Node class to apply forces and moments to frames. More...

#include <Node.hpp>

Inheritance diagram for clockwerk::Node< T >:

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Collaboration diagram for clockwerk::Node< T >:

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Public Member Functions
	Node (const std::string &name, Frame< T > *par=nullptr)
	Basic constructor for the node object.

clockwerk::Joint< T >	tJoint ()
	Function to get the frame's translational joint.

clockwerk::Joint< T >	rJoint ()
	Function to get the frame's rotational joint.

void	getFMPairAtParentOrigin (CartesianVector< T, 3 > &force_parentcg__p, CartesianVector< T, 3 > &moment_parentcg__p)
	Function to resolve applied forces/moments into a force/moment pair in parent body frame origin.

CartesianVector< T, 3 >	passthroughForce ()

CartesianVector< T, 3 >	passthroughMoment ()

int	parent (Frame< T > *new_parent)
	Function to assign the frame's parent via pointer.

Frame< T > *	parent ()

int	parent (GraphTreeObject *new_parent)
	Function to assign the node's parent via pointer.

int	parent (GraphTreeObject &new_parent)
	Function to assign the node's parent via reference.

void	setParentRelAcceleration (CartesianVector< T, 3 > accel)
	Function to set parent relative acceleration of frame.

void	setParentRelAngularAcceleration (CartesianVector< T, 3 > alpha)
	Function to set parent relative angular acceleration.

CartesianVector< T, 3 >	parentRelAcceleration ()
	Function to get the acceleration of the frame relative to parent expressed in parent coords.

CartesianVector< T, 3 >	parentRelAngularAcceleration ()
	Function to get angular acceleration relative to parent in frame coords.

void	rootRelPosition (CartesianVector< T, 3 > &pos_o_root__root)
	Returns the position of the frame origin wrt the root origin, in root coordinates.

CartesianVector< T, 3 >	rootRelPosition ()

void	rootRelVelocity (CartesianVector< T, 3 > &vel_o_root__root)
	Returns the velocity of the frame origin wrt the root origin, in root coordinates.

CartesianVector< T, 3 >	rootRelVelocity ()

void	rootRelAcceleration (CartesianVector< T, 3 > &acc_o_root__root)
	Returns the acceleration of the frame origin wrt the root origin, in root coordinates.

CartesianVector< T, 3 >	rootRelAcceleration ()

void	rootRelQuaternion (Quaternion< T > &quat_f_root)
	Returns the quaternion representing the frame origin wrt the root frame.

Quaternion< T >	rootRelQuaternion ()

void	rootRelDCM (DCM< T > &dcm_f_root)
	Returns the DCM of the frame origin wrt the root frame.

DCM< T >	rootRelDCM ()

void	rootRelAngularVelocity (CartesianVector< T, 3 > &w_f_root__f)
	Returns the angular velocity of the frame origin wrt the root, expressed in this frame's coordinates.

CartesianVector< T, 3 >	rootRelAngularVelocity ()

void	rootRelAngularAcceleration (CartesianVector< T, 3 > &alpha_f_root__f)
	Returns the angular acceleration of the frame origin wrt the root, expressed in this frame's coordinates.

CartesianVector< T, 3 >	rootRelAngularAcceleration ()

int	calcFrameTreeExtForcesMoments ()
	Function to recurse through the body and its children to apply external forces and moments to the "correct" body by resolving them to locations where there are degrees of freedom.

int	calcFrameTreeExtAcceleration ()
	Function to recurse through the body and its children to resolve applied external forces and moments into acceleration and angular acceleration.

void	integrator (void *integ_ptr)
	Getter and setter for integrator pointer.

void *	integrator ()

void	setStateFromStateVector (const std::array< T, 13 > &state_f_p__f)
	Function to set frame state based on NUM_INTEGRATED_STATES-element state vector.

void	getStateAsStateVector (std::array< T, 13 > &state_f_p__f)
	Function to return frame state as a NUM_INTEGRATED_STATES-element state vector.

void	getStateVectorDot (std::array< T, 13 > &state_dot)
	Function to get the rate of change in the frame state vector.

int	setRootRelPosition (const CartesianVector< T, 3 > &pos_f_root__root)
	Function to set the frame's position relative to root.

int	setRootRelVelocity (const CartesianVector< T, 3 > &vel_f_root__root)
	Function to set the frame's velocity relative to root.

int	setRootRelAttitude (const Quaternion< T > &quat_f_root)
	Function to set the frame's attitude relative to root.

int	setRootRelAngularVelocity (const CartesianVector< T, 3 > &w_f_root__f)
	Function to set the frame's position relative to root.

Frame< T > *	getFrameRootPointer ()
	Function to get a pointer to this frame's root frame.

std::vector< GraphTreeObject * > &	children ()

unsigned int	nChildren ()
	Getters for number of children and descendants.

unsigned int	nDescendants ()

std::string	name () const
	Getter and setter for object name.

int	name (const std::string &new_name)

int	rank ()
	Getter for the object rank.

virtual int	type ()
	Function to indicate type – -1 by default unless implemented downstream.

bool	loggable ()
	Getter for object logability flag – note no setter because should only be set by this or a derived class in its definition.

std::string	address ()
	Getter for object's string address.

std::vector< std::string >	search (const std::string &address)
	Function to search through the graph tree by string address.

GraphTreeObject *	getByAddress (const std::string &address)
	Function to get an object from the graph tree by string address.

void	dump (bool recursive=false)
	Function to dump the graph node, optionally including descendents.

void	graphNodeInfo ()
	Function to return all info associated with a given graph node.

void	recurseGraphNodeInfo (unsigned int counter)
	Function to recurse through graph tree and print all node info.

virtual int	header (void *logger)
	Function to pass headers for this object to the logger.

virtual std::vector< std::string >	header_info () const

void	findLoggable (std::vector< GraphTreeObject * > &matches)
	Function to find all loggable parameters in this node and its children.

virtual int	log (void *logger)
	Function to log data to a logger.

void	lock (bool recursive=true)
	Function to lock the graph tree object and its children to changes.

void	unlock (bool recursive=true)
	Function to unlock the graph tree and its children for changes.

bool	locked ()
	Function to return whether graph tree object is locked.

Public Attributes
clockwerk::DataIO< CartesianVector< T, 3 > >	force = clockwerk::DataIO<CartesianVector<T,3>>(nullptr, "force", CartesianVector<T,3>({0.0,0.0,0.0}))
	The force applied at the node.

clockwerk::DataIO< Frame< T > * >	force_frame = clockwerk::DataIO<Frame<T>*>(nullptr, "force_frame", nullptr)
	The frame in which the force is applied. Using this utility abstracts away framerotate commands and also allows forces to be applied inertially or frame locally, because rotation will occur every step.

clockwerk::DataIO< CartesianVector< T, 3 > >	moment = clockwerk::DataIO<CartesianVector<T,3>>(nullptr, "moment", CartesianVector<T,3>({0.0,0.0,0.0}))
	The moment applied at the node.

clockwerk::DataIO< Frame< T > * >	moment_frame = clockwerk::DataIO<Frame<T>*>(nullptr, "moment_frame", nullptr)
	The frame in which the moment is applied Using this utility abstracts away framerotate commands and also allows moments to be applied inertially or frame locally, because rotation will occur every step.

clockwerk::DataIO< Node< T > * >	self_id = clockwerk::DataIO<Node<T>*>(nullptr, "self_id", this)

clockwerk::DataIO< CartesianVector< T, 3 > >	pos_f_p__p

clockwerk::DataIO< CartesianVector< T, 3 > >	vel_f_p__p

clockwerk::DataIO< Quaternion< T > >	quat_f_p

clockwerk::DataIO< CartesianVector< T, 3 > >	ang_vel_f_p__f

Protected Member Functions
void	recalculateDescendants ()
	Function to recursively re-calculate the number of descendants of a given node on the tree.

void	recalculateRank ()
	Function to recursively re-calculate the rank of a given node on the tree.

std::vector< std::string >	decomposeAddress (std::string address)
	Function to decompose a string into a series of substrings via indexing.

void	findMatches (const std::vector< std::string > &subaddresses, const unsigned int &num_subaddresses, unsigned int index, bool match_found, std::vector< GraphTreeObject * > &matches)
	Function to find all addresses mathcing the set of substrings @parem subaddresses A vector of subaddresses to match.

std::vector< GraphTreeObject * >	searchNodes (const std::string &address)
	Function to search through the graph tree by string address.

int	addChild (GraphTreeObject *child)
	Function to add a child to the graph tree object.

int	removeChild (GraphTreeObject *child)
	Function to remove a child from the graph node's children.

Protected Attributes
CartesianVector< T, 3 >	_passthrough_force__b
	Passthrough force on the node – force not applied here but passed on to parent body All forces and moments should be passed through for nodes.

CartesianVector< T, 3 >	_passthrough_moment__b

CartesianVector< T, 3 >	_acc_f_p__p
	Internal variables to store accelerations applied to this frame. Note: these are not states. They are temporary variables and treated slightly differently.

CartesianVector< T, 3 >	_alpha_f_p__f

Joint< T >	_t_joint
	Translational and rotational joints relating this frame to its parent. Set locked by default.

Joint< T >	_r_joint
	Translational.

void *	_integrator_ptr = nullptr
	Rotational.

Frame< T > *	_parent
	Variable to hold our parent.

std::vector< GraphTreeObject * >	_children
	Pointers to the object's children – automatically set to an empty vector, and can be increased to any size.

std::string	_name = DEFAULT_NAME
	String name for object.

uint16_t	_num_descendants = 0
	Total number of descendants (includes children of children) of the tree, again not including the tree itself.

uint8_t	_num_children = 0
	Number of direct children of the tree (not including the tree itself)

uint8_t	_rank = 0
	Rank for how far down on the graph tree the object is – starts at zero and maxes out at 256 via variable size.

uint8_t	_graph_tree_type = BASE_GRAPH_TREE
	Variable to store graph tree object type.

bool	_locked = false
	Variable to lock the graph tree object and prevent structural updates.

bool	_loggable = false
	Variable to indicate whether the selected object is loggable. Set to false by default.

Detailed Description

template<typename T = double>
class clockwerk::Node< T >

Node class to apply forces and moments to frames.

This file defines the base node class which is used to apply forces and sense accelerations at fixed locations on bodies.

The node class is a special Frame that is fully fixed to its parent (i.e. cannot be fully free) and has special handles for applying forces and moments. Because it is a simple fixed frame, it is also ideal for sensing accelerations and states, in applications such as an accelerometer.

Applying forces in the node frame is done via the force() and moment() DataIO objects. By default, forces and moments are applied in the node frame. However, passing a frame argument to the force_frame or moment_frame objects causes forces and moments to be applied in that frame – this is particularly useful for cases where the node frame is rotating but the force is not, such as gravity applied to a rotating spacecraft node.

Constructor & Destructor Documentation

◆ Node()

template<typename T >

clockwerk::Node< T >::Node	(	const std::string &	name,
		Frame< T > *	par = `nullptr`
	)

Basic constructor for the node object.

Parameters

name	The name of the node
par	The node's parent. Nullptr by default

Member Function Documentation

◆ addChild()

int clockwerk::GraphTreeObject::addChild ( GraphTreeObject * child )

protectedinherited

Function to add a child to the graph tree object.

Parameters

child A pointer to the graph tree object to add to the tree

Returns: An error code corresponding to success/failure

◆ address()

std::string clockwerk::GraphTreeObject::address ( )

inherited

Getter for object's string address.

Returns: Returns the string address for the object

◆ calcFrameTreeExtAcceleration()

template<typename T >

int clockwerk::Frame< T >::calcFrameTreeExtAcceleration ( )

inherited

Function to recurse through the body and its children to resolve applied external forces and moments into acceleration and angular acceleration.

Note: Implicitly applies acceleration/ang accel to the body frame; Assumes calcBodyTreeForcesMoments has been called to calculate forces/moments; Specific implementation of this function for body class. Overwrites frame class implementation

◆ calcFrameTreeExtForcesMoments()

template<typename T >

int clockwerk::Frame< T >::calcFrameTreeExtForcesMoments ( )

inherited

Function to recurse through the body and its children to apply external forces and moments to the "correct" body by resolving them to locations where there are degrees of freedom.

Note: Specific implementation of this function for body class. Overwrites frame class implementation

◆ decomposeAddress()

std::vector< std::string > clockwerk::GraphTreeObject::decomposeAddress ( std::string address )

protectedinherited

Function to decompose a string into a series of substrings via indexing.

Parameters

address The address to be decomposed

Returns: A vector of strings containing each delimeter-separated substring

◆ dump()

void clockwerk::GraphTreeObject::dump ( bool recursive = false )

inherited

Function to dump the graph node, optionally including descendents.

Parameters

recursive Parameter indicating whether to dump only one node (default/false) or the entire tree (true)

Note: Recursive dumps the whole tree... be careful what you wish for

◆ findLoggable()

void clockwerk::GraphTreeObject::findLoggable ( std::vector< GraphTreeObject * > & matches )

inherited

Function to find all loggable parameters in this node and its children.

Parameters

matches Expandable vector to hold all matches in the tree

◆ findMatches()

void clockwerk::GraphTreeObject::findMatches	(	const std::vector< std::string > &	subaddresses,
		const unsigned int &	num_subaddresses,
		unsigned int	index,
		bool	match_found,
		std::vector< GraphTreeObject * > &	matches
	)

protectedinherited

Function to find all addresses mathcing the set of substrings @parem subaddresses A vector of subaddresses to match.

Parameters

num_subaddresses	The number of subaddresses to match
index	The index of subaddresses to search in
match_found	Variable indicating whether a match was found higher in the tree
matches	Implicit return of all matches to the specified address

◆ getByAddress()

GraphTreeObject * clockwerk::GraphTreeObject::getByAddress ( const std::string & address )

inherited

Function to get an object from the graph tree by string address.

Parameters

address The exact string address to access the variable with

Returns: Pointer to the graph tree object at the address, or nullptr if address is not valid or returns

◆ getFMPairAtParentOrigin()

template<typename T >

void clockwerk::Node< T >::getFMPairAtParentOrigin	(	CartesianVector< T, 3 > &	force_parentcg__p,
		CartesianVector< T, 3 > &	moment_parentcg__p
	)

Function to resolve applied forces/moments into a force/moment pair in parent body frame origin.

Parameters

force_parentcg__p	Implicit return of force applied to this node in the parent body frame
moment_parentcg__p	Implicit return of moment applied to this node in the parent body frame, RESOLVED TO A FORCE/MOMENT COUPLE AT THE PARENT FRAME LOCATION

◆ getFrameRootPointer()

template<typename T >

Frame< T > * clockwerk::Frame< T >::getFrameRootPointer ( )

inherited

Function to get a pointer to this frame's root frame.

Returns: Pointer to root frame. Pointer to self if this frame is root

◆ getStateAsStateVector()

template<typename T >

void clockwerk::Frame< T >::getStateAsStateVector ( std::array< T, 13 > & state_f_p__f )

inherited

Function to return frame state as a NUM_INTEGRATED_STATES-element state vector.

Parameters

state Return of NUM_INTEGRATED_STATES-element state vector as [pos][vel][quat][omega]

◆ getStateVectorDot()

template<typename T >

void clockwerk::Frame< T >::getStateVectorDot ( std::array< T, 13 > & state_dot )

inherited

Function to get the rate of change in the frame state vector.

Parameters

state_dot Rate of change in each element of the state vector

◆ header()

virtual int clockwerk::GraphTreeObject::header ( void * logger )

inlinevirtualinherited

Function to pass headers for this object to the logger.

Parameters

logger Pointer to logger

Returns: Error code corresponding to success/failure

◆ header_info()

virtual std::vector< std::string > clockwerk::GraphTreeObject::header_info ( ) const

inlinevirtualinherited

Reimplemented in clockwerk::Time.

◆ lock()

void clockwerk::GraphTreeObject::lock ( bool recursive = true )

inherited

Function to lock the graph tree object and its children to changes.

Parameters

recursive Flag to indicate whether lock should be recursive

◆ log()

virtual int clockwerk::GraphTreeObject::log ( void * logger )

inlinevirtualinherited

Function to log data to a logger.

Parameters

logger Pointer to logger

Returns: Error code corresponding to success/failure

◆ parent() [1/3]

template<typename T >

int clockwerk::Frame< T >::parent ( Frame< T > * new_parent )

inherited

Function to assign the frame's parent via pointer.

Parameters

new_parent The new parent to assign the node to

Returns: Error code corresponding to success/failure

Note: This function is the only method to ADD or REMOVE a node from a tree. To add, pass the address to a GraphTreeObject to this function. To remove, pass a nullptr. Note that parents for objects on an existing tree can be reassigned

◆ parent() [2/3]

int clockwerk::GraphTreeObject::parent ( GraphTreeObject & new_parent )

inherited

Function to assign the node's parent via reference.

Parameters

new_parent The new parent to assign the node to

Returns: Error code corresponding to success/failure

Note: This function is the only method to ADD or REMOVE a node from a tree. To add, pass the address to a GraphTreeObject to this function. To remove, pass a nullptr. Note that parents for objects on an existing tree can be reassigned

◆ parent() [3/3]

int clockwerk::GraphTreeObject::parent ( GraphTreeObject * new_parent )

inherited

Function to assign the node's parent via pointer.

Parameters

new_parent The new parent to assign the node to

Returns: Error code corresponding to success/failure

Note: This function is the only method to ADD or REMOVE a node from a tree. To add, pass the address to a GraphTreeObject to this function. To remove, pass a nullptr. Note that parents for objects on an existing tree can be reassigned

◆ parentRelAcceleration()

template<typename T = double>

CartesianVector< T, 3 > clockwerk::Frame< T >::parentRelAcceleration ( )

inlineinherited

Function to get the acceleration of the frame relative to parent expressed in parent coords.

Returns: Accel relative to parent in parent coords

◆ parentRelAngularAcceleration()

template<typename T = double>

CartesianVector< T, 3 > clockwerk::Frame< T >::parentRelAngularAcceleration ( )

inlineinherited

Function to get angular acceleration relative to parent in frame coords.

Returns: Angular accel relative to parent in frame coords

◆ recurseGraphNodeInfo()

void clockwerk::GraphTreeObject::recurseGraphNodeInfo ( unsigned int counter )

inherited

Function to recurse through graph tree and print all node info.

Returns: String containing all recursive graph node information in tab cascade format

◆ removeChild()

int clockwerk::GraphTreeObject::removeChild ( GraphTreeObject * child )

protectedinherited

Function to remove a child from the graph node's children.

Parameters

child The child to remove

Returns: Success/fail error code based on whether the child is present

◆ rJoint()

template<typename T = double>

clockwerk::Joint< T > clockwerk::Node< T >::rJoint ( )

inline

Function to get the frame's rotational joint.

Returns: The frame's rotational joint

◆ rootRelAcceleration()

template<typename T >

void clockwerk::Frame< T >::rootRelAcceleration ( CartesianVector< T, 3 > & acc_o_root__root )

inherited

Returns the acceleration of the frame origin wrt the root origin, in root coordinates.

Parameters

acc_o_root_root Implicit return of acceleration of origin relative to root, in root

Returns: Error code corresponding to success/failure

Note: Overloaded for explicit and implicit return

◆ rootRelAngularAcceleration()

template<typename T >

void clockwerk::Frame< T >::rootRelAngularAcceleration ( CartesianVector< T, 3 > & alpha_f_root__f )

inherited

Returns the angular acceleration of the frame origin wrt the root, expressed in this frame's coordinates.

Parameters

alpha_f_root__f Implicit return of angular acceleration relative to root, expressed in f frame

Returns: Error code corresponding to success/failure

Note: Overloaded for explicit and implicit return

◆ rootRelAngularVelocity()

template<typename T >

void clockwerk::Frame< T >::rootRelAngularVelocity ( CartesianVector< T, 3 > & w_f_root__f )

inherited

Returns the angular velocity of the frame origin wrt the root, expressed in this frame's coordinates.

Parameters

w_f_root__f Implicit return of angular velocity relative to root, expressed in f frame

Returns: Error code corresponding to success/failure

Note: Overloaded for explicit and implicit return

◆ rootRelDCM()

template<typename T >

void clockwerk::Frame< T >::rootRelDCM ( DCM< T > & dcm_f_root )

inherited

Returns the DCM of the frame origin wrt the root frame.

Parameters

att_f_root Implicit return of attitude relative to root

Returns: Error code corresponding to success/failure

Note: Overloaded for explicit and implicit return

◆ rootRelPosition()

template<typename T >

void clockwerk::Frame< T >::rootRelPosition ( CartesianVector< T, 3 > & pos_o_root__root )

inherited

Returns the position of the frame origin wrt the root origin, in root coordinates.

Parameters

pos_o_root_root Implicit return of position of origin relative to root, in root

Returns: Error code corresponding to success/failure

Note: Overloaded for explicit and implicit return

◆ rootRelQuaternion()

template<typename T >

void clockwerk::Frame< T >::rootRelQuaternion ( Quaternion< T > & quat_f_root )

inherited

Returns the quaternion representing the frame origin wrt the root frame.

Parameters

att_f_root Implicit return of attitude relative to root

Returns: Error code corresponding to success/failure

Note: Overloaded for explicit and implicit return

◆ rootRelVelocity()

template<typename T >

void clockwerk::Frame< T >::rootRelVelocity ( CartesianVector< T, 3 > & vel_o_root__root )

inherited

Returns the velocity of the frame origin wrt the root origin, in root coordinates.

Parameters

vel_o_root_root Implicit return of velocity of origin relative to root in root

Returns: Error code corresponding to success/failure

Note: Overloaded for explicit and implicit return

◆ search()

std::vector< std::string > clockwerk::GraphTreeObject::search ( const std::string & address )

inherited

Function to search through the graph tree by string address.

Parameters

address `The address or address chunk to search for

Returns: A vector of string addresses meeting the criteria specified by address

◆ searchNodes()

std::vector< GraphTreeObject * > clockwerk::GraphTreeObject::searchNodes ( const std::string & address )

protectedinherited

Function to search through the graph tree by string address.

Parameters

address `The address or address chunk to search for

Returns: A vector of objects addresses meeting the criteria specified by address

◆ setParentRelAcceleration()

template<typename T = double>

void clockwerk::Frame< T >::setParentRelAcceleration ( CartesianVector< T, 3 > accel )

inlineinherited

Function to set parent relative acceleration of frame.

Parameters

accel acceleration of frame relative to parent in parent frame coords

◆ setParentRelAngularAcceleration()

template<typename T = double>

void clockwerk::Frame< T >::setParentRelAngularAcceleration ( CartesianVector< T, 3 > alpha )

inlineinherited

Function to set parent relative angular acceleration.

Parameters

alpha angular accel of the frame relative to parent in parent frame coords

◆ setRootRelAngularVelocity()

template<typename T >

int clockwerk::Frame< T >::setRootRelAngularVelocity ( const CartesianVector< T, 3 > & w_f_root__f )

inherited

Function to set the frame's position relative to root.

Parameters

w_f_root__f Angular velocity of this frame wrt root frame origin, as specified in this frame

Note: If parent is not yet assigned, will throw error; With great power comes great responsibility. This thing will set ang vel to whatever you want, minimal questions asked, independent of if you later change attitude, etc.

◆ setRootRelAttitude()

template<typename T >

int clockwerk::Frame< T >::setRootRelAttitude ( const Quaternion< T > & quat_f_root )

inherited

Function to set the frame's attitude relative to root.

Parameters

quat_f_root Attitude of this frame wrt root frame

Note: If parent is not yet assigned, will throw error; With great power comes great responsibility. This thing will set attitude to whatever you want, minimal questions asked, independent of if you later change attitude, etc.

◆ setRootRelPosition()

template<typename T >

int clockwerk::Frame< T >::setRootRelPosition ( const CartesianVector< T, 3 > & pos_f_root__root )

inherited

Function to set the frame's position relative to root.

Parameters

pos_f_root__root Position of this frame wrt root frame origin, as specified in the root frame

Note: If parent is not yet assigned, will throw error; With great power comes great responsibility. This thing will set position to whatever you want, minimal questions asked, independent of if you later change attitude, etc.

◆ setRootRelVelocity()

template<typename T >

int clockwerk::Frame< T >::setRootRelVelocity ( const CartesianVector< T, 3 > & vel_f_root__root )

inherited

Function to set the frame's velocity relative to root.

Parameters

vel_f_root__root Velocity of this frame wrt root frame origin, as specified in the root frame

Note: If parent is not yet assigned, will throw error; With great power comes great responsibility. This thing will set velocity to whatever you want, minimal questions asked, independent of if you later change attitude, etc.

◆ setStateFromStateVector()

template<typename T >

void clockwerk::Frame< T >::setStateFromStateVector ( const std::array< T, 13 > & state_f_p__f )

inherited

Function to set frame state based on NUM_INTEGRATED_STATES-element state vector.

Parameters

state NUM_INTEGRATED_STATES-element state vector as [pos][vel][quat][omega]

◆ tJoint()

template<typename T = double>

clockwerk::Joint< T > clockwerk::Node< T >::tJoint ( )

inline

Function to get the frame's translational joint.

Returns: The frame's translational joint

◆ type()

virtual int clockwerk::GraphTreeObject::type ( )

inlinevirtualinherited

Function to indicate type – -1 by default unless implemented downstream.

Returns: Int indicating frame type – unimplemented always -1

◆ unlock()

void clockwerk::GraphTreeObject::unlock ( bool recursive = true )

inherited

Function to unlock the graph tree and its children for changes.

Parameters

recursive Flag to indicate whether unlock should be recursive

Member Data Documentation

◆ _integrator_ptr

template<typename T = double>

void* clockwerk::Frame< T >::_integrator_ptr = nullptr

protectedinherited

Rotational.

Pointer to the integrator that is integrating this frame. Nullptr if unused

◆ ang_vel_f_p__f

template<typename T = double>

clockwerk::DataIO<CartesianVector<T, 3> > clockwerk::Frame< T >::ang_vel_f_p__f

inherited

Initial value:

=

clockwerk::DataIO<CartesianVector<T, 3>>(nullptr, "ang_vel_f_p__f", CartesianVector<T, 3>())

clockwerk::Quaternion

Quaternion class for attitude representation.

Definition Quaternion.hpp:67

Angular velocity of the frame with respect to parent, in frame coordinates

◆ force_frame

template<typename T = double>

clockwerk::DataIO<Frame<T>*> clockwerk::Node< T >::force_frame = clockwerk::DataIO<Frame<T>*>(nullptr, "force_frame", nullptr)

The frame in which the force is applied. Using this utility abstracts away framerotate commands and also allows forces to be applied inertially or frame locally, because rotation will occur every step.

Note: Our node only rotates from the force frame – no translation or coupling

◆ moment_frame

template<typename T = double>

clockwerk::DataIO<Frame<T>*> clockwerk::Node< T >::moment_frame = clockwerk::DataIO<Frame<T>*>(nullptr, "moment_frame", nullptr)

The frame in which the moment is applied Using this utility abstracts away framerotate commands and also allows moments to be applied inertially or frame locally, because rotation will occur every step.

Note: Our node only rotates from the moment frame – no translation or coupling

◆ pos_f_p__p

template<typename T = double>

clockwerk::DataIO<CartesianVector<T, 3> > clockwerk::Frame< T >::pos_f_p__p

inherited

Initial value:

=

clockwerk::DataIO<CartesianVector<T, 3>>(nullptr, "pos_f_p__p", CartesianVector<T, 3>())

Position of the frame with respect to parent, in parent coordinates

◆ quat_f_p

template<typename T = double>

clockwerk::DataIO<Quaternion<T> > clockwerk::Frame< T >::quat_f_p

inherited

Initial value:

=

clockwerk::DataIO<Quaternion<T>>(nullptr, "quat_f_p", Quaternion<T>())

Attitude quaternion of the frame with respect to parent

◆ vel_f_p__p

template<typename T = double>

clockwerk::DataIO<CartesianVector<T, 3> > clockwerk::Frame< T >::vel_f_p__p

inherited

Initial value:

=

clockwerk::DataIO<CartesianVector<T, 3>>(nullptr, "vel_f_p__p", CartesianVector<T, 3>())

Velocity of the frame with respect to parent, in parent coordinates. Note that this is the velocity IN the parent frame, which takes into account rotation.

The documentation for this class was generated from the following files:

/home/mickey/modelspace/clockwerk/src/six_dof_dynamics/Frame.hpp
/home/mickey/modelspace/clockwerk/src/six_dof_dynamics/Node.hpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Node()

Member Function Documentation

◆ addChild()

◆ address()

◆ calcFrameTreeExtAcceleration()

◆ calcFrameTreeExtForcesMoments()

◆ decomposeAddress()

◆ dump()

◆ findLoggable()

◆ findMatches()

◆ getByAddress()

◆ getFMPairAtParentOrigin()

◆ getFrameRootPointer()

◆ getStateAsStateVector()

◆ getStateVectorDot()

◆ header()

◆ header_info()

◆ lock()

◆ log()

◆ parent() [1/3]

◆ parent() [2/3]

◆ parent() [3/3]

◆ parentRelAcceleration()

◆ parentRelAngularAcceleration()

◆ recurseGraphNodeInfo()

◆ removeChild()

◆ rJoint()

◆ rootRelAcceleration()

◆ rootRelAngularAcceleration()

◆ rootRelAngularVelocity()

◆ rootRelDCM()

◆ rootRelPosition()

◆ rootRelQuaternion()

◆ rootRelVelocity()

◆ search()

◆ searchNodes()

◆ setParentRelAcceleration()

◆ setParentRelAngularAcceleration()

◆ setRootRelAngularVelocity()

◆ setRootRelAttitude()

◆ setRootRelPosition()

◆ setRootRelVelocity()

◆ setStateFromStateVector()

◆ tJoint()

◆ type()

◆ unlock()

Member Data Documentation

◆ _integrator_ptr

◆ ang_vel_f_p__f

◆ force_frame

◆ moment_frame

◆ pos_f_p__p

◆ quat_f_p

◆ vel_f_p__p