Class Linear3Subhinge

Class Linear3Subhinge#

Inheritance Relationships#

Base Type#

Class Documentation#

class Linear3Subhinge : public Karana::Dynamics::PhysicalSubhinge_T<3, 3>#

Represents a 3 dof translational subhinge.

See Subhinges section for more information on physical subhinges.

Public Functions

virtual ~Linear3Subhinge()#

Linear3Subhinge destructor.

virtual SubhingeBase::SubhingeType subhingeType() const override#

Helper method to return the subhinge type.

Returns:

the subhinge type

Linear3Subhinge(kc::ks_ptr<kf::Frame> oframe, kc::ks_ptr<kf::Frame> pframe, std::string_view name, kc::ks_ptr<FramePairHinge> hge)#

Constructs a Linear3Subhinge.

Parameters:

  • oframe – the oframe frame

  • pframe – the pframe frame

  • name – the name for the subhinge

  • hge – the parent hinge

Protected Functions

virtual void _computeTransform(km::HomTran&) override#

Compute the transformation between the oframe and pframe.

This the relTransform data cache callback.

Parameters:

T – The buffer to place the computed homogeneous transformation in.

virtual void _computeVelocity(km::SpatialVector&) override#

Compute the spatial velocity between the oframe and pframe.

This the relSpVel data cache callback.

Parameters:

V – The buffer to put the computed spatial velocity in.

virtual void _computeAccel(km::SpatialVector&) override#

Compute the spatial acceleration between the oframe and pframe.

This the relSpAccel data cache callback.

Parameters:

a – The buffer to put the computed spatial acceleration in.

virtual kc::ks_ptr<PhysicalSubhingeParams> _getParams() const override#

Get params for the subhinge.

Returns:

the params

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