Function Karana::Dynamics::Algorithms::evalTreeMassMatrixInverse#
Defined in File Algorithms.h
Function Documentation#
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km::Mat Karana::Dynamics::Algorithms::evalTreeMassMatrixInverse(SubTree &st, kc::ks_ptr<CoordData> coord_data = nullptr)#
Calculate the tree system mass matrix inverse using {{ SOA }} decomposition expressions.
This method does not require the mass matrix or matrix inversions to compute the mass matrix inverse! The algorithm instead takes advantage of an analytical operator based decomposition of the mass matrix inverse to carry out the computation much lower cost. For serial-chain system, the mass matrix inverse can also be computed using the evalSerialChainMassMatrixInverse() specifically for such systems.
A CoordData argument can be specified to set the specific order for the rows and columns in the computed mass matrix inverse. This method is currently limited to physical and rigid bodies.
This method supports both rigid and 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.