Program Listing for File CoordBase.h

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#pragmaonce

#include<memory>

//#include"Karana/KCore/Allocator.h"
#include"Karana/Frame/Frame.h"
#include"Karana/Frame/Frame2Frame.h"
#include"Karana/KCore/Base.h"
#include"Karana/KCore/DataCache.h"
#include"Karana/Math/Defs.h"
#include"Karana/Math/SpatialVector.h"

namespaceKarana::Dynamics{

classHingeOnode;

namespacekc=Karana::Core;
namespacekm=Karana::Math;
namespacekf=Karana::Frame;

classCoordBase//:publickc::LockingBase
{

//foraccessto_newtonian_frame
friendclassF2FJacobianGenerator;
friendclassFramePairHinge;

//foraccessto_pframe2otherPhiandrelatedmethods
friendclassSubTree;

public:
CoordBase(conststd::string&nm,kc::id_tid);

virtual~CoordBase();//=default;

std::stringdumpString(conststd::string&prefix,
constkc::Base::dumpOptions*options)const;

virtualkc::ks_ptr<kf::Frame2Frame>f2f()const=0;

std::optional<bool>isOriented(constkf::Frame2Frame&f2f)const;

#if1
virtualconststd::string&name()const{return_name;};

virtualconstkc::id_t&id()const{return_id;}

virtualconststd::string&typeString()constnoexcept=0;
#endif

virtualkm::Matjacobian(constkf::Frame&target,booloriented=true)const=0;

virtualkm::MatjacobianDot(constkf::Frame&target,booloriented=true)const=0;

virtualboolisFinalized()const;//override;

virtualkm::MatgetATBIMatPsi()const=0;

virtualkm::MatgetATBID()const=0;
virtualkm::MatgetATBIDinv()const=0;

virtualkm::MatgetATBIG()const=0;

virtualkm::MatgetATBITauper()const=0;

virtualkm::MatpframeCoordMapMatrix()const{
//defaultdefintion
returnatbiCoordMapMatrix();
}

virtualconstkm::MatatbiCoordMapMatrix()const{returnkm::Mat();}

virtualkm::MatgetUpsilonMatrix()=0;

public:
//boolisFinalized()constoverride;

public:

virtualvoidsetQ(constEigen::Ref<constkm::Vec>&val);

virtualvoidsetQ(doublefill_value);

virtualconstkm::Vec&getQ()const;

virtualvoidsetU(constEigen::Ref<constkm::Vec>&val);

virtualvoidsetU(doublefill_value);

virtualconstkm::Vec&getU()const;

virtualvoidsetT(constEigen::Ref<constkm::Vec>&val);

virtualvoidsetT(doublefill_value);

virtualconstkm::Vec&getT()const;

virtualvoidsetUdot(constEigen::Ref<constkm::Vec>&val);

virtualvoidsetUdot(doublefill_value);

virtualconstkm::Vec&getUdot()const;

virtualconstkm::Vec&getQdot()const{returngetU();}

size_tnQ()const{return_nQ;};

size_tnU()const{return_nU;};

#if0
constkm::Mat&coordMapMatrix()const{return_coord_map_matrix_cache->get();}
#endif

km::MatjacobianNumDiff(constkf::Frame2Frame&f2f);

virtualkm::MatposeGradient(constkf::Frame2Frame&f2f,booloriented=true)const;

km::MatposeGradientNumDiff(constkf::Frame2Frame&f2f);

protected:
structATBIMatrices{

virtual~ATBIMatrices(){};
};

constATBIMatrices&atbiMatrices()const{return*_atbi_matrices;}

structATBIFilterVectors{

virtual~ATBIFilterVectors(){};
};

constATBIFilterVectors&atbiFilterVectors()const{return*_atbi_filter_vectors;}

protected:
virtualkm::Mat_oframe2pframePsi()const=0;

virtualkm::Mat_oframe2pframePhi()const=0;

virtualkm::Mat_pframe2otherPhi(constkf::Frame&other)const=0;

protected:
kc::ks_ptr<kf::Frame>_newtonian_frame=nullptr;

//virtualvoid_computeATBICoordMapMatrix(body_NU_NU_Mat&val)const=0;
//virtualvoid_computeATBICoordMapMatrix(km::Mat&val)const=0;

void_resizeCoordBuffers(size_tnQ,size_tnU);

protected:
std::string_name;
kc::id_t_id;

//kc::ks_ptr<kc::DataCache<km::Mat>>_coord_map_matrix_cache=nullptr;

kc::ks_ptr<kc::DataCache<km::Vec>>_Q_cache=nullptr;
kc::ks_ptr<kc::DataCache<km::Vec>>_U_cache=nullptr;
kc::ks_ptr<kc::DataCache<km::Vec>>_Udot_cache=nullptr;
kc::ks_ptr<kc::DataCache<km::Vec>>_T_cache=nullptr;
kc::ks_ptr<kc::DataCache<km::Vec>>_Qdot_cache=nullptr;

kc::ks_ptr<ATBIMatrices>_atbi_matrices=nullptr;
kc::ks_ptr<ATBIFilterVectors>_atbi_filter_vectors=nullptr;

//kc::ks_ptr<kc::DataCache<body_NU_NU_Mat>>_atbi_coord_map_matrix_cache=nullptr;
//kc::ks_ptr<kc::DataCache<km::Mat>>_atbi_coord_map_matrix_cache=nullptr;

size_t_nQ=0,_nU=0;

protected:
km::Vec_Q;
km::Vec_U;
km::Vec_Udot;
km::Vec_T;
};

}//namespaceKarana::Dynamics