Class HingeOnode

• Defined in File HingeNode.h

Inheritance Relationships

Base Type

• public Karana::Dynamics::HingeNode (Class HingeNode)

Class Documentation

class HingeOnode : public Karana::Dynamics::HingeNode

Represents the hinge onode class.

See Connecting bodies via hinges section for more discussion of hinge, onodes and pnodes.

This class is for onodes for physical hinges

Public Functions

HingeOnode(std::string_view name, kc::ks_ptr<PhysicalBody> bd)

HingeOnode constructor.

Parameters:

• name – the onode name

• bd – the parent body

virtual ~HingeOnode()

HingeOnode destructor.

virtual std::string dumpString(std::string_view prefix, const Karana::Core::Base::DumpOptions *options) const override

Return information about the object.

Parameters:

• prefix – A string to use as prefix for each output line

• options – Struct with options to tailor the output

Returns:

String with the information about the object.

virtual bool isReady() const override

Checks is the params for the object have been initialized.

Returns:

True if the params have set up.

inline const kc::ks_ptr<kc::DataCache<HingeOnodeATBIMatrices>> &atbiMatrixCache() const

Return the ATBI matrix cache.

Returns:

the ATBI matrix cache

inline const HingeOnodeATBIMatrices &atbiMatrices() const

Update and return the ATBI matrices.

Returns:

the ATBI matrices

inline const kc::ks_ptr<kc::DataCache<HingeOnodeATBIFilterVectors>> &atbiFilterCache() const

Return the ATBI filter cache.

Returns:

the ATBI filter cache

inline const HingeOnodeATBIFilterVectors &atbiFilterVectors() const

Update and return the ATBI filter vectors.

Returns:

the ATBI filter vectors

inline const kc::ks_ptr<kc::DataCache<HingeOnodeATBISmootherVectors>> atbiSmootherCache() const

Return the ATBI smoother cache.

Returns:

the ATBI smoother cache

inline const HingeOnodeATBISmootherVectors &atbiSmootherVectors() const

Update and return the ATBI smoother vectors.

Returns:

the ATBI smoother vectors

inline const km::SpatialVector &getInterBodyForceTreeFwdDyn() const

Return the inter-body spatial force at the hinge.

While the spatial force is at the onode, and in the onode frame, its sign is that for the version applying on the outboard (the pnode) body. This values should be negated to get the equal and opposite spatial force on the onode’s body.

Returns:

the inter-body spatial force

inline const kc::ks_ptr<kc::DataCache<HingeOnodeUpsilonMatrices>> &upsilonMatrixCache() const

Return the OSCM Upsilon matrix cache.

Returns:

the OSCM Upsilon matrix cache

inline const HingeOnodeUpsilonMatrices &upsilonMatrices() const

Update and return the OSCM Upsilon matrices.

Returns:

the OSCM Upsilon matrices

inline const kc::ks_ptr<kc::DataCache<HingeOnodeInvDynVectors>> inverseDynamicsCache() const

Return the inverse dynamics cache.

Returns:

the inverse dynamics cache

inline const HingeOnodeInvDynVectors &inverseDynamicsVectors() const

Update and return the inverse dynamics vectors.

Returns:

the inverse dynamics vectors

km::SpatialVector getInterBodyForceTAFwdDyn()

Return the interbody force at the onode for Tree Augmented (TA) dynamics with constraints.

This method returns the interbody force at the onode when doing TA dynamics for the system in the presence of loop constraints. This is only meant to be used for regular hinges (not cut-joint hinges)

Returns:

the inter-body spatial force

Protected Functions

void _saveExtraATBIVariables()

Helper method in TA dynamics with loop constraints to save the zrplus and alpha_plus values from the “free” dynamics solution for possible use in interbody force computations where we need to combine these values with those from the correction step.

void _computeInvDynForces(HingeOnodeInvDynVectors &val)

Data cache callback to update the overall inverse dynamics forces.

Parameters:

val – the data buffer for the computed value

void _computeATBIMatrices(HingeOnodeATBIMatrices &val)

Data cache callback to update the ATBI matrix values.

Parameters:

val – the data buffer for the computed value

void _computeATBIFilterVectors(HingeOnodeATBIFilterVectors &val)

Data cache callback to update the ATBI filter values.

Parameters:

val – the data buffer for the computed value

void _computeATBISmootherVectors(HingeOnodeATBISmootherVectors &val, bool is_root_onode)

Data cache callback to update the ATBI smoother values.

Parameters:

• val – the data buffer for the computed value

• is_root_onode – if true, this onode is on the virtual root body

virtual void _computeUpsilonMatrices(HingeOnodeUpsilonMatrices &val, bool is_root_onode)

Data cache callback to update the OSI Upsilon values.

Parameters:

• val – the data buffer for the computed value

• is_root_onode – if true, this onode is on the virtual root body

void _computeInterBodyForceTreeFwdDyn(km::SpatialVector &val) const

Compute the ATBI based inter-body force for the hinge at the onode represented in the onode frame.

Parameters:

val – the data buffer for the computed value

void _oneTimeSetupDataCaches()

Helper method to set up the onode’s data caches.

void _oneTimeTeardownDataCaches()

Helper method to tear down the onode’s data caches.

void _oneTimeSetupDataCacheGatherCallbacks()

Sets up the onode’s gather cache callbacks to depend on the child pnode’s gather data caches.

void _oneTimeTeardownDataCacheGatherCallbacks()

Tears down the onode’s gather cache callbacks dependency on the child pnode’s gather data caches.

void _oneTimeTeardown()

Helper method to tear down the onode.

void _setupDataCachesWithParentPnode()

Called to set up a pnode’s gather data cache dependency on a onode whenever a new pnode or a new onode is created, i.e. whenever there is a new pnode/onode pairing.

void _teardownDataCachesWithParentPnode()

Called to unset a pnode’s gather data cache dependency on a onode whenever a new pnode or a new onode is created, i.e. whenever there is a new pnode/onode pairing.

Protected Attributes

kc::ks_ptr<kf::OrientedChainedFrameToFrame> _pnode2onode_f2f = nullptr

the oriented f2f from this onode’s parent body’s pnode to the onode

kc::ks_ptr<kf::FrameToFrame> _body2onode_f2f = nullptr

the oriented f2f from this onode’s parent body’s frame to the onode

HingeOnodeATBIDataCaches _atbi_data_caches

the ATBI data caches

kc::ks_ptr<kc::DataCache<HingeOnodeInvDynVectors>> _invdyn_data_cache = nullptr

the inverse dynamics data cache