Struct CompoundSubhinge::ATBIMatrices#

Nested Relationships#

This struct is a nested type of Class CompoundSubhinge.

public Karana::Dynamics::CoordBase::ATBIMatrices (Struct CoordBase::ATBIMatrices)

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

Overall struct for ATBI dynamics matrix quantities for compound body subhinge which includes the embedded body subhinge and flex dof matrices.

Public Functions

inline void resize(size_t full_n_u, size_t body_n_u)

Resize the ATBI matrix elements.

Parameters:

full_n_u – is the overall number of generalized velocities from all the aggregated bodies (subhinges+flex coords)
body_n_u – is (6*nbodies+flex_n_u) where nbodies is the number of aggregated physical bodies.

Public Members

km::Mat P: The body_nU square block diagonal matrix with 6x6 ATBI P matrix element contributions from each of the aggregated physical bodies about their pnodes. Each body’s contribution is expressed in the body’s pnode frame. Only the rigid body P contributions are being kept since that is all this is needed.

km::Mat Pplus: The body_nU square Pplus block diagonal matrix with 6x6 matrix elements after crossing the compound subhinge. The block matrix entries are about the pnode for each of the aggregated physical bodies. Note that this matrix is NOT block diagonal

km::Mat HP

HP = H*P (full_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 G

G = P*H*Dinv (body_nU x full_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.