Function Karana::Dynamics::Algorithms::evalTreeMassMatrixCRB

Function Karana::Dynamics::Algorithms::evalTreeMassMatrixCRB#

Function Documentation#

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

Calculate the tree system mass matrix using CRB approach.

This method uses the composite rigid body inertias (CRB) recursive method for computing the mass matrix

See the System Properties Algorithms section for more information.

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.

Parameters:

  • st – SubTree instance

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

Returns:

The tree mass matrix

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