Function Karana::Dynamics::Algorithms::evalForwardDynamics

Function Karana::Dynamics::Algorithms::evalForwardDynamics#

Function Documentation#

void Karana::Dynamics::Algorithms::evalForwardDynamics(SubTree &st)#

Compute the forward dynamics for a system.

This uses tree-augmented forward dynamics if there are with loop constraints, and tree forward dynamics if there are no loop constraints.

The tree-augmented algorithm solves the graph system forward dynamics using recursive {{ SOA }} recursive algorithms with exact enforcement of the loop constraints. This algorithm does not require the computation of inversion of the mass matrix.

The tree forward dynamics uses Articulated Body Inertia (ATBI) based forward dynamics.

See the Forward Dynamics Algorithms section for more information.

Parameters:

st – SubTree instance

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