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.

This struct is used to specify the parameter data for a hinge that is being specified as a constraint (such as a HOOKE, INLINE, PERPENDICULAR) between arbitrary frames attached to the the parent and child bodies (‘i’ denotes the constraint frame attached to the inboard body, and ‘j’ the constraint frame attached to the outboard body). Helper methods such as getHookeHingeParams(), getInlineHingeParams() etc compute the required poses of the onode and pnode frames, and subhinge axes in a HingeParams instance needed to meet the constraint objectives so that it can be used to set up the desired hinge.

Public Members

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

required onode orientation with respect to the constraint frame on the inboard body

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

required pnode orientation with respect to the constraint frame on the outboard body

km::Mat axes

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

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