFunctor
      • Struct NumDiffFunctor
      • Struct StateSpace::SS
      • Struct ClientSceneData
      • Struct CollisionInfo
      • Struct Contact
      • Struct DistanceInfo
      • Struct ImportResult
      • Struct OrthographicProjection
      • Struct PerspectiveProjection
      • Struct PhongMaterialInfo
      • Struct PhysicalMaterialInfo
      • Struct RGBABuffer
      • Struct ScenePartSpec
      • Struct TextParameters
      • Struct LocalClientOptions
      • Template Struct handle_type_name< typing::Sequence< T > >
      • Template Struct PyTypeWrapper
      • Template Class duration_caster
      • Class ContactForceBase
      • Class ContactForceManager
      • Class FrameCollider
      • Class HuntCrossley
      • Class HuntCrossley::HuntCrossleyParams
      • Class Base
      • Class BaseContainer
      • Template Class BasicDAGImpl
      • Template Class BasicTreeImpl
      • Template Class CallbackRegistry
      • Template Class DAG
      • Template Class DataCache
      • Class IdGenerator
      • Class IdHashStruct
      • Class JsonLogger
      • Class LockingBase
      • Class MsgLogger
      • Class my_formatter_flag
      • Template Class RegistryList
      • Class SideEffect
      • Class StderrLog
      • Class StdoutLog
      • Template Class Tree
      • Template Class UsageTrackingMap
      • Class Algorithms
      • Class BilateralConstraintBase
      • Class BodyBase
      • Class CECompoundBody
      • Class CECompoundSubhinge
      • Class CompoundBody
      • Class CompoundHinge
      • Class CompoundSubhinge
      • Class ConstraintKinematicsSolver
      • Class ConstraintNode
      • Class CoordBase
      • Template Class CoordBase_T
      • Class CoordData
      • Class CoordinateConstraint
      • Class FramePairHinge
      • Class FrameToFrameJacobianGenerator
      • Class GearedCompoundBody
      • Class HingeBase
      • Class HingeNode
      • Class HingeOnode
      • Class HingePnode
      • Class Linear3Subhinge
      • Class LinearSubhinge
      • Class LockedSubhinge
      • Class LoopConstraintBase
      • Class LoopConstraintConVel
      • Class LoopConstraintHinge
      • Class LoopsCompoundBody
      • Class ModalNodeDeformationProvider
      • Class Multibody
      • Class MultiJacobianGenerator
      • Class Node
      • Class NodeDeformationProvider
      • Class Physical1DofSubhinge
      • Class PhysicalBody
      • Class PhysicalHinge
      • Class PhysicalModalBody
      • Class PhysicalSubhinge
      • Template Class PhysicalSubhinge_T
      • Class PinSubhinge
      • Class Scheduler
      • Class ScrewSubhinge
      • Class SphericalQuatSubhinge
      • Class SphericalSubhinge
      • Class StatePropagator
      • Class SubGraph
      • Class SubhingeBase
      • Class SubTree
      • Class TimedEvent
      • Class TimeKeeper
      • Class ChainedFrameToFrame
      • Class EdgeFrameToFrame
      • Class Frame
      • Class FrameContainer
      • Class FrameToFrame
      • Class OrientedChainedFrameToFrame
      • Class PrescribedFrameToFrame
      • Class SpiceFrame
      • Class SpiceFrameToFrame
      • Class H5Writer
      • Class PacketTableConfig
      • Class AABB
      • Class AkimaSplineInterpolator
      • Class ArkExplicitIntegrator
      • Class BaseInterpolator
      • Class ConstantInterpolator
      • Class CubicHermiteInterpolator
      • Class CVodeIntegrator
      • Class EulerIntegrator
      • Class HomTran
      • Class IdaIntegrator
      • Class Integrator
      • Class Jacobian
      • Class LinearInterpolator
      • Class NearestNeighborInterpolator
      • Class NonlinearSolver
      • Class NoopIntegrator
      • Class RK4Integrator
      • Class RotationMatrix
      • Class RotationVector
      • Class SimTran
      • Class SpatialInertia
      • Class SpatialVector
      • Class StateSpace
      • Class UnitQuaternion
      • Class BaseKModel
      • Class ComputedTorque
      • Class DataLogger
      • Class DataLoggerParams
      • Class GraphicalSceneMovie
      • Class GraphicalSceneMovieParams
      • Template Class KModel
      • Class KModelContinuousStates
      • Class KModelDiscreteStates
      • Class KModelParams
      • Class KModelScratch
      • Class NoContinuousStates
      • Class NoDiscreteStates
      • Class NoParams
      • Class NoScratch
      • Class PenaltyContact
      • Class PID
      • Class PIDParams
      • Class PinJointLimits
      • Class PinJointLimitsParams
      • Class PointMassGravity
      • Class PointMassGravityParams
      • Class ProjectConstraintError
      • Class ProjectConstraintErrorParams
      • Class SpringDamper
      • Class SpringDamperParams
      • Class SpringDamperScratch
      • Class SubhingeForceLimits
      • Class SubhingeForceLimitsParams
      • Class SubhingeSpringDamper
      • Class SubhingeSpringDamperParams
      • Class SyncRealTime
      • Class TimeDisplay
      • Class TimeDisplayParams
      • Class UniformGravity
      • Class UniformGravityParams
      • Class UpdateProxyScene
      • Class AbstractImporter
      • Class AbstractStaticGeometry
      • Class AssimpImporter
      • Class BoxGeometry
      • Class CapsuleGeometry
      • Class ClientRegistry
      • Class CoalGeometryCache
      • Class CoalScene
      • Class CoalSceneNode
      • Class CoalScenePart
      • Class CollisionScene
      • Class CollisionSceneNode
      • Class CollisionScenePart
      • Class Color
      • Class ConeGeometry
      • Class CylinderGeometry
      • Class ExtMime
      • Class GraphicalScene
      • Class GraphicalSceneCamera
      • Class GraphicalSceneNode
      • Class GraphicalScenePart
      • Class GrayscaleTexture
      • Class ImplDatabase
      • Class PhongMaterial
      • Class PhysicalMaterial
      • Class ProxyScene
      • Class ProxySceneNode
      • Class ProxyScenePart
      • Class RoundFrustumGeometry
      • Class Scene
      • Class SceneNode
      • Class ScenePart
      • Class SphereGeometry
      • Class StaticMeshGeometry
      • Class Texture
      • Class WebResourceManager
      • Class WebScene
      • Class WebSceneCamera
      • Class WebSceneNode
      • Class WebScenePart
      • Class Connection
      • Class Server
      • Template Class Sequence
      • Template Class type_caster< std::chrono::duration< Rep, Period > >
      • Template Class type_caster< std::chrono::time_point< Clock, Duration > >
      • Enum IntegratorType
      • Enum SolverType
      • Enum Alignment
      • Function cast
      • Function Karana::Core::_dummy
      • Function Karana::Core::_ensureRegisteredPy
      • Function Karana::Core::_numTraceCheck
      • Function Karana::Core::_numTraceInt(std::string_view)
      • Function Karana::Core::_numTraceInt(msg_f)
      • Template Function Karana::Core::_numTraceInt(spdlog::format_string_t<Args…>, Args&&…)
      • Function Karana::Core::allCurrent
      • Function Karana::Core::allDestroyed
      • Function Karana::Core::allFinalized
      • Template Function Karana::Core::CallbackRegistryPybind11
      • Template Function Karana::Core::const_pointer_cast
      • Template Function Karana::Core::createSharedPtrDiscard
      • Function Karana::Core::debug(std::string_view)
      • Function Karana::Core::debug(msg_f)
      • Template Function Karana::Core::debug(spdlog::format_string_t<Args…>, Args&&…)
      • Function Karana::Core::debugJson(const nlohmann::ordered_json&, OrderedJsonToString)
      • Function Karana::Core::debugJson(const nlohmann::json&, JsonToString)
      • Function Karana::Core::defaultJsonToString
      • Function Karana::Core::defaultOrderedJsonToString
      • Function Karana::Core::deprecated
      • Template Function Karana::Core::deprecatedWrapper
      • Template Function Karana::Core::discard
      • Template Function Karana::Core::dynamic_pointer_cast
      • Function Karana::Core::error(std::string_view)
      • Function Karana::Core::error(msg_f)
      • Template Function Karana::Core::error(spdlog::format_string_t<Args…>, Args&&…)
      • Function Karana::Core::info(std::string_view)
      • Function Karana::Core::info(msg_f)
      • Template Function Karana::Core::info(spdlog::format_string_t<Args…>, Args&&…)
      • Function Karana::Core::sharedPtrDiscard
      • Function Karana::Core::sharedPtrDiscardVec
      • Template Function Karana::Core::static_pointer_cast
      • Function Karana::Core::trace(std::string_view)
      • Function Karana::Core::trace(msg_f)
      • Template Function Karana::Core::trace(spdlog::format_string_t<Args…>, Args&&…)
      • Function Karana::Core::traceJson(const nlohmann::ordered_json&, OrderedJsonToString)
      • Function Karana::Core::traceJson(const nlohmann::json&, JsonToString)
      • Function Karana::Core::warn(std::string_view)
      • Function Karana::Core::warn(msg_f)
      • Template Function Karana::Core::warn(spdlog::format_string_t<Args…>, Args&&…)
      • Function Karana::Math::buildNaNWithPayload
      • Template Function Karana::Math::dump
      • Template Function Karana::Math::dumpString
      • Template Function Karana::Math::getIndepColIndices
      • Template Function Karana::Math::getIndepRowColIndices
      • Template Function Karana::Math::getRank
      • Template Function Karana::Math::getSingularValues
      • Template Function Karana::Math::isInitialized(const Eigen::MatrixBase<Derived>&)
      • Template Function Karana::Math::isInitialized(const Eigen::ArrayBase<Derived>&)
      • Function Karana::Math::isNaNWithPayload
      • Function Karana::Math::isUninitialized
      • Function Karana::Math::isUninitializedNaN
      • Function Karana::Math::ktimeToSeconds
      • Function Karana::Math::secondsToKtime
      • Function Karana::Math::strToIntegratorType
      • Function Karana::Math::tilde
      • Function Karana::Math::uninitialize(Ktime&)
      • Template Function Karana::Math::uninitialize(Eigen::DenseBase<Derived>&)
      • Template Function Karana::Models::addToDSMethod
      • Template Function Karana::Models::KModelPybind11
      • Function Karana::Scene::defaultGeometry
      • Function Karana::Scene::defaultMaterial
      • Function load
      • Function localtime_thread_safe
      • Function operator<<
      • Function PYBIND11_DECLARE_HOLDER_TYPE
      • Function PYBIND11_MODULE
      • Function PYBIND11_TYPE_CASTER
      • Variable has_pybind11_caster_v
      • Variable Karana::KUtils::extract_cols_v
      • Variable Karana::KUtils::extract_rows_v
      • Variable Karana::KUtils::extract_vector_rows_v
      • Variable Karana::KUtils::is_eigen_type_v
      • Variable Karana::KUtils::is_eigen_vector_v
      • Variable Karana::Math::uninitializedNaN
      • Variable Karana::Math::uninitializedPayload
      • Variable Karana::Scene::LAYER_ALL
      • Variable Karana::Scene::LAYER_COLLISION
      • Variable Karana::Scene::LAYER_CUSTOM0
      • Variable Karana::Scene::LAYER_CUSTOM1
      • Variable Karana::Scene::LAYER_CUSTOM10
      • Variable Karana::Scene::LAYER_CUSTOM11
      • Variable Karana::Scene::LAYER_CUSTOM12
      • Variable Karana::Scene::LAYER_CUSTOM13
      • Variable Karana::Scene::LAYER_CUSTOM14
      • Variable Karana::Scene::LAYER_CUSTOM15
      • Variable Karana::Scene::LAYER_CUSTOM16
      • Variable Karana::Scene::LAYER_CUSTOM17
      • Variable Karana::Scene::LAYER_CUSTOM18
      • Variable Karana::Scene::LAYER_CUSTOM19
      • Variable Karana::Scene::LAYER_CUSTOM2
      • Variable Karana::Scene::LAYER_CUSTOM20
      • Variable Karana::Scene::LAYER_CUSTOM21
      • Variable Karana::Scene::LAYER_CUSTOM22
      • Variable Karana::Scene::LAYER_CUSTOM23
      • Variable Karana::Scene::LAYER_CUSTOM3
      • Variable Karana::Scene::LAYER_CUSTOM4
      • Variable Karana::Scene::LAYER_CUSTOM5
      • Variable Karana::Scene::LAYER_CUSTOM6
      • Variable Karana::Scene::LAYER_CUSTOM7
      • Variable Karana::Scene::LAYER_CUSTOM8
      • Variable Karana::Scene::LAYER_CUSTOM9
      • Variable Karana::Scene::LAYER_GRAPHICS
      • Variable Karana::Scene::LAYER_NONE
      • Variable Karana::Scene::LAYER_ORNAMENTAL
      • Variable Karana::Scene::LAYER_PHYSICAL
      • Variable Karana::Scene::LAYER_PHYSICAL_GRAPHICS
      • Variable Karana::Scene::LAYER_RESERVED0
      • Variable Karana::Scene::LAYER_RESERVED1
      • Variable Karana::Scene::LAYER_RESERVED2
      • Variable Karana::Scene::LAYER_RESERVED3
      • Variable Karana::Scene::LAYER_RESERVED4
      • Variable Karana::Scene::LAYER_RESERVED5
      • Variable Karana::Scene::LAYER_RESERVED6
      • Variable Karana::Scene::LAYER_RESERVED7
      • Variable Karana::Scene::LAYER_STICK_FIGURE
      • Define KARANA_MODIFIED
      • Define KARANA_VERSION_MAJOR
      • Define KARANA_VERSION_MINOR
      • Define KARANA_VERSION_PATCH
      • Define KARANA_VERSION_STRING
      • Define MATH_EPSILON
      • Define numTrace
      • Typedef Karana::Core::Allocator
      • Typedef Karana::Core::id_t
      • Typedef Karana::Core::JsonToString
      • Typedef Karana::Core::ks_ptr
      • Typedef Karana::Core::msg_f
      • Typedef Karana::Core::OrderedJsonToString
      • Typedef Karana::Dynamics::f
      • Typedef Karana::Math::Array
      • Typedef Karana::Math::ArrayVec
      • Typedef Karana::Math::ConstMatSlice
      • Typedef Karana::Math::ConstVec3Slice
      • Typedef Karana::Math::ConstVecSlice
      • Typedef Karana::Math::cost_fn
      • Typedef Karana::Math::DerivativeFunction
      • Typedef Karana::Math::DynamicFunctorNumJac
      • Typedef Karana::Math::fn
      • Typedef Karana::Math::functor_type
      • Typedef Karana::Math::jac_fn
      • Typedef Karana::Math::Ktime
      • Typedef Karana::Math::lin_fn
      • Typedef Karana::Math::Mat
      • Typedef Karana::Math::Mat33
      • Typedef Karana::Math::Mat44
      • Typedef Karana::Math::Mat66
      • Typedef Karana::Math::Mat6n
      • Typedef Karana::Math::MatSlice
      • Typedef Karana::Math::num_diff_functor_type
      • Typedef Karana::Math::ResidualsFunction
      • Typedef Karana::Math::solver_type
      • Typedef Karana::Math::Vec
      • Typedef Karana::Math::Vec3
      • Typedef Karana::Math::Vec3Slice
      • Typedef Karana::Math::Vec4
      • Typedef Karana::Math::Vec6
      • Typedef Karana::Math::VecSlice
      • Typedef Karana::Scene::layer_t
      • Typedef Karana::Scene::TextureCache
      • Typedef Karana::Scene::TextureData
      • Typedef Karana::Scene::VarMaterial
      • Typedef Karana::Scene::VarProjection
      • Typedef Karana::Scene::VarStaticGeometry
      • Typedef type
  • .rst

File version.h

Contents

  • Definition (include/Karana/version.h)
  • Defines

File version.h#

↰ Parent directory (include/Karana)

kdFlex version number.

Contents

  • Definition (include/Karana/version.h)

  • Defines

Definition (include/Karana/version.h)#

  • Program Listing for File version.h

Defines#

  • Define KARANA_VERSION_MAJOR

  • Define KARANA_VERSION_MINOR

  • Define KARANA_VERSION_PATCH

  • Define KARANA_VERSION_STRING

Contents
  • Definition (include/Karana/version.h)
  • Defines

By Karana Dynamics Inc.

© Copyright 2025, Karana Dynamics Inc. Generated on 18 December 2025 18:38 UTC.