Struct PhysicalModalBody::ATBIMatrices

Struct PhysicalModalBody::ATBIMatrices#

Nested Relationships#

This struct is a nested type of Class PhysicalModalBody.

Inheritance Relationships#

Base Type#

Struct Documentation#

struct ATBIMatrices : public Karana::Dynamics::CoordBase::ATBIMatrices#

Overall struct for ATBI dynamics matrix quantities for an articulation subhinge which includes the fixed and subhinge dof size matrices.

HP (6, nU) - the lhs is in the pnode deformed translational frame G (6, nU) - the lhs is in the pnode deformed translational frame tauper (6, nU+6) - lhs is in the pnode deformed translational frame, while the bottom part of the right is in the body frame

psi (6, nU+6) - lhs is in the pnode frame, while the bottom part of the right is in the body frame

Public Functions

inline void resize(size_t modal_n_u, size_t body_n_u)#

Public Members

km::Mat P#
km::Mat66 Pplus#
km::Mat HP#

HP = H*P (nU x body_nU)

For a subhinge the lhs is in the pframe, while it in the pnode deformed translational frame for a flex body.

km::Mat D#

D = H*P*HT (nU x nU)

km::Mat Dinv#

Dinv = inverse(D) (nU x nU)

km::Mat G#

G = P*H*Dinv (body_nU x nU)

For a subhinge the lhs is in the pframe, while it in the pnode deformed translational frame for a flex body.

km::Mat tauper#

tauper = I - GH (body_nU x body_nU)

For a subhinge the lhs is in the pframe, while it in the pnode deformed translational frame for a flex body.

km::Mat psi#

psi = phi * tauper (body_nU x body_nU)

For a subhinge, the left is in the oframe, right in the pframe. For a flex body, the lefts is in the pnode frame and the right in the body frame.

Contents