Struct HingeOnodeATBISmootherVectors

Contents

Struct HingeOnodeATBISmootherVectors#

Defined in File HingeNode.h

Struct Documentation#

struct HingeOnodeATBISmootherVectors#

Struct for ATBI dynamics smoother vector quantities at the onode.

Public Members

km::SpatialVector alpha_plus#: alpha+ accel vector at the onode and represented in the onode frame. Need this for inter-body force computations as well.

km::SpatialVector alpha_plus_extra#: Extra alpha_plus that might come from the TA closed loop dynamics free dynamics pass that is needed for inter-body constraint computations with this algorithm