Description

Markers are auxiliary reference frames which belong to rigid bodies and move together with them.

Most often, markers are used as references to build ChLink() constraints between two rigid bodies. The ChMarker objects allow also to user-define a motion law of marker respect to parent ChBody, if needed to represent imposed trajectories etc.

#include <ChMarker.h>

Inheritance diagram for chrono::ChMarker:

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Collaboration diagram for chrono::ChMarker:

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Public Types
enum	eChMarkerMotion { M_MOTION_FUNCTIONS = 0, M_MOTION_KEYFRAMED = 1, M_MOTION_EXTERNAL = 2 }

Public Member Functions
	ChMarker (const std::string &name, ChBody *body, const ChCoordsys<> &rel_pos, const ChCoordsys<> &rel_pos_dt, const ChCoordsys<> &rel_pos_dtdt)

	ChMarker (const ChMarker &other)

virtual ChMarker *	Clone () const override
	"Virtual" copy constructor (covariant return type).

ChBody *	GetBody () const
	Gets the address of the parent rigid body.

void	SetBody (ChBody *newRB)
	Sets the parent rigid body.

void	Impose_Rel_Coord (const Coordsys &m_coord)
	Set body-relative coord. More...

void	Impose_Abs_Coord (const Coordsys &m_coord)
	Set absolute coordinates and update auxiliary variables Also, current position becomes the 'resting position' coordinates for the current time.

const Coordsys &	GetRest_Coord () const
	Get the 'resting position' (that is, the position which the marker should have when the x,y,z motion laws are at time=0).

const ChFrameMoving< double > &	GetAbsFrame () const
	Get reference to the inner 'absolute frame' auxiliary coordinates. More...

const Coordsys &	GetAbsCoord () const
	Get the translation and rotation (as a ChCoordsys) of the marker respect to the absolute coordinates.

const Coordsys &	GetAbsCoord_dt () const
	Get the speed of translation and rotation (as a derived ChCoordsys) of the marker respect to the absolute coordinates.

const Coordsys &	GetAbsCoord_dtdt () const
	Get the acceleration of translation and rotation (as a derived ChCoordsys) of the marker respect to the absolute coordinates.

void	SetAbsCoord (const Coordsys &newpos)
	Set the translation and rotation (as a ChCoordsys) of the marker respect to the absolute coordinates. More...

void	SetAbsCoord_dt (const Coordsys &newpos_dt)
	Set the speed of translation and rotation (as a ChCoordsys) of the marker respect to the absolute coordinates. More...

void	SetAbsCoord_dtdt (const Coordsys &newpos_dtdt)
	Set the speed of translation and rotation (as a ChCoordsys) of the marker respect to the absolute coordinates. More...

Vector	GetAbsWvel () const
	Get the angular speed respect to absolute coordinates, expressed in absolute coordinates.

Vector	GetAbsWacc () const
	Get the angular acceleration respect to absolute coordinates, expressed in absolute coordinates.

void	SetMotion_X (std::shared_ptr< ChFunction > m_funct)
	Set the imposed motion law, for translation on X body axis.

void	SetMotion_Y (std::shared_ptr< ChFunction > m_funct)
	Set the imposed motion law, for translation on Y body axis.

void	SetMotion_Z (std::shared_ptr< ChFunction > m_funct)
	Set the imposed motion law, for translation on Z body axis.

void	SetMotion_ang (std::shared_ptr< ChFunction > m_funct)
	Set the imposed motion law, for rotation about an axis.

void	SetMotion_axis (Vector m_axis)
	Set the axis of rotation, if rotation motion law is used.

std::shared_ptr< ChFunction >	GetMotion_X () const
	The imposed motion law, for translation on X body axis.

std::shared_ptr< ChFunction >	GetMotion_Y () const
	The imposed motion law, for translation on Y body axis.

std::shared_ptr< ChFunction >	GetMotion_Z () const
	The imposed motion law, for translation on Z body axis.

std::shared_ptr< ChFunction >	GetMotion_ang () const
	The imposed motion law, for rotation about an axis.

Vector	GetMotion_axis () const
	Get the axis of rotation, if rotation motion law is used.

void	SetMotionType (eChMarkerMotion m_motion)
	Sets the way the motion of this marker (if any) is handled (see the eChMarkerMotion enum options).

eChMarkerMotion	GetMotionType () const
	Gets the way the motion of this marker (if any) is handled (see the eChMarkerMotion enum options).

void	UpdateTime (double mytime)
	Updates the time.dependant variables (ex: ChFunction objects which impose the body-relative motion, etc.)

void	UpdateState ()
	Given current state, updates auxiliary variables (for example the abs_frame data, containing the absolute pos/speed/acc of the marker.

void	Update (double mytime)
	Both UpdateTime() and UpdateState() at once.

void	UpdatedExternalTime (double prevtime, double mtime)
	Someone (ex. More...

ChVector	Point_World2Ref (const ChVector<> &point) const

ChVector	Point_Ref2World (const ChVector<> &point) const

ChVector	Dir_World2Ref (const ChVector<> &dir) const

ChVector	Dir_Ref2World (const ChVector<> &dir) const

virtual void	ArchiveOUT (ChArchiveOut &marchive) override
	Method to allow serialization of transient data to archives.

virtual void	ArchiveIN (ChArchiveIn &marchive) override
	Method to allow deserialization of transient data from archives. More...

Public Member Functions inherited from chrono::ChObj
	ChObj (const ChObj &other)

int	GetIdentifier () const
	Gets the numerical identifier of the object.

void	SetIdentifier (int id)
	Sets the numerical identifier of the object.

double	GetChTime () const
	Gets the simulation time of this object.

void	SetChTime (double m_time)
	Sets the simulation time of this object.

const char *	GetName () const
	Gets the name of the object as C Ascii null-terminated string -for reading only!

void	SetName (const char myname[])
	Sets the name of this object, as ascii string.

std::string	GetNameString () const
	Gets the name of the object as C Ascii null-terminated string.

void	SetNameString (const std::string &myname)
	Sets the name of this object, as std::string.

void	MFlagsSetAllOFF (int &mflag)

void	MFlagsSetAllON (int &mflag)

void	MFlagSetON (int &mflag, int mask)

void	MFlagSetOFF (int &mflag, int mask)

int	MFlagGet (int &mflag, int mask)

virtual std::string &	ArchiveContainerName ()

Public Member Functions inherited from chrono::ChFrameMoving< double >
	ChFrameMoving (const ChVector< double > &mv=ChVector< double >(0, 0, 0), const ChQuaternion< double > &mq=ChQuaternion< double >(1, 0, 0, 0))
	Construct from pos and rot (as a quaternion)

	ChFrameMoving (const ChVector< double > &mv, const ChMatrix33< double > &ma)
	Construct from pos and rotation (as a 3x3 matrix)

	ChFrameMoving (const ChCoordsys< double > &mc)
	Construct from a coordsys.

	ChFrameMoving (const ChFrame< double > &mc)
	Construct from a frame.

	ChFrameMoving (const ChFrameMoving< double > &other)
	Copy constructor, build from another moving frame.

virtual	~ChFrameMoving ()
	Destructor.

ChFrameMoving< double > &	operator= (const ChFrameMoving< double > &other)
	Assignment operator: copy from another moving frame.

ChFrameMoving< double > &	operator= (const ChFrame< double > &other)
	Assignment operator: copy from another frame.

bool	operator== (const ChFrameMoving< double > &other) const
	Returns true for identical frames.

bool	operator!= (const ChFrameMoving< double > &other) const
	Returns true for different frames.

ChFrameMoving< double >	operator>> (const ChFrameMoving< double > &Fb) const
	The '>>' operator transforms a coordinate system, so transformations can be represented with this syntax: new_frame = old_frame >> tr_frame; For a sequence of transformations, i.e. More...

ChFrameMoving< double >	operator* (const ChFrameMoving< double > &Fb) const
	The '' operator transforms a coordinate system, so transformations can be represented with this syntax: new_frame = tr_frame old_frame; For a sequence of transformations, i.e. More...

ChFrameMoving< double > &	operator>>= (const ChFrameMoving< double > &T)
	Performs pre-multiplication of this frame by another frame, for example: A>>=T means A'=T*A ; or A'=A >> T.

ChFrameMoving< double > &	operator>>= (const ChVector< double > &D)
	Performs pre-multiplication of this frame by a vector D, to 'move' by a displacement D:

ChFrameMoving< double > &	operator>>= (const ChQuaternion< double > &R)
	Performs pre-multiplication of this frame by a quaternion R, to 'rotate' it by R:

ChFrameMoving< double > &	operator>>= (const ChCoordsys< double > &F)
	Performs pre-multiplication of this frame by a ChCoordsys F:

ChFrameMoving< double > &	operator>>= (const ChFrame< double > &F)
	Performs pre-multiplication of this frame by a ChFrame F:

ChFrameMoving< double > &	operator%= (const ChFrameMoving< double > &T)
	Performs pre-multiplication of this frame by another frame, for example: A%=T means A'=T*A ; or A'=A >> T Note: DEPRECATED, use >>= instead.

ChFrameMoving< double > &	operator*= (const ChFrameMoving< double > &T)
	Performs post-multiplication of this frame by another frame, for example: A=T means A'=AT ; or A'=T >> A.

ChCoordsys< double > &	GetCoord_dt ()
	Return both current rotation and translation speeds as a coordsystem object, with vector and quaternion.

const ChCoordsys< double > &	GetCoord_dt () const

ChCoordsys< double > &	GetCoord_dtdt ()
	Return both current rotation and translation accelerations as a coordsystem object, with vector and quaternion.

const ChCoordsys< double > &	GetCoord_dtdt () const

ChVector< double > &	GetPos_dt ()
	Return the current speed as a 3d vector.

const ChVector< double > &	GetPos_dt () const

ChVector< double > &	GetPos_dtdt ()
	Return the current acceleration as a 3d vector.

const ChVector< double > &	GetPos_dtdt () const

ChQuaternion< double > &	GetRot_dt ()
	Return the current rotation speed as a quaternion.

const ChQuaternion< double > &	GetRot_dt () const

ChQuaternion< double > &	GetRot_dtdt ()
	Return the current rotation acceleration as a quaternion.

const ChQuaternion< double > &	GetRot_dtdt () const

ChVector< double >	GetWvel_loc () const
	Computes the actual angular speed (expressed in local coords)

ChVector< double >	GetWvel_par () const
	Computes the actual angular speed (expressed in parent coords)

ChVector< double >	GetWacc_loc () const
	Computes the actual angular acceleration (expressed in local coords)

ChVector< double >	GetWacc_par () const
	Computes the actual angular acceleration (expressed in parent coords)

virtual void	SetCoord_dt (const ChCoordsys< double > &mcoord_dt)
	Set both linear speed and rotation speed as a single ChCoordsys derivative.

virtual void	SetPos_dt (const ChVector< double > &mvel)
	Set the linear speed.

virtual void	SetRot_dt (const ChQuaternion< double > &mrot_dt)
	Set the rotation speed as a quaternion. More...

virtual void	SetWvel_loc (const ChVector< double > &wl)
	Set the rotation speed from given angular speed (expressed in local csys)

virtual void	SetWvel_par (const ChVector< double > &wp)
	Set the rotation speed from given angular speed (expressed in parent csys)

virtual void	SetCoord_dtdt (const ChCoordsys< double > &mcoord_dtdt)
	Set both linear acceleration and rotation acceleration as a single ChCoordsys derivative.

virtual void	SetPos_dtdt (const ChVector< double > &macc)
	Set the linear acceleration.

virtual void	SetRot_dtdt (const ChQuaternion< double > &mrot_dtdt)
	Set the rotation acceleration as a quaternion derivative. More...

virtual void	SetWacc_loc (const ChVector< double > &al)
	Set the rotation acceleration from given angular acceleration (expressed in local csys)

virtual void	SetWacc_par (const ChVector< double > &ap)
	Set the rotation speed from given angular speed (expressed in parent csys)

void	Compute_Adt (ChMatrix33< double > &mA_dt) const
	Computes the time derivative of rotation matrix, mAdt.

void	Compute_Adtdt (ChMatrix33< double > &mA_dtdt)
	Computes the 2nd time derivative of rotation matrix, mAdtdt.

ChMatrix33< double >	GetA_dt ()
	Computes and returns an Adt matrix (-note: prefer using Compute_Adt() directly for better performance)

ChMatrix33< double >	GetA_dtdt ()
	Computes and returns an Adt matrix (-note: prefer using Compute_Adtdt() directly for better performance)

void	ConcatenatePreTransformation (const ChFrameMoving< double > &T)
	Apply a transformation (rotation and translation) represented by another ChFrameMoving T. More...

void	ConcatenatePostTransformation (const ChFrameMoving< double > &T)
	Apply a transformation (rotation and translation) represented by another ChFrameMoving T in local coordinate. More...

ChVector< double >	PointSpeedLocalToParent (const ChVector< double > &localpos) const
	Given the position of a point in local frame coords, and assuming it is sticky to frame, return the speed in parent coords.

ChVector< double >	PointSpeedLocalToParent (const ChVector< double > &localpos, const ChVector< double > &localspeed) const
	Given the position localpos of a point in the local reference frame, assuming that the point moves in the local reference frame with localspeed, return the speed in the parent reference frame.

ChVector< double >	PointAccelerationLocalToParent (const ChVector< double > &localpos) const
	Given the position of a point in local frame coords, and assuming it is sticky to frame, return the acceleration in parent coords.

ChVector< double >	PointAccelerationLocalToParent (const ChVector< double > &localpos, const ChVector< double > &localspeed, const ChVector< double > &localacc) const
	Given the position of a point in local frame coords, and assuming it has a frame-relative speed localspeed and frame-relative acceleration localacc, return the acceleration in parent coords.

ChVector< double >	PointSpeedParentToLocal (const ChVector< double > &parentpos, const ChVector< double > &parentspeed) const
	Given the position of a point in parent frame coords, and assuming it has an absolute speed parentspeed, return the speed in local coords.

ChVector< double >	PointAccelerationParentToLocal (const ChVector< double > &parentpos, const ChVector< double > &parentspeed, const ChVector< double > &parentacc) const
	Given the position of a point in parent frame coords, and assuming it has an absolute speed parentspeed and absolute acceleration parentacc, return the acceleration in local coords.

void	TransformLocalToParent (const ChFrameMoving< double > &local, ChFrameMoving< double > &parent) const
	This function transforms a frame from 'this' local coordinate system to parent frame coordinate system, and also transforms the speed and acceleration of the frame. More...

void	TransformParentToLocal (const ChFrameMoving< double > &parent, ChFrameMoving< double > &local) const
	This function transforms a frame from the parent coordinate system to 'this' local frame coordinate system. More...

bool	Equals (const ChFrameMoving< double > &other) const
	Returns true if coordsys is identical to other coordsys.

bool	Equals (const ChFrameMoving< double > &other, double tol) const
	Returns true if coordsys is equal to other coordsys, within a tolerance 'tol'.

virtual void	Invert () override
	The transformation (also for speeds, accelerations) is inverted in place. More...

ChFrameMoving< double >	GetInverse () const

Public Member Functions inherited from chrono::ChFrame< double >
	ChFrame (const ChVector< double > &mv=ChVector< double >(0, 0, 0), const ChQuaternion< double > &mq=ChQuaternion< double >(1, 0, 0, 0))
	Default constructor, or construct from pos and rot (as a quaternion)

	ChFrame (const ChVector< double > &mv, const ChMatrix33< double > &ma)
	Construct from pos and rotation (as a 3x3 matrix)

	ChFrame (const ChCoordsys< double > &mc)
	Construct from a coordsys.

	ChFrame (const ChVector< double > &mv, const double alpha, const ChVector< double > &mu)
	Construct from position mv and rotation of angle alpha around unit vector mu.

	ChFrame (const ChFrame< double > &other)
	Copy constructor, build from another frame.

ChFrame< double > &	operator= (const ChFrame< double > &other)
	Assignment operator: copy from another frame.

virtual bool	operator== (const ChFrame< double > &other) const
	Returns true for identical frames.

virtual bool	operator!= (const ChFrame< double > &other) const
	Returns true for different frames.

ChFrame< double >	operator>> (const ChFrame< double > &Fb) const
	The '>>' operator transforms a coordinate system, so transformations can be represented with this syntax: new_frame = old_frame >> tr_frame; For a sequence of transformations, i.e. More...

ChFrame< double >	operator* (const ChFrame< double > &Fb) const
	The '>>' operator transforms a vector, so transformations can be represented with this syntax: new_v = old_v >> tr_frame; For a sequence of transformations, i.e. More...

ChVector< double >	operator* (const ChVector< double > &V) const
	The '' operator transforms a vector, so transformations can be represented with this syntax: new_v = tr_frame old_v; For a sequence of transformations, i.e. More...

ChVector< double >	operator/ (const ChVector< double > &V) const
	The '/' is like the '*' operator (see), but uses the inverse transformation for A, in A/b. More...

ChFrame< double > &	operator>>= (const ChFrame< double > &T)
	Performs pre-multiplication of this frame by another frame, for example: A>>=T means A'=T*A ; or A'=A >> T.

ChFrame< double > &	operator>>= (const ChVector< double > &D)
	Performs pre-multiplication of this frame by a vector D, to 'move' by a displacement D:

ChFrame< double > &	operator>>= (const ChQuaternion< double > &R)
	Performs pre-multiplication of this frame by a quaternion R, to 'rotate' it by R:

ChFrame< double > &	operator>>= (const ChCoordsys< double > &F)
	Performs pre-multiplication of this frame by a ChCoordsys F, to transform it:

ChFrame< double > &	operator%= (const ChFrame< double > &T)
	Performs pre-multiplication of this frame by another frame, for example: A%=T means A'=T*A ; or A'=A >> T Note: DEPRECATED, use >>= instead.

ChFrame< double > &	operator*= (const ChFrame< double > &T)
	Performs post-multiplication of this frame by another frame, for example: A=T means A'=AT ; or A'=T >> A.

ChCoordsys< double > &	GetCoord ()
	Return both current rotation and translation as a coordsystem object, with vector and quaternion.

const ChCoordsys< double > &	GetCoord () const

ChVector< double > &	GetPos ()
	Return the current translation as a 3d vector.

const ChVector< double > &	GetPos () const

ChQuaternion< double > &	GetRot ()
	Return the current rotation as a quaternion.

const ChQuaternion< double > &	GetRot () const

ChMatrix33< double > &	GetA ()
	Return the current rotation as a 3x3 matrix.

const ChMatrix33< double > &	GetA () const

ChVector< double >	GetRotAxis ()
	Get axis of finite rotation, in parent space.

double	GetRotAngle ()
	Get angle of rotation about axis of finite rotation.

virtual void	SetCoord (const ChCoordsys< double > &mcoord)
	Impose both translation and rotation as a single ChCoordsys. More...

virtual void	SetCoord (const ChVector< double > &mv, const ChQuaternion< double > &mq)
	Impose both translation and rotation. More...

virtual void	SetRot (const ChQuaternion< double > &mrot)
	Impose the rotation as a quaternion. More...

virtual void	SetRot (const ChMatrix33< double > &mA)
	Impose the rotation as a 3x3 matrix. More...

virtual void	SetPos (const ChVector< double > &mpos)
	Impose the translation.

void	ConcatenatePreTransformation (const ChFrame< double > &T)
	Apply a transformation (rotation and translation) represented by another ChFrame T. More...

void	ConcatenatePostTransformation (const ChFrame< double > &T)
	Apply a transformation (rotation and translation) represented by another ChFrame T in local coordinate. More...

void	Move (const ChVector< double > &V)
	An easy way to move the frame by the amount specified by vector V, (assuming V expressed in parent coordinates)

void	Move (const ChCoordsys< double > &VR)
	Apply both translation and rotation, assuming both expressed in parent coordinates, as a vector for translation and quaternion for rotation,.

virtual ChVector< double >	TransformLocalToParent (const ChVector< double > &local) const
	This function transforms a point from the local frame coordinate system to the parent coordinate system. More...

virtual void	TransformLocalToParent (const ChFrame< double > &local, ChFrame< double > &parent) const
	This function transforms a frame from 'this' local coordinate system to parent frame coordinate system. More...

virtual ChVector< double >	TransformPointLocalToParent (const ChVector< double > &local) const

virtual ChVector< double >	TransformParentToLocal (const ChVector< double > &parent) const
	This function transforms a point from the parent coordinate system to local frame coordinate system. More...

virtual void	TransformParentToLocal (const ChFrame< double > &parent, ChFrame< double > &local) const
	This function transforms a frame from the parent coordinate system to 'this' local frame coordinate system. More...

virtual ChVector< double >	TransformPointParentToLocal (const ChVector< double > &parent) const

virtual ChVector< double >	TransformDirectionParentToLocal (const ChVector< double > &mdirection) const
	This function transforms a direction from 'this' local coordinate system to parent frame coordinate system. More...

virtual ChVector< double >	TransformDirectionLocalToParent (const ChVector< double > &mdirection) const
	This function transforms a direction from the parent frame coordinate system to 'this' local coordinate system. More...

bool	Equals (const ChFrame< double > &other) const
	Returns true if coordsys is identical to other coordsys.

bool	Equals (const ChFrame< double > &other, double tol) const
	Returns true if coordsys is equal to other coordsys, within a tolerance 'tol'.

void	Normalize ()
	Normalize the rotation, so that quaternion has unit length.

virtual void	SetIdentity ()
	Sets to no translation and no rotation.

ChFrame< double >	GetInverse () const

Additional Inherited Members
Public Attributes inherited from chrono::ChFrameMoving< double >
ChCoordsys< double >	coord_dt
	Rotation and position speed, as vector+quaternion.

ChCoordsys< double >	coord_dtdt
	Rotation and position acceleration, as vector+quaternion.

Public Attributes inherited from chrono::ChFrame< double >
ChCoordsys< double >	coord
	Rotation and position, as vector+quaternion.

ChMatrix33< double >	Amatrix
	3x3 orthogonal rotation matrix

Protected Attributes inherited from chrono::ChObj
double	ChTime
	the time of simulation for the object

Member Enumeration Documentation

◆ eChMarkerMotion

enum chrono::ChMarker::eChMarkerMotion

Enumerator
M_MOTION_FUNCTIONS	marker uses its own x, y, z functions
M_MOTION_KEYFRAMED	marker moved via external key frames (derivatives obtained with BDF)
M_MOTION_EXTERNAL	marker moved via external functions (derivatives provided)

Member Function Documentation

◆ ArchiveIN()

void chrono::ChMarker::ArchiveIN ( ChArchiveIn & marchive )

overridevirtual

Method to allow deserialization of transient data from archives.

Method to allow de serialization of transient data from archives.

Reimplemented from chrono::ChObj.

◆ GetAbsFrame()

const ChFrameMoving<double>& chrono::ChMarker::GetAbsFrame ( ) const

inline

Get reference to the inner 'absolute frame' auxiliary coordinates.

This object (coordinates/speeds/accel. of marker expressed in absolute coordinates) is useful for performance reasons. Note! it is updated only after each Update() function.

◆ Impose_Rel_Coord()

void chrono::ChMarker::Impose_Rel_Coord ( const Coordsys & m_coord )

Set body-relative coord.

and update auxiliary variables Also, current position becomes the 'resting position' coordinates for the current time.

◆ SetAbsCoord()

void chrono::ChMarker::SetAbsCoord ( const Coordsys & newpos )

inline

Set the translation and rotation (as a ChCoordsys) of the marker respect to the absolute coordinates.

NOTE! inner use only, for the moment. Use Impose_Abs_Coord() if needed.

◆ SetAbsCoord_dt()

void chrono::ChMarker::SetAbsCoord_dt ( const Coordsys & newpos_dt )

inline

Set the speed of translation and rotation (as a ChCoordsys) of the marker respect to the absolute coordinates.

NOTE! inner use only, for the moment.

◆ SetAbsCoord_dtdt()

void chrono::ChMarker::SetAbsCoord_dtdt ( const Coordsys & newpos_dtdt )

inline

Set the speed of translation and rotation (as a ChCoordsys) of the marker respect to the absolute coordinates.

NOTE! inner use only, for the moment.

◆ UpdatedExternalTime()

void chrono::ChMarker::UpdatedExternalTime	(	double	prevtime,
		double	mtime
	)

Someone (ex.

an ChExternalObject() ) may send this message to the marker to tell that time has changed (even if simulation is not running! - so it is different from the usual UpdateTime() -)

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

/builds/uwsbel/chrono/src/chrono/physics/ChMarker.h
/builds/uwsbel/chrono/src/chrono/physics/ChMarker.cpp

Description

Public Types

Public Member Functions

Additional Inherited Members

Member Enumeration Documentation

◆ eChMarkerMotion

Member Function Documentation

◆ ArchiveIN()

◆ GetAbsFrame()

◆ Impose_Rel_Coord()

◆ SetAbsCoord()

◆ SetAbsCoord_dt()

◆ SetAbsCoord_dtdt()

◆ UpdatedExternalTime()