Struct PhysicalSubhinge::PhysicalSubhingeParamsAndState

• Defined in File PhysicalSubhinge.h

Nested Relationships

This struct is a nested type of Class PhysicalSubhinge.

Inheritance Relationships

Derived Type

• public Karana::Dynamics::SphericalSubhinge::PhysicalSubhingeParamsAndState (Struct SphericalSubhinge::PhysicalSubhingeParamsAndState)

Struct Documentation

struct PhysicalSubhingeParamsAndState

Base class for physical subhinges that is specialized for each subhinge type. This is handy for creating new subhinges with matching params and state from existing subhinges (e.g., when introducing cut-joints).

Subclassed by Karana::Dynamics::SphericalSubhinge::PhysicalSubhingeParamsAndState

Public Functions

PhysicalSubhingeParamsAndState() = default

inline PhysicalSubhingeParamsAndState(const PhysicalSubhinge::PhysicalSubhingeParamsAndState &p)

Copy constructor.

Parameters:

p – the other params

inline PhysicalSubhingeParamsAndState &operator=(const PhysicalSubhinge::PhysicalSubhingeParamsAndState &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.

kc::ks_ptr<PhysicalSubhingeParams> params

The parameters for the subhinge.