<!DOCTYPE html> <html lang="en"> <head> <meta charset="utf-8"> <title>Equation - cannon</title> <link rel="stylesheet" href="http://yui.yahooapis.com/3.9.1/build/cssgrids/cssgrids-min.css"> <link rel="stylesheet" href="../assets/vendor/prettify/prettify-min.css"> <link rel="stylesheet" href="../assets/css/main.css" id="site_styles"> <link rel="icon" href="../assets/favicon.ico"> <script src="http://yui.yahooapis.com/combo?3.9.1/build/yui/yui-min.js"></script> </head> <body class="yui3-skin-sam"> <div id="doc"> <div id="hd" class="yui3-g header"> <div class="yui3-u-3-4"> <h1><img src="../assets/css/logo.png" title="cannon" width="117" height="52"></h1> </div> <div class="yui3-u-1-4 version"> <em>API Docs for: 0.6.1</em> </div> </div> <div id="bd" class="yui3-g"> <div class="yui3-u-1-4"> <div id="docs-sidebar" class="sidebar apidocs"> <div id="api-list"> <h2 class="off-left">APIs</h2> <div id="api-tabview" class="tabview"> <ul class="tabs"> <li><a href="#api-classes">Classes</a></li> 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for="api-show-protected"> <input type="checkbox" id="api-show-protected"> Protected </label> <label for="api-show-private"> <input type="checkbox" id="api-show-private"> Private </label> <label for="api-show-deprecated"> <input type="checkbox" id="api-show-deprecated"> Deprecated </label> </div> <div class="apidocs"> <div id="docs-main"> <div class="content"> <h1>Equation Class</h1> <div class="box meta"> <div class="foundat"> Defined in: <a href="../files/src_equations_Equation.js.html#l6"><code>src/equations/Equation.js:6</code></a> </div> </div> <div class="box intro"> <p>Equation base class</p> </div> <div class="constructor"> <h2>Constructor</h2> <div id="method_Equation" class="method item"> <h3 class="name"><code>Equation</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>bi</code> </li> <li class="arg"> <code>bj</code> </li> <li class="arg"> <code>minForce</code> </li> <li class="arg"> <code>maxForce</code> </li> </ul><span class="paren">)</span> </div> <div class="meta"> <p> Defined in <a href="../files/src_equations_Equation.js.html#l6"><code>src/equations/Equation.js:6</code></a> </p> </div> <div class="description"> </div> <div class="params"> <h4>Parameters:</h4> <ul class="params-list"> <li class="param"> <code class="param-name">bi</code> <span class="type"><a href="../classes/Body.html" class="crosslink">Body</a></span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">bj</code> <span class="type"><a href="../classes/Body.html" class="crosslink">Body</a></span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">minForce</code> <span class="type">Number</span> <div class="param-description"> <p>Minimum (read: negative max) force to be applied by the constraint.</p> </div> </li> <li class="param"> <code class="param-name">maxForce</code> <span class="type">Number</span> <div class="param-description"> <p>Maximum (read: positive max) force to be applied by the constraint.</p> </div> </li> </ul> </div> </div> </div> <div id="classdocs" class="tabview"> <ul class="api-class-tabs"> <li class="api-class-tab index"><a href="#index">Index</a></li> <li class="api-class-tab methods"><a href="#methods">Methods</a></li> <li class="api-class-tab properties"><a href="#properties">Properties</a></li> </ul> <div> <div id="index" class="api-class-tabpanel index"> <h2 class="off-left">Item Index</h2> <div class="index-section methods"> <h3>Methods</h3> <ul class="index-list methods"> <li class="index-item method"> <a href="#method_addToWlambda">addToWlambda</a> </li> <li class="index-item method"> <a href="#method_computeB">computeB</a> </li> <li class="index-item method"> <a href="#method_computeGiMf">computeGiMf</a> </li> <li class="index-item method"> <a href="#method_computeGiMGt">computeGiMGt</a> </li> <li class="index-item method"> <a href="#method_computeGq">computeGq</a> </li> <li class="index-item method"> <a href="#method_computeGW">computeGW</a> </li> <li class="index-item method"> <a href="#method_computeGWlambda">computeGWlambda</a> </li> <li class="index-item method"> <a href="#method_computeInvC">computeInvC</a> </li> <li class="index-item method"> <a href="#method_setSpookParams">setSpookParams</a> </li> </ul> </div> <div class="index-section properties"> <h3>Properties</h3> <ul class="index-list properties"> <li class="index-item property"> <a href="#property_a">a</a> </li> <li class="index-item property"> <a href="#property_b">b</a> </li> <li class="index-item property"> <a href="#property_bi">bi</a> </li> <li class="index-item property"> <a href="#property_bj">bj</a> </li> <li class="index-item property"> <a href="#property_enabled">enabled</a> </li> <li class="index-item property"> <a href="#property_eps">eps</a> </li> <li class="index-item property"> <a href="#property_jacobianElementA">jacobianElementA</a> </li> <li class="index-item property"> <a href="#property_jacobianElementB">jacobianElementB</a> </li> <li class="index-item property"> <a href="#property_maxForce">maxForce</a> </li> <li class="index-item property"> <a href="#property_minForce">minForce</a> </li> </ul> </div> </div> <div id="methods" class="api-class-tabpanel"> <h2 class="off-left">Methods</h2> <div id="method_addToWlambda" class="method item"> <h3 class="name"><code>addToWlambda</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>deltalambda</code> </li> </ul><span class="paren">)</span> </div> <div class="meta"> <p> Defined in <a href="../files/src_equations_Equation.js.html#l228"><code>src/equations/Equation.js:228</code></a> </p> </div> <div class="description"> <p>Add constraint velocity to the bodies.</p> </div> <div class="params"> <h4>Parameters:</h4> <ul class="params-list"> <li class="param"> <code class="param-name">deltalambda</code> <span class="type">Number</span> <div class="param-description"> </div> </li> </ul> </div> </div> <div id="method_computeB" class="method item"> <h3 class="name"><code>computeB</code></h3> <span class="paren">()</span> <span class="returns-inline"> <span class="type">Number</span> </span> <div class="meta"> <p> Defined in <a href="../files/src_equations_Equation.js.html#l95"><code>src/equations/Equation.js:95</code></a> </p> </div> <div class="description"> <p>Computes the RHS of the SPOOK equation</p> </div> <div class="returns"> <h4>Returns:</h4> <div class="returns-description"> <span class="type">Number</span>: </div> </div> </div> <div id="method_computeGiMf" class="method item"> <h3 class="name"><code>computeGiMf</code></h3> <span class="paren">()</span> <span class="returns-inline"> <span class="type">Number</span> </span> <div class="meta"> <p> Defined in <a href="../files/src_equations_Equation.js.html#l159"><code>src/equations/Equation.js:159</code></a> </p> </div> <div class="description"> <p>Computes G<em>inv(M)</em>f, where M is the mass matrix with diagonal blocks for each body, and f are the forces on the bodies.</p> </div> <div class="returns"> <h4>Returns:</h4> <div class="returns-description"> <span class="type">Number</span>: </div> </div> </div> <div id="method_computeGiMGt" class="method item"> <h3 class="name"><code>computeGiMGt</code></h3> <span class="paren">()</span> <span class="returns-inline"> <span class="type">Number</span> </span> <div class="meta"> <p> Defined in <a href="../files/src_equations_Equation.js.html#l191"><code>src/equations/Equation.js:191</code></a> </p> </div> <div class="description"> <p>Computes G<em>inv(M)</em>G'</p> </div> <div class="returns"> <h4>Returns:</h4> <div class="returns-description"> <span class="type">Number</span>: </div> </div> </div> <div id="method_computeGq" class="method item"> <h3 class="name"><code>computeGq</code></h3> <span class="paren">()</span> <span class="returns-inline"> <span class="type">Number</span> </span> <div class="meta"> <p> Defined in <a href="../files/src_equations_Equation.js.html#l107"><code>src/equations/Equation.js:107</code></a> </p> </div> <div class="description"> <p>Computes G*q, where q are the generalized body coordinates</p> </div> <div class="returns"> <h4>Returns:</h4> <div class="returns-description"> <span class="type">Number</span>: </div> </div> </div> <div id="method_computeGW" class="method item"> <h3 class="name"><code>computeGW</code></h3> <span class="paren">()</span> <span class="returns-inline"> <span class="type">Number</span> </span> <div class="meta"> <p> Defined in <a href="../files/src_equations_Equation.js.html#l124"><code>src/equations/Equation.js:124</code></a> </p> </div> <div class="description"> <p>Computes G*W, where W are the body velocities</p> </div> <div class="returns"> <h4>Returns:</h4> <div class="returns-description"> <span class="type">Number</span>: </div> </div> </div> <div id="method_computeGWlambda" class="method item"> <h3 class="name"><code>computeGWlambda</code></h3> <span class="paren">()</span> <span class="returns-inline"> <span class="type">Number</span> </span> <div class="meta"> <p> Defined in <a href="../files/src_equations_Equation.js.html#l142"><code>src/equations/Equation.js:142</code></a> </p> </div> <div class="description"> <p>Computes G*Wlambda, where W are the body velocities</p> </div> <div class="returns"> <h4>Returns:</h4> <div class="returns-description"> <span class="type">Number</span>: </div> </div> </div> <div id="method_computeInvC" class="method item"> <h3 class="name"><code>computeInvC</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>eps</code> </li> </ul><span class="paren">)</span> </div> <span class="returns-inline"> <span class="type">Number</span> </span> <div class="meta"> <p> Defined in <a href="../files/src_equations_Equation.js.html#l262"><code>src/equations/Equation.js:262</code></a> </p> </div> <div class="description"> <p>Compute the denominator part of the SPOOK equation: C = G<em>inv(M)</em>G' + eps</p> </div> <div class="params"> <h4>Parameters:</h4> <ul class="params-list"> <li class="param"> <code class="param-name">eps</code> <span class="type">Number</span> <div class="param-description"> </div> </li> </ul> </div> <div class="returns"> <h4>Returns:</h4> <div class="returns-description"> <span class="type">Number</span>: </div> </div> </div> <div id="method_setSpookParams" class="method item"> <h3 class="name"><code>setSpookParams</code></h3> <span class="paren">()</span> <div class="meta"> <p> Defined in <a href="../files/src_equations_Equation.js.html#l82"><code>src/equations/Equation.js:82</code></a> </p> </div> <div class="description"> <p>Recalculates a,b,eps.</p> </div> </div> </div> <div id="properties" class="api-class-tabpanel"> <h2 class="off-left">Properties</h2> <div id="property_a" class="property item"> <h3 class="name"><code>a</code></h3> <span class="type">Number</span> <div class="meta"> <p> Defined in <a href="../files/src_equations_Equation.js.html#l41"><code>src/equations/Equation.js:41</code></a> </p> </div> <div class="description"> <p>SPOOK parameter</p> </div> </div> <div id="property_b" class="property item"> <h3 class="name"><code>b</code></h3> <span class="type">Number</span> <div class="meta"> <p> Defined in <a href="../files/src_equations_Equation.js.html#l47"><code>src/equations/Equation.js:47</code></a> </p> </div> <div class="description"> <p>SPOOK parameter</p> </div> </div> <div id="property_bi" class="property item"> <h3 class="name"><code>bi</code></h3> <span class="type"><a href="../classes/Body.html" class="crosslink">Body</a></span> <div class="meta"> <p> Defined in <a href="../files/src_equations_Equation.js.html#l29"><code>src/equations/Equation.js:29</code></a> </p> </div> <div class="description"> </div> </div> <div id="property_bj" class="property item"> <h3 class="name"><code>bj</code></h3> <span class="type"><a href="../classes/Body.html" class="crosslink">Body</a></span> <div class="meta"> <p> Defined in <a href="../files/src_equations_Equation.js.html#l35"><code>src/equations/Equation.js:35</code></a> </p> </div> <div class="description"> </div> </div> <div id="property_enabled" class="property item"> <h3 class="name"><code>enabled</code></h3> <span class="type">Boolean</span> <div class="meta"> <p> Defined in <a href="../files/src_equations_Equation.js.html#l69"><code>src/equations/Equation.js:69</code></a> </p> </div> <div class="description"> </div> <p><strong>Default:</strong> true</p> </div> <div id="property_eps" class="property item"> <h3 class="name"><code>eps</code></h3> <span class="type">Number</span> <div class="meta"> <p> Defined in <a href="../files/src_equations_Equation.js.html#l53"><code>src/equations/Equation.js:53</code></a> </p> </div> <div class="description"> <p>SPOOK parameter</p> </div> </div> <div id="property_jacobianElementA" class="property item"> <h3 class="name"><code>jacobianElementA</code></h3> <span class="type"><a href="../classes/JacobianElement.html" class="crosslink">JacobianElement</a></span> <div class="meta"> <p> Defined in <a href="../files/src_equations_Equation.js.html#l59"><code>src/equations/Equation.js:59</code></a> </p> </div> <div class="description"> </div> </div> <div id="property_jacobianElementB" class="property item"> <h3 class="name"><code>jacobianElementB</code></h3> <span class="type"><a href="../classes/JacobianElement.html" class="crosslink">JacobianElement</a></span> <div class="meta"> <p> Defined in <a href="../files/src_equations_Equation.js.html#l64"><code>src/equations/Equation.js:64</code></a> </p> </div> <div class="description"> </div> </div> <div id="property_maxForce" class="property item"> <h3 class="name"><code>maxForce</code></h3> <span class="type">Number</span> <div class="meta"> <p> Defined in <a href="../files/src_equations_Equation.js.html#l24"><code>src/equations/Equation.js:24</code></a> </p> </div> <div class="description"> </div> </div> <div id="property_minForce" class="property item"> <h3 class="name"><code>minForce</code></h3> <span class="type">Number</span> <div class="meta"> <p> Defined in <a href="../files/src_equations_Equation.js.html#l19"><code>src/equations/Equation.js:19</code></a> </p> </div> <div class="description"> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> <script src="../assets/vendor/prettify/prettify-min.js"></script> <script>prettyPrint();</script> <script src="../assets/js/yui-prettify.js"></script> <script src="../assets/../api.js"></script> <script src="../assets/js/api-filter.js"></script> <script src="../assets/js/api-list.js"></script> <script src="../assets/js/api-search.js"></script> <script src="../assets/js/apidocs.js"></script> </body> </html>