Program Listing for File CECompoundBody.h

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#pragmaonce

#include"Karana/SOADyn/CompoundBody.h"
#include<cassert>
#include<map>
#include<vector>

namespaceKarana::Dynamics{

namespacekc=Karana::Core;

classCoordData;
classSubGraph;
classConstraintKinematicsSolver;
classMultiJacobianGenerator;
//classPhysicalBody;

classCECompoundBody:publicCompoundBody{

/*togetaccessto_toDependentQ()etc*/
friendclassCECompoundSubhinge;

public:
//FIXME:makeprotectedandmarkallocatorfunctionusedbyMultibodyasfriend
CECompoundBody(conststd::string&name,
kc::ks_ptr<SubTree>parent_subtree,
kc::ks_ptr<SubTree>component_bodies,
size_tindep_nU);

virtual~CECompoundBody();

conststd::string&typeString()constnoexceptoverride{
staticstd::stringtype_string="Karana::Dynamics::CECompoundBody";
returntype_string;
}

protected:
kc::ks_ptr<CompoundSubhinge>_createSubhinge(kc::ks_ptr<CompoundHinge>hinge)override;

virtualvoid_updateDependentQ(constkm::Vec&min_Q)const=0;

//virtualkm::Vec_toIndependentQ(constkm::Vecmin_Q)const=0;

virtualkm::Mat_constraintX()const=0;

virtualkm::Mat_constraintXdot()const=0;

virtualkm::Mat_invConstraintX()const=0;

//void_setNu(size_tnU);

virtualkc::ks_ptr<CoordData>_makeIndependentCoordData()=0;

protected:
size_t_indep_nU=0;
};

classGearedCompoundBody:publicCECompoundBody{

public:
statickc::ks_ptr<GearedCompoundBody>create(kc::ks_ptr<SubTree>parent_subtree,
conststd::string&name,
kc::ks_ptr<SubTree>component_bodies);

virtual~GearedCompoundBody();

virtualconststd::string&typeString()constnoexceptoverride{
staticstd::stringtype_string="Karana::Dynamics::GearedCompoundBody";
returntype_string;
}

//std::stringdumpString(conststd::string&prefix,
//constKarana::Core::Base::dumpOptions*options)constoverride;

GearedCompoundBody(conststd::string&name,
kc::ks_ptr<SubTree>parent_subtree,
kc::ks_ptr<SubTree>bodies_tree);

voidsetGearRatio(doublegear_ratio){_gear_ratio=gear_ratio;}

protected:
void_updateDependentQ(constkm::Vec&min_Q)constoverride;

//km::Vec_toIndependentQ(constkm::Vecdep_Q)constoverride;

km::Mat_constraintX()constoverride;

km::Mat_constraintXdot()constoverride;

km::Mat_invConstraintX()constoverride;

kc::ks_ptr<CoordData>_makeIndependentCoordData()override;

protected:
double_gear_ratio;
};

#if1

classLoopsCompoundBody:publicCECompoundBody{

public:
statickc::ks_ptr<LoopsCompoundBody>
create(kc::ks_ptr<SubGraph>parent_subtree,
conststd::string&name,
kc::ks_ptr<SubGraph>component_bodies,
std::vector<kc::ks_ptr<PhysicalBody>>indep_bodies);

virtual~LoopsCompoundBody();

virtualconststd::string&typeString()constnoexceptoverride{
staticstd::stringtype_string="Karana::Dynamics::LoopsCompoundBody";
returntype_string;
}

//std::stringdumpString(conststd::string&prefix,
//constKarana::Core::Base::dumpOptions*options)constoverride;

LoopsCompoundBody(conststd::string&name,
kc::ks_ptr<SubGraph>parent_subtree,
kc::ks_ptr<SubGraph>bodies_tree,
conststd::vector<kc::ks_ptr<PhysicalBody>>&indep_bodies);

protected:
void_updateDependentQ(constkm::Vec&min_Q)constoverride;

//km::Vec_toIndependentQ(constkm::Vec&dep_Q)constoverride;

km::Mat_constraintX()constoverride;

km::Mat_constraintXdot()constoverride;

km::Mat_invConstraintX()constoverride;

kc::ks_ptr<CoordData>_makeIndependentCoordData()override;

protected:
kc::ks_ptr<ConstraintKinematicsSolver>_cks=nullptr;

kc::ks_ptr<MultiJacobianGenerator>_jacgen=nullptr;

std::vector<kc::ks_ptr<PhysicalBody>>_indep_bodies;

kc::ks_ptr<CoordData>_subhge_coord_data=nullptr;

/*listofoffsetindicesfortheindependentcoordinateswithin
thebodiestreecoordinates*/
std::vector<unsignedint>_independent_offsets;

/*listofoffsetindicesforthedependentcoordinateswithin
thebodiestreecoordinates*/
std::vector<unsignedint>_dependent_offsets;
};

#endif

}//namespaceKarana::Dynamics