Function Karana::Dynamics::Algorithms::evalExternalSpatialForce

• Defined in File Algorithms.h

Function Documentation

km::SpatialVector Karana::Dynamics::Algorithms::evalExternalSpatialForce(const SubTree &st)

Calculate the overall external spatial force for for the SubTree about its CM.

The computed value includes external force contributions from all of the force nodes on all the bodies (including active contact nodes) as well as any constraint forces from constraint nodes. The returned value is referenced about, and represented in the sub-tree’s center of mass frame.

See the Embedded Control Algorithms section for more information.

Parameters:

st – SubTree instance

Returns:

The overall external spatial force.