Function Karana::Dynamics::Algorithms::evalSqueezeMatrix

Function Karana::Dynamics::Algorithms::evalSqueezeMatrix#

Function Documentation#

km::Mat Karana::Dynamics::Algorithms::evalSqueezeMatrix(SubGraph &sg)#

Return a matrix for computing squeeze generalized forces.

Compute the squeeze matrix, S, whose column space consists of “squeeze” generalized forces, i.e. generalized forces that only effect internal forces within the constrained multibody and do not induce any motion. Thus, the generalized force, S*x, for any vector x will not induce any motion. The row dimension is nU(), while the column dimension is the size of the constraints on the system.

Note that the returned matrix may not have full column rank when the constraints are not all independent. The evalIndepVelConstraintCoordIndices() method can be used to check for the columns that are independent.

See the Constraints Related Algorithms section for more information.

Parameters:

sg – SubGraph instance

Returns:

The squeeze matrix.

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