.. _file_include_Karana_SOADyn_PhysicalSubhinge.h:

File PhysicalSubhinge.h
=======================

|exhale_lsh| :ref:`Parent directory <dir_include_Karana_SOADyn>` (``include/Karana/SOADyn``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS



Contains the declarations for the PhysicalSubhinge and PhysicalSubhinge_T classes. 



.. contents:: Contents
   :local:
   :backlinks: none

Definition (``include/Karana/SOADyn/PhysicalSubhinge.h``)
---------------------------------------------------------


.. toctree::
   :maxdepth: 1

   program_listing_file_include_Karana_SOADyn_PhysicalSubhinge.h.rst



Detailed Description
--------------------

The _T version is the templatized version for PhysicalSubhinges of specific sizes. Templatizing provides optimization benefits, as Eigen can work with known, fixed sizes. 




Includes
--------


- ``Karana/Frame/EdgeFrameToFrame.h`` (:ref:`file_include_Karana_Frame_EdgeFrameToFrame.h`)

- ``Karana/KCore/Var_T.h`` (:ref:`file_include_Karana_KCore_Var_T.h`)

- ``Karana/SOADyn/SubhingeBase.h`` (:ref:`file_include_Karana_SOADyn_SubhingeBase.h`)



Included By
-----------


- :ref:`file_include_Karana_GeneralKModels_PID.h`

- :ref:`file_include_Karana_GeneralKModels_SubhingeForceLimits.h`

- :ref:`file_include_Karana_GeneralKModels_SubhingeSpringDamper.h`

- :ref:`file_include_Karana_SOADyn_CoordinateConstraint.h`

- :ref:`file_include_Karana_SOADyn_FramePairHinge.h`

- :ref:`file_include_Karana_SOADyn_PinSubhinge.h`




Namespaces
----------


- :ref:`namespace_Karana`

- :ref:`namespace_Karana__Dynamics`

- :ref:`namespace_Karana__Frame`

- :ref:`namespace_KaranaTest`

- :ref:`namespace_KaranaTest__Dynamics`


Classes
-------


- :ref:`exhale_struct_structKarana_1_1Dynamics_1_1PhysicalSubhinge_1_1PhysicalSubhingeParams`

- :ref:`exhale_struct_structKarana_1_1Dynamics_1_1PhysicalSubhinge__T_1_1ATBIFilterVectors`

- :ref:`exhale_struct_structKarana_1_1Dynamics_1_1PhysicalSubhinge__T_1_1ATBIMatrices`

- :ref:`exhale_class_classKarana_1_1Dynamics_1_1PhysicalSubhinge`

- :ref:`exhale_class_classKarana_1_1Dynamics_1_1PhysicalSubhinge__T`

- :ref:`exhale_class_classKarana_1_1Dynamics_1_1PhysicalSubhingeVars`