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kdFlex 1.1.2 documentation - Home
  • Chatbot

Contents:

  • Chatbot
  • Installation
  • Examples
    • Importing a robot arm multibody model from a URDF file
    • 2-link Pendulum
    • Load Mars 2020 rover model from a URDF file
    • n-link Pendulum
    • Spice Frames
    • Import/Export Multibodies
    • Graphics demo
    • Data Logging
    • Slider crank example
    • Double-Wishbone
    • 2-link Pendulum Collision Example
    • Procedural n-link pendulum collision example
    • Flexible Slider-Crank
    • Flexible Double-Wishbone
    • \(n\)-link Pendulum Benchmark Comparison
    • Fully Augmented \(n\)-link Pendulum Benchmark Comparison
    • ATRVjr Driving
    • Cart Pole Reinforcement Learning
    • ATRVjr Reinforcement Learning
    • ATRVjr ROS Integration
  • Key concepts
  • Usage Guide
  • Recipes
  • Program skeletons
  • API
    • kdFlex Python API
      • Karana
        • Karana.Collision
        • Karana.Core
        • Karana.Dynamics
        • Karana.Frame
        • Karana.Integrators
        • Karana.KUtils
        • Karana.Math
        • Karana.Models
        • Karana.Scene
        • Karana.WebUI
        • Karana.version
    • kdFlex C++ API
      • Namespace coal
      • Namespace Eigen
      • Namespace Karana
      • Namespace Karana::Collision
      • Namespace Karana::Core
      • Namespace Karana::Dynamics
      • Namespace Karana::Frame
      • Namespace Karana::Integrators
      • Namespace Karana::KUtils
      • Namespace Karana::Math
      • Namespace Karana::Models
      • Namespace Karana::Scene
      • Namespace Karana::WebUI
      • Namespace KaranaTest
      • Namespace KaranaTest::Dynamics
      • Namespace kf
      • Namespace kf::Frame
      • Namespace LockingBase
      • Namespace pybind11
      • Namespace pybind11::detail
      • Namespace pybind11::typing
      • Namespace spdlog
      • Namespace spdlog::sinks
      • Namespace std
      • Template Struct has_pybind11_caster
      • Struct FrameContact
      • Struct Base::DumpOptions
      • Struct BaseWithVars::DumpOptions
      • Struct BasicDAGImpl::Node
      • Struct BasicTreeImpl::Node
      • Struct DebugManager
      • Struct EdgeHash
      • Struct LockingBase::DumpOptions
      • Struct NestedVars
      • Struct CompoundBody::ATBIDataCaches
      • Struct CompoundBody::DumpOptions
      • Struct CompoundBody::InvDynVectors
      • Struct CompoundSubhinge::ATBIFilterVectors
      • Struct CompoundSubhinge::ATBIMatrices
      • Struct CoordBase::ATBIFilterVectors
      • Struct CoordBase::ATBIMatrices
      • Struct CoordData::CoordOffset
      • Struct DynamicFunctor
      • Struct DynamicFunctorNoJac
      • Template Struct Functor
      • Struct HingeBase::HingeParams
      • Struct HingeNode::DumpOptions
      • Struct HingeOnodeATBIDataCaches
      • Struct HingeOnodeATBIFilterVectors
      • Struct HingeOnodeATBIMatrices
      • Struct HingeOnodeATBISmootherVectors
      • Struct HingeOnodeInvDynVectors
      • Struct HingeOnodeUpsilonMatrices
      • Struct HingePnode::ATBIDataCaches
      • Struct HingePnode::ATBIFilterVectors
      • Struct HingePnode::ATBIMatrices
      • Struct HingePnode::ATBISmootherVectors
      • Struct HingePnode::InvDynVectors
      • Struct HingePnode::UpsilonMatrices
      • Struct LoopConstraintBase::QMats
      • Struct ModalAnalysis
      • Struct ModalNodeDeformationProvider::DeformationParams
      • Struct ModelManager::MMFunctions
      • Struct NodeDeformationProvider::DeformationParams
      • Struct Physical1DofSubhinge::PhysicalSubhingeParams
      • Struct PhysicalBody::DumpOptions
      • Struct PhysicalBody::GatherSweepFlags
      • Struct PhysicalBody::InvDynVectors
      • Struct PhysicalBodyParams
      • Struct PhysicalModalBody::ATBIFilterVectors
      • Struct PhysicalModalBody::ATBIMatrices
      • Struct PhysicalModalBody::ATBISmootherVectors
      • Struct PhysicalModalBody::ModalUpsilonMatrices
      • Struct PhysicalModalBody::SZNodeMatrices
      • Struct PhysicalModalBodyParams
      • Struct PhysicalSubhinge::PhysicalSubhingeParams
      • Struct PhysicalSubhinge_T::ATBIFilterVectors
      • Struct PhysicalSubhinge_T::ATBIMatrices
      • Struct ScrewSubhinge::PhysicalSubhingeParams
      • Struct SphericalSubhinge::PhysicalSubhingeParams
      • Struct StatePropagator::Counters
      • Struct StickPartsConfig
      • Struct SubTree::DumpTreeOptions
      • Struct Frame::DumpFrameTreeOptions
      • Struct FrameContainer::DumpOptions
      • Struct FrameToFrame::DumpOptions
      • Struct OrientedChainedFrameToFrame::DumpOptions
      • Struct ArkExplicitIntegrator::IntegratorOptions
      • Struct CVodeIntegrator::IntegratorOptions
      • Struct IdaIntegrator::IntegratorOptions
      • Struct Integrator::IntegratorOptions
      • Struct SundialsIntegrator::IntegratorOptions
      • Template Struct extract_matrix_dimensions
      • Template Struct extract_matrix_dimensions< Eigen::Matrix< double, _rows, 1 > >
      • Template Struct extract_matrix_dimensions< Eigen::Matrix< double, _rows, _cols, Eigen::RowMajor > >
      • Template Struct extract_rows
      • Template Struct extract_rows< Eigen::Matrix< double, rows, 1 > >
      • Template Struct is_eigen_int_type
      • Template Struct is_eigen_int_type< Eigen::Matrix< int, Rows, 1 > >
      • Template Struct is_eigen_type
      • Template Struct is_eigen_type< Eigen::Matrix< double, Rows, 1 > >
      • Template Struct is_eigen_type< Eigen::Matrix< double, Rows, Cols, Eigen::RowMajor > >
      • Template Struct is_eigen_vector
      • Template Struct is_eigen_vector< Eigen::Matrix< double, Rows, 1 > >
      • Struct SinglePlotData
      • Struct Acceleration3
      • Struct Angle
      • Struct Angle3
      • Struct AngularAcceleration3
      • Struct AngularMomentum3
      • Struct AngularVelocity3
      • Struct FloatQuantityHelper
      • Struct Force3
      • Struct GravitationalParameter
      • Struct Inertia
      • Struct Length
      • Struct Length3
      • Struct Mass
      • Struct Mat33QuantityHelper
      • Struct Momentum3
      • Template Struct NumDiffBaseFunctor
      • Struct NumDiffFunctor
      • Struct StateSpace::SS
      • Struct Torque3
      • Struct Vec3QuantityHelper
      • Struct Velocity3
      • Struct GravityOutput
      • Struct MultibodyObjs
      • Struct ClientSceneData
      • Struct CollisionInfo
      • Struct Contact
      • Struct DistanceInfo
      • Struct ImportResult
      • Struct OrthographicProjection
      • Struct PerspectiveProjection
      • Struct PhongMaterialInfo
      • Struct PhysicalMaterialInfo
      • Struct RGBABuffer
      • Struct ScenePartSpec
      • Struct TextParameters
      • Struct LocalClientOptions
      • Struct Selection::Item
      • Struct SliderOptions
      • Struct TreeView::Edge
      • Struct TreeView::Node
      • Template Struct handle_type_name< typing::Sequence< T > >
      • Template Struct PyStateTypeWrapper
      • Template Struct PyTypeWrapper
      • Template Class duration_caster
      • Class ContactForceBase
      • Class ContactForceManager
      • Class FrameCollider
      • Class HuntCrossley
      • Class HuntCrossley::HuntCrossleyParams
      • Class HuntCrossley::HuntCrossleyScratch
      • Class Base
      • Class BaseContainer
      • Class BaseVars
      • Class BaseWithVars
      • Template Class BasicDAGImpl
      • Template Class BasicTreeImpl
      • Template Class CallbackRegistry
      • Template Class DAG
      • Template Class DataCache
      • Class DelFns
      • Class IdGenerator
      • Class IdHashStruct
      • Class JsonLogger
      • Class LockingBase
      • Class LockingBaseVars
      • Class MsgLogger
      • Class my_formatter_flag
      • Template Class RegistryList
      • Class SideEffect
      • Class StderrLog
      • Class StdoutLog
      • Template Class Tree
      • Template Class UsageTrackingMap
      • Class Var
      • Template Class Var_T
      • Class Algorithms
      • Class BilateralConstraintBase
      • Class BilateralConstraintBaseVars
      • Class BodyBase
      • Class CECompoundBody
      • Class CECompoundBodyVars
      • Class CECompoundSubhinge
      • Class CELoopKinematicsBase
      • Class CELoopKinematicsBaseVars
      • Class CELoopKinematicsNumeric
      • Class CELoopKinematicsNumericVars
      • Class CELoopKinematicsPlanar4Bar
      • Class CompoundBody
      • Class CompoundBodyVars
      • Class CompoundHinge
      • Class CompoundSubhinge
      • Class CompoundSubhingeVars
      • Class ConstraintKinematicsSolver
      • Class ConstraintKinematicsSolverVars
      • Class ConstraintNode
      • Class CoordBase
      • Template Class CoordBase_T
      • Class CoordData
      • Class CoordDataVars
      • Class CoordinateConstraint
      • Class CoordinateConstraintVars
      • Class FramePairHinge
      • Class FramePairHingeVars
      • Class FrameToFrameJacobianGenerator
      • Class HingeBase
      • Class HingeNode
      • Class HingeOnode
      • Class HingePnode
      • Class Linear3Subhinge
      • Class LinearSubhinge
      • Class LockedSubhinge
      • Class LoopConstraintBase
      • Class LoopConstraintBaseVars
      • Class LoopConstraintConVel
      • Class LoopConstraintConVelVars
      • Class LoopConstraintCutJoint
      • Class LoopConstraintCutJointVars
      • Class ModalNodeDeformationProvider
      • Class ModelManager
      • Class ModelManager::MMOptions
      • Class ModelManagerVars
      • Class Multibody
      • Class MultiJacobianGenerator
      • Class Node
      • Class NodeDeformationProvider
      • Class NodeVars
      • Class NonlinearSolver
      • Class Physical1DofSubhinge
      • Class PhysicalBody
      • Class PhysicalBodyVars
      • Class PhysicalHinge
      • Class PhysicalModalBody
      • Class PhysicalModalBodyVars
      • Class PhysicalSubhinge
      • Template Class PhysicalSubhinge_T
      • Class PhysicalSubhingeVars
      • Class PinSubhinge
      • Class Scheduler
      • Class ScrewSubhinge
      • Class SphericalQuatSubhinge
      • Class SphericalSubhinge
      • Class StatePropagator
      • Class StatePropagator::SpOptions
      • Class StatePropagatorVars
      • Class SubGraph
      • Class SubGraphVars
      • Class SubhingeBase
      • Class SubTree
      • Class SubTreeVars
      • Class TimedEvent
      • Class TimeKeeper
      • Class TimeKeeperVars
      • Class ChainedFrameToFrame
      • Class ChainedFrameToFrameVars
      • Class EdgeFrameToFrame
      • Class Frame
      • Class FrameContainer
      • Class FrameToFrame
      • Class FrameToFrameVars
      • Class FrameVars
      • Class OrientedChainedFrameToFrame
      • Class OrientedChainedFrameToFrameVars
      • Class PrescribedFrameToFrame
      • Class SpiceFrame
      • Class SpiceFrameToFrame
      • Class ArkExplicitIntegrator
      • Class CVodeIntegrator
      • Class CVodeIntegratorVars
      • Class EulerIntegrator
      • Class IdaIntegrator
      • Class Integrator
      • Class NoopIntegrator
      • Class RK4Integrator
      • Class SundialsIntegrator
      • Class SundialsIntegratorVars
      • Class ContactForceVisualizer
      • Class FrameToFrameVectorVisualizer
      • Class FSM
      • Class FSMState
      • Class FSMTransition
      • Class FSMVars
      • Class H5Writer
      • Class PacketTableConfig
      • Class PlotData
      • Class ScaledVectorVisualizer
      • Class VectorVisualizer
      • Class WsClient
      • Class AABB
      • Class AkimaSplineInterpolator
      • Class BaseInterpolator
      • Class ConstantInterpolator
      • Class CubicHermiteInterpolator
      • Class HomTran
      • Class Jacobian
      • Class LinearInterpolator
      • Class NearestNeighborInterpolator
      • Class Ray
      • Class RotationMatrix
      • Class RotationVector
      • Class SimTran
      • Class SpatialAcceleration
      • Class SpatialForce
      • Class SpatialInertia
      • Class SpatialMomentum
      • Class SpatialVector
      • Class SpatialVelocity
      • Class StateSpace
      • Class UnitQuaternion
      • Class BaseKModel
      • Class ComputedTorque
      • Template Class ConstantProfileGenerator
      • Template Class CubicSplineProfileGenerator
      • Class DataLogger
      • Class DataLoggerParams
      • Class DataPlotter
      • Class DataPlotterParams
      • Class GilRelease
      • Class GraphicalSceneMovie
      • Class GraphicalSceneMovieParams
      • Class Gravity
      • Class GravityInterface
      • Class GravityVars
      • Template Class KModel
      • Class KModelContinuousStates
      • Class KModelDiscreteStates
      • Class KModelParams
      • Class KModelScratch
      • Template Class KModelVars
      • Template Class LinearProfileGenerator
      • Class NoContinuousStates
      • Class NoDiscreteStates
      • Class NoParams
      • Class NoScratch
      • Class PenaltyContact
      • Class PID
      • Class PIDParams
      • Class PIDParamsVars
      • Class PinJointLimits
      • Class PinJointLimitsParams
      • Class PointMassGravity
      • Template Class ProfileGenerator
      • Template Class ProfileGeneratorVars
      • Class ProjectConstraintError
      • Class ProjectConstraintErrorParams
      • Class SpringDamper
      • Class SpringDamperParams
      • Class SpringDamperParamsVars
      • Class SpringDamperScratch
      • Class SpringDamperScratchVars
      • Class SubhingeForceLimits
      • Class SubhingeForceLimitsParams
      • Class SubhingeSpringDamper
      • Class SubhingeSpringDamperParams
      • Class SyncRealTime
      • Class TimeDisplay
      • Class TimeDisplayParams
      • Class TimeDisplayParamsVars
      • Class UniformGravity
      • Class UpdateProxyScene
      • Class AbstractImporter
      • Class AbstractStaticGeometry
      • Class AssimpImporter
      • Class BoxGeometry
      • Class CapsuleGeometry
      • Class ClientRegistry
      • Class CoalGeometryCache
      • Class CoalScene
      • Class CoalSceneNode
      • Class CoalScenePart
      • Class CollisionScene
      • Class CollisionSceneNode
      • Class CollisionScenePart
      • Class Color
      • Class ConeGeometry
      • Class CylinderGeometry
      • Class ExtMime
      • Class GraphicalScene
      • Class GraphicalSceneCamera
      • Class GraphicalSceneNode
      • Class GraphicalScenePart
      • Class GrayscaleTexture
      • Class HeightFieldGeometry
      • Class ImplDatabase
      • Class PhongMaterial
      • Class PhysicalMaterial
      • Class ProxyScene
      • Class ProxySceneNode
      • Class ProxyScenePart
      • Class ProxyScenePartVars
      • Class ProxySceneVars
      • Class RoundFrustumGeometry
      • Class Scene
      • Class SceneNode
      • Class SceneNodeVars
      • Class ScenePart
      • Class ScenePartSpecVars
      • Class ScenePartVars
      • Class SceneVars
      • Class SphereGeometry
      • Class StaticMeshGeometry
      • Class Texture
      • Class TransformUpdateScope
      • Class WebResourceManager
      • Class WebScene
      • Class WebSceneBetweenLine
      • Class WebSceneCamera
      • Class WebSceneNode
      • Class WebSceneOverlayText
      • Class WebScenePart
      • Class Button
      • Class Channel
      • Class ClientApp
      • Class Connection
      • Class ContentSource
      • Class Dock
      • Class Dropdown
      • Class HttpWsServer
      • Class IFrame
      • Class InputGroup
      • Class Layout
      • Class Markdown
      • Class QuantityInput
      • Class Router
      • Class Selection
      • Class Server
      • Class Slider
      • Class State
      • Class Toggle
      • Class TreeView
      • Class Widget
      • Template Class Sequence
      • Template Class type_caster< std::chrono::duration< Rep, Period > >
      • Template Class type_caster< std::chrono::time_point< Clock, Duration > >
      • Enum VarType
      • Enum BilateralConstraintType
      • Enum CKFrozenCoordType
      • Enum HingeType
      • Enum MMSolverType
      • Enum NeedsStateReset
      • Enum SolverType
      • Enum SpStatusEnum
      • Enum SubhingeType
      • Enum IntegratorType
      • Enum FrameToFrameRateType
      • Enum DumpFormatType
      • Enum OutputUpdateType
      • Enum Alignment
      • Function ADD_TO_DS_METHOD_CASTER
      • Function addToDSMethod< GilRelease >
      • Function addToDSMethod< Gravity >
      • Function addToDSMethod< GravityInterface >
      • Function addToDSMethod< PointMassGravity >
      • Function addToDSMethod< SpringDamper >
      • Function addToDSMethod< SubhingeSpringDamper >
      • Function addToDSMethod< SyncRealTime >
      • Function addToDSMethod< UniformGravity >
      • Function addToDSMethod< UpdateProxyScene >
      • Function cast
      • Function def(“getGravity”, &GravityInterface::getGravity, DOC(Karana, Models, GravityInterface, getGravity))
      • Function def(py::init<>&::create, py::arg(“name”), DOC(Karana, Models, UniformGravity, create))
      • Function def(py::init<>&::create, py::arg(“name”), py::arg(“st”), py::arg(“central_body”), DOC(Karana, Models, PointMassGravity, create))
      • Function def(“getQ”, &ProfileGenerator<double>::getQ, py::arg(“t”), DOC(Karana, Models, ProfileGenerator, getQ))
      • Function def(“getQ”, &ProfileGenerator<km::ArrayVec>::getQ, py::arg(“t”), DOC(Karana, Models, ProfileGenerator, getQ))
      • Function def(“getQ”, &ProfileGenerator<km::UnitQuaternion>::getQ, py::arg(“t”), DOC(Karana, Models, ProfileGenerator, getQ))
      • Function def(py::init<>&<>::create, py::arg(“name”), py::arg(“t_i”), py::arg(“q_i”), py::arg(“t_f”), py::arg(“q_f”), DOC(Karana, Models, LinearProfileGenerator, create))
      • Function def(py::init<>&<::>::create, py::arg(“name”), py::arg(“t_i”), py::arg(“q_i”), py::arg(“t_f”), py::arg(“q_f”), DOC(Karana, Models, LinearProfileGenerator, create))
      • Function def(py::init<>&<>::create, py::arg(“name”), py::arg(“q”), DOC(Karana, Models, ConstantProfileGenerator, create))
      • Function def(py::init<>&<::>::create, py::arg(“name”), py::arg(“q”), DOC(Karana, Models, ConstantProfileGenerator, create))
      • Function def(py::init<>&<>::create, py::arg(“name”), py::arg(“t_i”), py::arg(“q_i”), py::arg(“u_i”), py::arg(“t_f”), py::arg(“q_f”), py::arg(“u_f”), DOC(Karana, Models, CubicSplineProfileGenerator, create))
      • Function def(py::init<>&<::>::create, py::arg(“name”), py::arg(“t_i”), py::arg(“q_i”), py::arg(“u_i”), py::arg(“t_f”), py::arg(“q_f”), py::arg(“u_f”), DOC(Karana, Models, CubicSplineProfileGenerator, create))
      • Function def(py::init<>&::create, py::arg(“name”), py::arg(“mm”), py::arg(“nd1”), py::arg(“nd2”), DOC(Karana, Models, SpringDamper, create))
      • Function def(py::init<>&::create, py::arg(“name”), py::arg(“mm”), py::arg(“sh”), DOC(Karana, Models, SubhingeSpringDamper, create))
      • Function def(py::init<>&::create, py::arg(“name”), py::arg(“mm”), py::arg(“scene”), DOC(Karana, Models, UpdateProxyScene, create))
      • Function def(py::init<>&::create, py::arg(“name”), py::arg(“mm”), py::arg(“rt_speed”), DOC(Karana, Models, SyncRealTime, create))
      • Function def(py::init<>&::create, py::arg(“name”), py::arg(“mm”), DOC(Karana, Models, GilRelease, create))
      • Function def_readwrite
      • Function DOC(Karana, Models, GravityInterface, setGravity)
      • Function DOC(Karana, Models, GravityInterface, isReady)
      • Function DOC(Karana, Models, UniformGravity, create)
      • Function DOC(Karana, Models, PointMassGravity, create)
      • Function DOC(Karana, Models, PointMassGravity, mu)
      • Function DOC(Karana, Models, PointMassGravity, getObjIds)
      • Function DOC(Karana, Models, ProfileGeneratorVars, getQ)
      • Function DOC(Karana, Models, ProfileGeneratorVars, getU)
      • Function DOC(Karana, Models, ProfileGeneratorVars, getUdot)
      • Function DOC(Karana, Models, ProfileGenerator, getU)
      • Function DOC(Karana, Models, ProfileGenerator, getUdot)
      • Function DOC(Karana, Models, ProfileGenerator, getVars)
      • Function DOC(Karana, Models, LinearProfileGenerator, create)
      • Function DOC(Karana, Models, LinearProfileGenerator, t_i)
      • Function DOC(Karana, Models, LinearProfileGenerator, t_f)
      • Function DOC(Karana, Models, LinearProfileGenerator, q_i)
      • Function DOC(Karana, Models, LinearProfileGenerator, q_f)
      • Function DOC(Karana, Models, ConstantProfileGenerator, create)
      • Function DOC(Karana, Models, ConstantProfileGenerator, q)
      • Function DOC(Karana, Models, CubicSplineProfileGenerator, create)
      • Function DOC(Karana, Models, CubicSplineProfileGenerator, setValues)
      • Function DOC(Karana, Models, SpringDamperParamsVars, unsprung_length)
      • Function DOC(Karana, Models, SpringDamperParamsVars, k)
      • Function DOC(Karana, Models, SpringDamperParamsVars, d)
      • Function DOC(Karana, Models, SpringDamperParams, isReady)
      • Function DOC(Karana, Models, SpringDamperParams, unsprung_length)
      • Function DOC(Karana, Models, SpringDamperParams, d)
      • Function DOC(Karana, Models, SpringDamperParams, k)
      • Function DOC(Karana, Models, SpringDamperParams, getVars)
      • Function DOC(Karana, Models, SpringDamperScratchVars, offset)
      • Function DOC(Karana, Models, SpringDamperScratchVars, position_error)
      • Function DOC(Karana, Models, SpringDamperScratchVars, velocity_error)
      • Function DOC(Karana, Models, SpringDamperScratchVars, stiffness_force)
      • Function DOC(Karana, Models, SpringDamperScratchVars, damping_force)
      • Function DOC(Karana, Models, SpringDamperScratchVars, total_force)
      • Function DOC(Karana, Models, SpringDamperScratch, offset)
      • Function DOC(Karana, Models, SpringDamperScratch, position_error)
      • Function DOC(Karana, Models, SpringDamperScratch, velocity_error)
      • Function DOC(Karana, Models, SpringDamperScratch, stiffness_force)
      • Function DOC(Karana, Models, SpringDamperScratch, damping_force)
      • Function DOC(Karana, Models, SpringDamperScratch, total_force)
      • Function DOC(Karana, Models, SpringDamperScratch, getVars)
      • Function DOC(Karana, Models, SpringDamper, create)
      • Function DOC(Karana, Models, SpringDamper, preDeriv)
      • Function DOC(Karana, Models, SpringDamper, sourceNode)
      • Function DOC(Karana, Models, SpringDamper, targetNode)
      • Function DOC(Karana, Models, PinJointLimitsParams, isReady)
      • Function DOC(Karana, Models, PinJointLimitsParams, upper_limit)
      • Function DOC(Karana, Models, PinJointLimitsParams, lower_limit)
      • Function DOC(Karana, Models, PinJointLimitsParams, d)
      • Function DOC(Karana, Models, PinJointLimitsParams, k)
      • Function DOC(Karana, Models, SubhingeSpringDamperParams, isReady)
      • Function DOC(Karana, Models, SubhingeSpringDamperParams, setpoint)
      • Function DOC(Karana, Models, SubhingeSpringDamperParams, d)
      • Function DOC(Karana, Models, SubhingeSpringDamperParams, k)
      • Function DOC(Karana, Models, SubhingeSpringDamper, create)
      • Function DOC(Karana, Models, SubhingeSpringDamper, preDeriv)
      • Function DOC(Karana, Models, SubhingeSpringDamper, getSubhinge)
      • Function DOC(Karana, Models, SubhingeForceLimitsParams, isReady)
      • Function DOC(Karana, Models, SubhingeForceLimitsParams, lower_limits)
      • Function DOC(Karana, Models, SubhingeForceLimitsParams, upper_limits)
      • Function DOC(Karana, Models, PIDParamsVars, kp)
      • Function DOC(Karana, Models, PIDParamsVars, kd)
      • Function DOC(Karana, Models, PIDParamsVars, ki)
      • Function DOC(Karana, Models, PIDParams, isReady)
      • Function DOC(Karana, Models, PIDParams, kp)
      • Function DOC(Karana, Models, PIDParams, kd)
      • Function DOC(Karana, Models, PIDParams, ki)
      • Function DOC(Karana, Models, PIDParams, getVars)
      • Function DOC(Karana, Models, UpdateProxyScene, create)
      • Function DOC(Karana, Models, UpdateProxyScene, postHop)
      • Function DOC(Karana, Models, UpdateProxyScene, getProxyScene)
      • Function DOC(Karana, Models, SyncRealTime, create)
      • Function DOC(Karana, Models, SyncRealTime, preHop)
      • Function DOC(Karana, Models, SyncRealTime, postHop)
      • Function DOC(Karana, Models, SyncRealTime, getRealTimeSpeed)
      • Function DOC(Karana, Models, GilRelease, create)
      • Function DOC(Karana, Models, GilRelease, postHop)
      • Function DOC(Karana, Models, TimeDisplayParamsVars, color)
      • Function DOC(Karana, Models, TimeDisplayParams, isReady)
      • Function DOC(Karana, Models, TimeDisplayParams, color)
      • Function DOC(Karana, Models, TimeDisplayParams, getVars)
      • Function DOC(Karana, Models, GraphicalSceneMovieParams, isReady)
      • Function DOC(Karana, Models, GraphicalSceneMovieParams, dir)
      • Function DOC(Karana, Models, GraphicalSceneMovieParams, filename_prefix)
      • Function DOC(Karana, Models, GraphicalSceneMovieParams, render_first_frame)
      • Function DOC(Karana, Models, ProjectConstraintErrorParams, isReady)
      • Function DOC(Karana, Models, ProjectConstraintErrorParams, tol)
      • Function DOC(Karana, Models, DataLoggerParams, isReady)
      • Function DOC(Karana, Models, DataLoggerParams, log_first_step)
      • Function DOC(Karana, Models, DataPlotterParams, isReady)
      • Function DOC(Karana, Models, DataPlotterParams, log_first_step)
      • Function Karana::Core::_dummy
      • Function Karana::Core::_ensureRegisteredPy
      • Function Karana::Core::_numTraceCheck
      • Function Karana::Core::_numTraceInt(std::string_view)
      • Function Karana::Core::_numTraceInt(msg_f)
      • Template Function Karana::Core::_numTraceInt(spdlog::format_string_t<Args…>, Args&&…)
      • Template Function Karana::Core::addToDSMethod
      • Template Function Karana::Core::addToStateDSMethod
      • Template Function Karana::Core::addVarsToStruct
      • Function Karana::Core::allDestroyed
      • Function Karana::Core::allHealthy
      • Function Karana::Core::allReady
      • Template Function Karana::Core::CallbackRegistryPybind11
      • Template Function Karana::Core::const_pointer_cast
      • Template Function Karana::Core::createSharedPtrDiscard
      • Function Karana::Core::debug(std::string_view)
      • Function Karana::Core::debug(msg_f)
      • Template Function Karana::Core::debug(spdlog::format_string_t<Args…>, Args&&…)
      • Function Karana::Core::debugJson(const nlohmann::ordered_json&, OrderedJsonToString)
      • Function Karana::Core::debugJson(const nlohmann::json&, JsonToString)
      • Function Karana::Core::defaultJsonToString
      • Function Karana::Core::defaultOrderedJsonToString
      • Function Karana::Core::deprecated
      • Template Function Karana::Core::deprecatedWrapper
      • Template Function Karana::Core::discard
      • Template Function Karana::Core::dynamic_pointer_cast
      • Function Karana::Core::error(std::string_view)
      • Function Karana::Core::error(msg_f)
      • Template Function Karana::Core::error(spdlog::format_string_t<Args…>, Args&&…)
      • Function Karana::Core::findShareDir
      • Function Karana::Core::findVariablesInFrame
      • Function Karana::Core::findVariablesInGc
      • Function Karana::Core::getVarType
      • Function Karana::Core::info(std::string_view)
      • Function Karana::Core::info(msg_f)
      • Template Function Karana::Core::info(spdlog::format_string_t<Args…>, Args&&…)
      • Function Karana::Core::sharedPtrClearPyVariable
      • Function Karana::Core::sharedPtrDiscard
      • Function Karana::Core::sharedPtrDiscardVec
      • Template Function Karana::Core::static_pointer_cast
      • Function Karana::Core::trace(std::string_view)
      • Function Karana::Core::trace(msg_f)
      • Template Function Karana::Core::trace(spdlog::format_string_t<Args…>, Args&&…)
      • Function Karana::Core::traceJson(const nlohmann::ordered_json&, OrderedJsonToString)
      • Function Karana::Core::traceJson(const nlohmann::json&, JsonToString)
      • Function Karana::Core::warn(std::string_view)
      • Function Karana::Core::warn(msg_f)
      • Template Function Karana::Core::warn(spdlog::format_string_t<Args…>, Args&&…)
      • Function Karana::Integrators::strToIntegratorType
      • Function Karana::KUtils::visualizeFrameToFrameRates
      • Function Karana::KUtils::visualizeInterBodyForce
      • Function Karana::KUtils::visualizeInterBodyTorque
      • Function Karana::KUtils::visualizeNodeForce
      • Function Karana::KUtils::visualizeNodeTorque
      • Function Karana::Math::buildNaNWithPayload
      • Template Function Karana::Math::dump
      • Template Function Karana::Math::dumpString
      • Template Function Karana::Math::getIndepColIndices
      • Template Function Karana::Math::getIndepRowColIndices
      • Template Function Karana::Math::getRank
      • Template Function Karana::Math::getSingularValues
      • Function Karana::Math::isNaNWithPayload
      • Function Karana::Math::isNotReadyNaN
      • Function Karana::Math::isReady(const Ktime&)
      • Template Function Karana::Math::isReady(const Eigen::MatrixBase<Derived>&)
      • Template Function Karana::Math::isReady(const Eigen::ArrayBase<Derived>&)
      • Function Karana::Math::ktimeToSeconds
      • Function Karana::Math::makeNotReady(Ktime&)
      • Template Function Karana::Math::makeNotReady(Eigen::DenseBase<Derived>&)
      • Function Karana::Math::secondsToKtime
      • Function Karana::Math::solveLcpPgs
      • Function Karana::Math::solveLcpPsor
      • Function Karana::Math::tilde
      • Template Function Karana::Models::KModelPybind11
      • Function Karana::Scene::defaultGeometry
      • Function Karana::Scene::defaultMaterial
      • Function Karana::WebUI::uuidv4
      • Function load
      • Function localtime_thread_safe
      • Function operator<<
      • Function py::class_< DataLoggerParams, kc::ks_ptr< DataLoggerParams > >
      • Function py::class_< DataPlotterParams, kc::ks_ptr< DataPlotterParams > >
      • Function py::class_< GraphicalSceneMovieParams, kc::ks_ptr< GraphicalSceneMovieParams > >
      • Function py::class_< PIDParams, kc::ks_ptr< PIDParams > >
      • Function py::class_< PIDParamsVars, Karana::Core::BaseVars, kc::ks_ptr< PIDParamsVars > >
      • Function py::class_< PinJointLimitsParams, kc::ks_ptr< PinJointLimitsParams > >
      • Function py::class_< ProjectConstraintErrorParams, kc::ks_ptr< ProjectConstraintErrorParams > >
      • Function py::class_< SpringDamperParams, kc::ks_ptr< SpringDamperParams > >
      • Function py::class_< SpringDamperParamsVars, Karana::Core::BaseVars, kc::ks_ptr< SpringDamperParamsVars > >
      • Function py::class_< SpringDamperScratch, kc::ks_ptr< SpringDamperScratch > >
      • Function py::class_< SpringDamperScratchVars, Karana::Core::BaseVars, kc::ks_ptr< SpringDamperScratchVars > >
      • Function py::class_< SubhingeForceLimitsParams, kc::ks_ptr< SubhingeForceLimitsParams > >
      • Function py::class_< SubhingeSpringDamperParams, kc::ks_ptr< SubhingeSpringDamperParams > >
      • Function py::class_< TimeDisplayParams, kc::ks_ptr< TimeDisplayParams > >
      • Function py::class_< TimeDisplayParamsVars, Karana::Core::BaseVars, kc::ks_ptr< TimeDisplayParamsVars > >
      • Function PyArrayVecProfileGenerator
      • Function pybind11::detail::FLOAT_QUANTITY(Karana::Math::Length, Karana.Math.Ktyping., length)
      • Function pybind11::detail::FLOAT_QUANTITY(Karana::Math::Angle, Karana.Math.Ktyping., angle)
      • Function pybind11::detail::FLOAT_QUANTITY(Karana::Math::Mass, Karana.Math.Ktyping., mass)
      • Function pybind11::detail::FLOAT_QUANTITY(Karana::Math::GravitationalParameter, Karana.Math.Ktyping., gravitational_parameter)
      • Function pybind11::detail::MAT33_QUANTITY
      • Function pybind11::detail::VEC3_QUANTITY(Karana::Math::Length3, Karana.Math.Ktyping., length)
      • Function pybind11::detail::VEC3_QUANTITY(Karana::Math::Angle3, Karana.Math.Ktyping., angle)
      • Function pybind11::detail::VEC3_QUANTITY(Karana::Math::Velocity3, Karana.Math.Ktyping., velocity)
      • Function pybind11::detail::VEC3_QUANTITY(Karana::Math::Acceleration3, Karana.Math.Ktyping., acceleration)
      • Function pybind11::detail::VEC3_QUANTITY(Karana::Math::AngularVelocity3, Karana.Math.Ktyping., angular_velocity)
      • Function pybind11::detail::VEC3_QUANTITY(Karana::Math::AngularAcceleration3, Karana.Math.Ktyping., angular_acceleration)
      • Function pybind11::detail::VEC3_QUANTITY(Karana::Math::Force3, Karana.Math.Ktyping., force)
      • Function pybind11::detail::VEC3_QUANTITY(Karana::Math::Torque3, Karana.Math.Ktyping., torque)
      • Function pybind11::detail::VEC3_QUANTITY(Karana::Math::Momentum3, Karana.Math.Ktyping., momentum)
      • Function pybind11::detail::VEC3_QUANTITY(Karana::Math::AngularMomentum3, Karana.Math.Ktyping., angular_momentum)
      • Function PYBIND11_DECLARE_HOLDER_TYPE
      • Function PYBIND11_TYPE_CASTER
      • Function PyFloatConstantProfileGenerator
      • Function PyFloatCubicSplineProfileGenerator
      • Function PyFloatLinearProfileGenerator
      • Function PyFloatProfileGenerator
      • Function PyGilRelease
      • Function PyGravityInterface
      • Function PyGravityVars
      • Function PyPointMassGravity
      • Function PySpringDamper
      • Function PySubhingeSpringDamper
      • Function PySyncRealTime
      • Function PyUniformGravity
      • Function PyUnitQuaternionConstantProfileGenerator
      • Function PyUnitQuaternionProfileGenerator
      • Function PyUpdateProxyScene
      • Function PyVecConstantProfileGenerator
      • Function PyVecCubicSplineProfileGenerator
      • Function PyVecLinearProfileGenerator
      • Template Variable ConstantProfileGenerator< double >::create
      • Template Variable ConstantProfileGenerator< double >::q
      • Template Variable ConstantProfileGenerator< km::ArrayVec >::create
      • Template Variable ConstantProfileGenerator< km::ArrayVec >::q
      • Template Variable ConstantProfileGenerator< km::UnitQuaternion >::create
      • Template Variable ConstantProfileGenerator< km::UnitQuaternion >::q
      • Template Variable CubicSplineProfileGenerator< double >::create
      • Template Variable CubicSplineProfileGenerator< double >::setValues
      • Template Variable CubicSplineProfileGenerator< km::ArrayVec >::create
      • Template Variable CubicSplineProfileGenerator< km::ArrayVec >::setValues
      • Variable has_pybind11_caster_v
      • Variable Karana::KUtils::extract_cols_v
      • Variable Karana::KUtils::extract_rows_v
      • Variable Karana::KUtils::extract_vector_rows_v
      • Variable Karana::KUtils::is_eigen_int_type_v
      • Variable Karana::KUtils::is_eigen_type_v
      • Variable Karana::KUtils::is_eigen_vector_v
      • Variable Karana::Math::notReadyNaN
      • Variable Karana::Math::notReadyPayload
      • Variable Karana::Scene::LAYER_ALL
      • Variable Karana::Scene::LAYER_COLLISION
      • Variable Karana::Scene::LAYER_CUSTOM0
      • Variable Karana::Scene::LAYER_CUSTOM1
      • Variable Karana::Scene::LAYER_CUSTOM10
      • Variable Karana::Scene::LAYER_CUSTOM11
      • Variable Karana::Scene::LAYER_CUSTOM12
      • Variable Karana::Scene::LAYER_CUSTOM13
      • Variable Karana::Scene::LAYER_CUSTOM14
      • Variable Karana::Scene::LAYER_CUSTOM15
      • Variable Karana::Scene::LAYER_CUSTOM16
      • Variable Karana::Scene::LAYER_CUSTOM17
      • Variable Karana::Scene::LAYER_CUSTOM18
      • Variable Karana::Scene::LAYER_CUSTOM19
      • Variable Karana::Scene::LAYER_CUSTOM2
      • Variable Karana::Scene::LAYER_CUSTOM20
      • Variable Karana::Scene::LAYER_CUSTOM21
      • Variable Karana::Scene::LAYER_CUSTOM22
      • Variable Karana::Scene::LAYER_CUSTOM23
      • Variable Karana::Scene::LAYER_CUSTOM3
      • Variable Karana::Scene::LAYER_CUSTOM4
      • Variable Karana::Scene::LAYER_CUSTOM5
      • Variable Karana::Scene::LAYER_CUSTOM6
      • Variable Karana::Scene::LAYER_CUSTOM7
      • Variable Karana::Scene::LAYER_CUSTOM8
      • Variable Karana::Scene::LAYER_CUSTOM9
      • Variable Karana::Scene::LAYER_FLUIDS
      • Variable Karana::Scene::LAYER_GRAPHICS
      • Variable Karana::Scene::LAYER_NONE
      • Variable Karana::Scene::LAYER_ORNAMENTAL
      • Variable Karana::Scene::LAYER_PHYSICAL
      • Variable Karana::Scene::LAYER_PHYSICAL_GRAPHICS
      • Variable Karana::Scene::LAYER_RESERVED0
      • Variable Karana::Scene::LAYER_RESERVED1
      • Variable Karana::Scene::LAYER_RESERVED2
      • Variable Karana::Scene::LAYER_RESERVED3
      • Variable Karana::Scene::LAYER_RESERVED4
      • Variable Karana::Scene::LAYER_RESERVED5
      • Variable Karana::Scene::LAYER_RESERVED6
      • Variable Karana::Scene::LAYER_RESERVED7
      • Variable Karana::Scene::LAYER_STICK_FIGURE
      • Template Variable LinearProfileGenerator< double >::create
      • Template Variable LinearProfileGenerator< double >::q_f
      • Template Variable LinearProfileGenerator< double >::q_i
      • Template Variable LinearProfileGenerator< double >::t_f
      • Template Variable LinearProfileGenerator< double >::t_i
      • Template Variable LinearProfileGenerator< km::ArrayVec >::create
      • Template Variable LinearProfileGenerator< km::ArrayVec >::q_f
      • Template Variable LinearProfileGenerator< km::ArrayVec >::q_i
      • Template Variable LinearProfileGenerator< km::ArrayVec >::t_f
      • Template Variable LinearProfileGenerator< km::ArrayVec >::t_i
      • Variable m
      • Variable mm
      • Template Variable ProfileGenerator< double >::getU
      • Template Variable ProfileGenerator< double >::getUdot
      • Template Variable ProfileGenerator< km::ArrayVec >::getU
      • Template Variable ProfileGenerator< km::ArrayVec >::getUdot
      • Template Variable ProfileGenerator< km::UnitQuaternion >::getU
      • Template Variable ProfileGenerator< km::UnitQuaternion >::getUdot
      • Variable PyKmodelComputedTorque
      • Variable PyKmodelDataLogger
      • Variable PyKmodelDataPlotter
      • Variable PyKmodelGilRelease
      • Variable PyKmodelGraphicalSceneMovie
      • Variable PyKmodelPID
      • Variable PyKmodelPinJointLimits
      • Variable PyKmodelProjectConstraintError
      • Variable PyKmodelSpringDamper
      • Variable PyKmodelSubhingeForceLimits
      • Variable PyKmodelSubhingeSpringDamper
      • Variable PyKmodelSyncRealTime
      • Variable PyKmodelTimeDisplay
      • Variable PyKmodelUniformGrav
      • Variable PyKmodelUpdateProxyScene
      • Variable self
      • Define ADD_TO_DS_METHOD_CASTER
      • Define ADD_TO_STATE_DS_METHOD_CASTER
      • Define FLOAT_QUANTITY
      • Define KARANA_MODIFIED
      • Define KARANA_VERSION_MAJOR
      • Define KARANA_VERSION_MINOR
      • Define KARANA_VERSION_PATCH
      • Define KARANA_VERSION_STRING
      • Define MAT33_QUANTITY
      • Define MATH_EPSILON
      • Define numTrace
      • Define VEC3_QUANTITY
      • Typedef Karana::Core::Allocator
      • Typedef Karana::Core::id_t
      • Typedef Karana::Core::JsonToString
      • Typedef Karana::Core::ks_ptr
      • Typedef Karana::Core::msg_f
      • Typedef Karana::Core::OrderedJsonToString
      • Typedef Karana::Dynamics::cost_fn
      • Typedef Karana::Dynamics::DynamicFunctorNumJac
      • Typedef Karana::Dynamics::f
      • Typedef Karana::Dynamics::functor_type
      • Typedef Karana::Dynamics::jac_fn
      • Typedef Karana::Dynamics::solver_type
      • Typedef Karana::Integrators::DerivativeFunction
      • Typedef Karana::Integrators::ResidualsFunction
      • Typedef Karana::KUtils::PlotDataFnType
      • Typedef Karana::KUtils::PlotDataType
      • Typedef Karana::KUtils::XDataFnType
      • Typedef Karana::Math::Array
      • Typedef Karana::Math::ArrayVec
      • Typedef Karana::Math::ConstMatSlice
      • Typedef Karana::Math::ConstVec3Slice
      • Typedef Karana::Math::ConstVecSlice
      • Typedef Karana::Math::fn
      • Typedef Karana::Math::Ktime
      • Typedef Karana::Math::lin_fn
      • Typedef Karana::Math::Mat
      • Typedef Karana::Math::Mat33
      • Typedef Karana::Math::Mat44
      • Typedef Karana::Math::Mat66
      • Typedef Karana::Math::Mat6n
      • Typedef Karana::Math::MatSlice
      • Typedef Karana::Math::num_diff_functor_type
      • Typedef Karana::Math::Vec
      • Typedef Karana::Math::Vec3
      • Typedef Karana::Math::Vec3Slice
      • Typedef Karana::Math::Vec4
      • Typedef Karana::Math::Vec6
      • Typedef Karana::Math::VecInt
      • Typedef Karana::Math::VecSlice
      • Typedef Karana::Scene::layer_t
      • Typedef Karana::Scene::TextureCache
      • Typedef Karana::Scene::TextureData
      • Typedef Karana::Scene::VarMaterial
      • Typedef Karana::Scene::VarProjection
      • Typedef Karana::Scene::VarStaticGeometry
      • Typedef Karana::WebUI::HeaderList
      • Typedef Karana::WebUI::StateMap
      • Typedef Karana::WebUI::StyleMap
      • Typedef SUNComm
      • Typedef sunrealtype
      • Typedef type
  • Conventions
  • Glossary
  • .rst

Karana

Contents

  • Submodules
  • Attributes
  • Package Contents
    • __version__

Karana#

Karana is the main Python package used by all Karana Dynamics Inc. products.

This package is your gateway into the next generation in dynamics modeling and simulation. For more information, visit https://www.karanadyn.com/

Submodules#

  • Karana.Collision
  • Karana.Core
  • Karana.Dynamics
  • Karana.Frame
  • Karana.Integrators
  • Karana.KUtils
  • Karana.Math
  • Karana.Models
  • Karana.Scene
  • Karana.WebUI
  • Karana.version

Attributes#

__version__

Package Contents#

Karana.__version__ = '1.1.2'#

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Contents
  • Submodules
  • Attributes
  • Package Contents
    • __version__

By Karana Dynamics Inc.

© Copyright 2025, Karana Dynamics Inc. Generated on 8 May 2026 18:30 UTC.