Function Karana::Dynamics::Algorithms::evalTreeMassMatrixInvDyn#
Defined in File Algorithms.h
Function Documentation#
-
km::Mat Karana::Dynamics::Algorithms::evalTreeMassMatrixInvDyn(SubTree &st, kc::ks_ptr<CoordData> coord_data = nullptr)#
Calculate the tree system mass matrix using Newton-Euler inverse dynamics.
Calculate the tree system mass matrix using NE inverse dynamics. A CoordData argument can be specified to set the specific order for the rows and columns in the computed mass matrix.
This method does not currently support deformable 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.