Struct HingeBase::HingeParams

Struct HingeBase::HingeParams#

Nested Relationships#

This struct is a nested type of Class HingeBase.

Struct Documentation#

struct HingeParams

Struct with hinge parameters for the HingeType::HOOKE, HingeType::INLINE etc hinge types defined by motion constraints between a pair of frames on the inboard and outboard bodies.

Public Members

km::UnitQuaternion i_to_onode_q = km::UnitQuaternion(0, 0, 0, 1)

onode orientation with respect to the inboard frame

km::UnitQuaternion j_to_pnode_q = km::UnitQuaternion(0, 0, 0, 1)

onode orientation with respect to the outboard frame

km::Mat axes

3xm matrix with columns defining the 1-dof subhinge axes

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