Class CELoopKinematicsNumeric

Class CELoopKinematicsNumeric#

Inheritance Relationships#

Base Type#

Class Documentation#

class CELoopKinematicsNumeric : public Karana::Dynamics::CELoopKinematicsBase#

The numerical iterations based CE kinematics loop solver.

Public Functions

CELoopKinematicsNumeric(std::string_view name, kc::ks_ptr<SubGraph> bodies_sg, const km::VecInt &indep_indices_U, const km::VecInt &indep_indices_Q)#

CELoopKinematicsNumeric constructor. The constructor is not meant to be called directly. Please use the create(…) method instead to create an instance.

Parameters:

  • name – Instance name.

  • bodies_sg – SubGraph with the embedded bodies.

  • indep_indices_U – The list of independent U coordinate indices.

  • indep_indices_Q – The list of independent Q coordinate indices.

virtual void updateDependentQ(const km::Vec &min_q, bool global) const override#

Convert the input minimal independent coords Q into the full dependent Q for all the aggregated subhinges for the compound body as appropriate and set the values.

Note that the constraints are at the velocity level and not the Q level, and in some cases Q is subject to a different (and perhaps no) constraints, The global flag controls whether the incoming Q values are global are local chart coordinates.

Parameters:

  • min_q – The minimal coordinates.

  • global – Flag to indicate whether incoming coords are local or global.

virtual void computeConstraintX(km::Mat &X) const override#

Fill the X matrix that maps the min independent U to the full U (independent, dependent, constraint dofs) for the compound body.

Parameters:

X – The matrix to fill with the X matrix.

virtual void computeXdotU(km::Vec &XdotU) const override#

Return Xdot*U product of the time derivative of X constraint matrix with the U generalized velocities.

Parameters:

XdotU – the vector to fill with the compute value

void setIndependentIndices(const km::VecInt &indep_indices_U, const km::VecInt &indep_indices_Q = {})#

Set the independent Q and U coordinate indices.

If the Q indices are unspecified, they are assumed to be the same as the U indices.

Parameters:

  • indep_indices_U – the independent U coordinate indices

  • indep_indices_Q – the independent Q coordinate indices

virtual std::string dumpString(std::string_view prefix = "", const Karana::Core::Base::DumpOptions *options = nullptr) 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.

virtual const CELoopKinematicsNumericVars &getVars() const override#

Get vars as the most derived type.

Returns:

The vars member as its most derived type.

Public Static Functions

static Karana::Core::ks_ptr<CELoopKinematicsNumeric> create(std::string_view name, kc::ks_ptr<SubGraph> bodies_sg, const km::VecInt &indep_indices_U, const km::VecInt &indep_indices_Q)#

Constructs a CELoopKinematicsNumeric instance.

Parameters:

  • name – Instance name.

  • bodies_sg – SubGraph with bodies being embedded.

  • indep_indices_U – The list of independent U coordinate indices.

  • indep_indices_Q – The list of independent Q coordinate indices.

Returns:

A CELoopKinematicsNumeric instance.

Protected Functions

void _updateConstraintRowIndices(const km::VecInt &inert_columns)#

Compute the constraint error row indices to use in X computation.

The inert columns is used to exclude columns that do not contribute to the constraint error (eg. out of plane coords for a planar system)

Parameters:

inert_columns – the columns to treat as inert

void _computeInertIndices()#

Compute the coordinate indices that are inert, i.e. ones that do hot contribute to the constraint errors (eg. out of plane coords in a planar system).

virtual void _discard(Karana::Core::ks_ptr<Karana::Core::Base> &base) override#

Discard the the CELoopKinematics.

Parameters:

base – - A pointer to the CELoopKinematics to discard.

void _updateCBs()#

Update the CoordBase values for the coord indices.

Protected Attributes

kc::ks_ptr<ConstraintKinematicsSolver> _cks = nullptr#

the CK solver used to solve for the dependent coordinates

km::VecInt _rows_Y#

indices for non-redundant rows for the aggregation graphs constraint velocity error Jacobian

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