Class PhysicalHinge

Class PhysicalHinge#

Inheritance Relationships#

Base Type#

Class Documentation#

class PhysicalHinge : public Karana::Dynamics::FramePairHinge#

Represents the class for physical articulation hinges.

This class is the container for physical subhinges that define articulation for physical bodies. See Connecting bodies via hinges section for more information on physical hinges.

Public Functions

virtual ~PhysicalHinge()#

Hinge destructor.

PhysicalHinge(PhysicalBody &parent, PhysicalBody &child, std::string_view name, HingeBase::HingeType htype, const std::vector<SubhingeBase::SubhingeType> &subhinge_types = std::vector<SubhingeBase::SubhingeType>())#

Hinge Constructor.

Parameters:

  • parent – The parent body

  • child – The child body

  • name – The string name for the hinge

  • htype – The hinge type

  • subhinge_types – The list of subhinge types for a custom hinge type

inline virtual std::string_view typeString() const noexcept override#

Returns the type string of the HingeBase.

Returns:

The type string.

const kc::ks_ptr<HingePnode> &pnode() const#

Return the pnode for the hinge See.

Connecting bodies via hinges section for more information on onodes and pnodes.

Returns:

the HingePnode instance

const kc::ks_ptr<HingeOnode> &onode() const#

Return the onode for the hinge See.

Connecting bodies via hinges section for more information on onodes and pnodes.

Returns:

the HingeOnode instance

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.

Public Static Functions

static const kc::ks_ptr<PhysicalHinge> create(PhysicalBody &parent, PhysicalBody &child, HingeBase::HingeType htype, const std::vector<SubhingeBase::SubhingeType> &subhinge_types = std::vector<SubhingeBase::SubhingeType>())#

Factory method to create a PhysicalHinge instance.

Parameters:

  • parent – The parent body

  • child – The child body

  • htype – The hinge type

  • subhinge_types – The list of subhinge types for a custom hinge type

Returns:

A new PhysicalHinge instance

Protected Functions

void _discard(kc::ks_ptr<Base> &base) override#

Parameters:

base – - Pointer to the PhysicalHinge.

void _setupATBIDataCaches()#

Helper method to set up the ATBI data caches.

void _teardownATBIDataCaches()#

Helper method to tear down the ATBI data caches.

void _setupInvDynDataCaches()#

Helper method to set up the inverse dynamics data cache.

void _teardownInvDynDataCaches()#

Helper method to tear down the inverse dynamics data cache.

void _oneTimeTeardown()#

Helper method to tear down the hinge.

virtual void _changeActionT() override#

Carry out side effect of the the generalized force changing for the subhinge.

An example side effect is to mark the ATBI filter data cache for the hinge onode as not healthy for a physical hinge.

km::SpatialVector _acorPrime(const km::Vec &x_dot_u) const#

Compute the overall Coriolis accel term for all of the subhinges about and in the pnode frame.

This is needed for compound bodies ATBI filter step. The XdotU vector is non-null (i.e. non-zero size) only for constraint-embedding compound bodies - where the XdotU term is a contribution from the configuration dependency of the independent to dependent coordinates

Parameters:

x_dot_u – the Xdot*U input values for the subhinges

Returns:

the a’ Coriolis acceleration vector

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