Function Karana::Dynamics::Algorithms::modalAnalysis(ModelManager&, double, std::optional)

Function Karana::Dynamics::Algorithms::modalAnalysis(ModelManager&, double, std::optional<double>)#

Function Documentation#

ModalAnalysis Karana::Dynamics::Algorithms::modalAnalysis(ModelManager &mm, double tol = 1e-3, std::optional<double> step_size = std::nullopt)#

Perform a modal analysis for the sub-tree.

This creates a state space model of the system about the current configuration, and then solves an eigenproblem to get the frequencies and mode shapes.

See the Guidance and Control Related Algorithms section for more information.

Parameters:

  • mm – The ModelManager whose SubTree and models will be used for the modal analysis.

  • tol – The tolerance used to eliminate rigid-body modes.

  • step_size – The step size to use for finite differences when performing the modal analysis.

Returns:

the eigen problem solution for the state space modal

Contents