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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