Function Karana::Dynamics::Algorithms::evalTreeMassMatrixInvFwdDyn

Function Karana::Dynamics::Algorithms::evalTreeMassMatrixInvFwdDyn#

Function Documentation#

km::Mat Karana::Dynamics::Algorithms::evalTreeMassMatrixInvFwdDyn(SubTree &st, kc::ks_ptr<CoordData> coord_data)#

Calculate the tree system mass matrix inverse using forward dynamics.

Calculate the tree system mass matrix inverse using ATBI forward dynamics. A CoordData argument can be specified to set the specific order for the rows and columns in the computed mass matrix inverse. This method currently supports physical rigid and flexible bodies, but not compound bodies.

This method does not allow internal 6 dof hinges to avoid ambiguities about whether mass properties should be coupled across such hinges. Also the prescribed motion flag for any subhinge that has been enabled is reset. This is to ensure that the mass matrix computed from this method are consistent with the results from the alternative dynamics based computation methods.

See the System Properties Algorithms section for more information.

Parameters:

  • st – SubTree instance

  • coord_data – CoordData to specify the order of the mass matrix inverse’s rows and columns

Returns:

The tree mass matrix inverse

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