Struct PhysicalSubhinge::PhysicalSubhingeParams

Struct PhysicalSubhinge::PhysicalSubhingeParams#

Nested Relationships#

This struct is a nested type of Class PhysicalSubhinge.

Inheritance Relationships#

Derived Types#

Struct Documentation#

struct PhysicalSubhingeParams#

Base class for physical subhinges that is specialized for each subhinge type. This is handy for creating new subhinges with matching params from existing subhinges (e.g., when introducing cut-joints).

Subclassed by Karana::Dynamics::Physical1DofSubhinge::PhysicalSubhingeParams, Karana::Dynamics::SphericalSubhinge::PhysicalSubhingeParams

Public Functions

PhysicalSubhingeParams() = default#
inline PhysicalSubhingeParams(const PhysicalSubhinge::PhysicalSubhingeParams &p)#

Copy constructor.

Parameters:

p – the other params

inline PhysicalSubhingeParams &operator=(const PhysicalSubhinge::PhysicalSubhingeParams &p)#

Assignment operator.

Parameters:

p – the other params

Returns:

the updated params

Public Members

km::Vec Q#

The Q generalized coordinates.

km::Vec U#

The U generalized velocity coordinates

km::Vec Udot#

The Udot generalized acceleration coordinates.

km::Vec T#

The T generalized force values.

bool prescribed = false#

The prescribed motion setting.

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