Function Karana::Dynamics::Algorithms::evalDependentVelCoordinatesMatrix

Function Karana::Dynamics::Algorithms::evalDependentVelCoordinatesMatrix#

Function Documentation#

km::Mat Karana::Dynamics::Algorithms::evalDependentVelCoordinatesMatrix(SubGraph &sg, const km::VecInt &indep_indices, bool full = false)#

Compute the dependent velocity coordinates matrix map for the specified set of independent coordinates.

For a SubGraph with constraints, only a subset of the velocity coordinates are independent. This method computes the matrix X that can be used to compute the dependent velocity coordinates, U_d, for the specified set of independent velocity coordinates, U_i, via U_d = X * U_i,

See the Constraints Related Algorithms section for more information.

Parameters:

  • sg – SubGraph instance

  • indep_indices – the list of independent U indices

  • full – if true, the matrix also includes columns for the independent coordinates, else only for the dependent coordinates

Returns:

the dependent coordinates mapping matrix

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