kynema::constraints::Constraint Struct Reference

Defines a constraint between two nodes or enforces a boundary condition at a single node. More...

#include <constraint.hpp>

Public Member Functions
	Constraint (size_t id, ConstraintType c_type, const std::array< size_t, 2 > &ids, const std::array< double, 3 > &v={0., 0., 0.}, const std::array< double, 7 > &init_disp={0., 0., 0., 1., 0., 0., 0.}, double *ctrl=nullptr)
	Constructs a constraint with specified parameters.

Public Attributes
size_t	ID
	Unique identifier for constraint.
ConstraintType	type
	Type of constraint.
std::array< size_t, 2 >	node_ids
	Node IDs for: {base_node, target_node}.
std::array< double, 3 >	axis_vector
	Vector for rotation/control axis.
std::array< double, 7 >	initial_displacement
	Initial displacement for prescribed BC.
double *	control
	Pointer to control signal (if any)

Detailed Description

Defines a constraint between two nodes or enforces a boundary condition at a single node.

A constraint establishes a relationship between two nodes, restricting their relative motion in specific ways. This can be utilized to model various scenarios such as fixed boundary conditions, prescribed displacements, rigid body motions, lower-pair kinematic joints, and control signals.

Constructor & Destructor Documentation

Constraint()

kynema::constraints::Constraint::Constraint ( size_t  id, ConstraintType  c_type, const std::array< size_t, 2 > &  ids, const std::array< double, 3 > &  v = {0., 0., 0.}, const std::array< double, 7 > &  init_disp = {0., 0., 0., 1., 0., 0., 0.}, double *  ctrl = nullptr  )

inline

Constructs a constraint with specified parameters.

Parameters

id	Unique identifier for the constraint
c_type	Type of constraint
ids	Array containing {base_node_id, target_node_id}
v	Geometric configuration/axis vector (default: {0, 0, 0})
init_disp	Initial displacement for prescribed BCs (default: {0, 0, 0, 1, 0, 0, 0})
ctrl	Pointer to control signal (default: nullptr for static constraints)

Member Data Documentation

axis_vector

std::array<double, 3> kynema::constraints::Constraint::axis_vector

Vector for rotation/control axis.

control

double* kynema::constraints::Constraint::control

Pointer to control signal (if any)

ID

size_t kynema::constraints::Constraint::ID

Unique identifier for constraint.

initial_displacement

std::array<double, 7> kynema::constraints::Constraint::initial_displacement

Initial displacement for prescribed BC.

node_ids

std::array<size_t, 2> kynema::constraints::Constraint::node_ids

Node IDs for: {base_node, target_node}.

type

ConstraintType kynema::constraints::Constraint::type

Type of constraint.

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The documentation for this struct was generated from the following file:

• /home/runner/work/kynema/kynema/kynema/src/constraints/constraint.hpp