Class ScrewSubhinge

Class ScrewSubhinge#

Inheritance Relationships#

Base Type#

Class Documentation#

class ScrewSubhinge : public Karana::Dynamics::Physical1DofSubhinge#

Represents a 1 dof helical subhinge with coupled rotation/translation about a common axis.

See Subhinges section for more information on physical subhinges.

Public Functions

inline virtual ~ScrewSubhinge()#

ScrewSubhinge destructor.

virtual SubhingeType subhingeType() const override#

Helper method to return the subhinge type.

Returns:

the subhinge type

virtual void setUnitAxis(const km::Vec3 &axis) override#

Set the unit axis for the pin hinge.

Parameters:

axis – The unit axis for the pin hinge.

virtual bool isReady() const override#

Checks is the params for the object have been initialized.

Returns:

True if the params have set up.

void setPitch(double pitch)#

Set the pitch value for the subhinge.

The pitch is defined as meters of translation/radian.

Parameters:

pitch – the pitch value

inline double getPitch() const#

Return the pitch value for the subhinge.

The pitch is defined as meters of translation/radian.

Returns:

the pitch value

ScrewSubhinge(const kc::ks_ptr<kf::Frame> &oframe, const kc::ks_ptr<kf::Frame> &pframe, std::string_view name, const kc::ks_ptr<FramePairHinge> &hge)#

Constructs a ScrewSubhinge.

Parameters:

  • oframe – the oframe frame

  • pframe – the pframe frame

  • name – the name for the subhinge

  • hge – the parent hinge

virtual void setParams(const kc::ks_ptr<PhysicalSubhingeParams> &params) override#

Set the parameters for this subhinge.

Parameters:

params – The parameters to set for this subhinge.

virtual kc::ks_ptr<PhysicalSubhingeParams> getParams() const override#

Get the parameters for this subhinge.

Returns:

The parameters to set for this subhinge.

Protected Functions

virtual void _computeTransform(Karana::Math::HomTran &T) override#

Compute the transformation between the oframe and pframe.

This the relTransform data cache callback.

Parameters:

T – The buffer to place the computed homogeneous transformation in.

virtual void _computeVelocity(Karana::Math::SpatialVelocity &V) override#

Compute the spatial velocity between the oframe and pframe.

This the relSpVel data cache callback.

Parameters:

V – The buffer to put the computed spatial velocity in.

virtual void _computeAccel(Karana::Math::SpatialAcceleration &a) override#

Compute the spatial acceleration between the oframe and pframe.

This the relSpAccel data cache callback.

Parameters:

a – The buffer to put the computed spatial acceleration in.

virtual kc::ks_ptr<PhysicalSubhinge::PhysicalSubhingeParamsAndState> _getParamsAndState() const override#

Get params for the subhinge.

Returns:

the params

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