Function Karana::Dynamics::Algorithms::modalAnalysis(const kc::ks_ptr&, double, std::optional)

Function Karana::Dynamics::Algorithms::modalAnalysis(const kc::ks_ptr<SubTree>&, double, std::optional<double>)#

Function Documentation#

ModalAnalysis Karana::Dynamics::Algorithms::modalAnalysis(const kc::ks_ptr<SubTree> &subtree, double tol, std::optional<double> step_size)#

Perform a modal analysis for the provided SubTree.

This creates a state space model for the SubTree about the current configuration, and then solves an eigenproblem to its the frequencies and mode shapes.

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

Parameters:

  • subtree – The SubTree to do the modal analysis for.

  • 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