Program Listing for File FramePairHinge.h

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#pragmaonce

#include"Karana/Frame/OrientedChainedFrame2Frame.h"
#include"Karana/Math/NonlinearSolver.h"
#include"Karana/SOADyn/HingeBase.h"
#include"Karana/SOADyn/PhysicalSubhinge.h"

namespaceKarana::Dynamics{

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

classPinSubhinge;
classF2FJacobianGenerator;

classFramePairHinge:publicHingeBase,publickf::OrientedChainedFrame2Frame{

/*foraccessto_TChangeAction*/
friendclassPhysicalSubhinge;

/*foraccessto_oneTimeSetup*/
friendclassLoopConstraintHinge;

template<int,int>friendclassPhysicalSubhinge_T;

/*foraccessto_newtonian_frame*/
friendclassMultibody;

public:
virtual~FramePairHinge();

statickc::ks_ptr<FramePairHinge>
create(kc::ks_ptr<kf::Frame>oframe,
kc::ks_ptr<kf::Frame>pframe,
conststd::string&name,
HingeBase::HINGE_TYPEhtype,
conststd::vector<SubhingeBase::SUBHINGE_TYPE>&subhinge_types=
std::vector<SubhingeBase::SUBHINGE_TYPE>());

FramePairHinge(kc::ks_ptr<kf::Frame>oframe,
kc::ks_ptr<kf::Frame>pframe,
conststd::string&name,
HingeBase::HINGE_TYPEhtype,
conststd::vector<SubhingeBase::SUBHINGE_TYPE>&subhinge_types=
std::vector<SubhingeBase::SUBHINGE_TYPE>());

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

conststd::string&name()constoverride{returnkf::OrientedChainedFrame2Frame::name();}

public:
km::MatpframeCoordMapMatrix()constoverride;

km::MatoframeCoordMapMatrix()constoverride;

km::HomTranfitQ(constkm::HomTran&T,kc::ks_ptr<Frame2Frame>f2f=nullptr);

km::SpatialVectorfitU(constkm::SpatialVector&V,kc::ks_ptr<Frame2Frame>f2f=nullptr);

km::SpatialVectorfitUdot(constkm::SpatialVector&alpha,
kc::ks_ptr<Frame2Frame>f2f=nullptr);

conststd::vector<SubhingeBase::SUBHINGE_TYPE>&subhingeTypes()const{
return_subhinge_types;
}

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

protected:
kc::ks_ptr<F2FJacobianGenerator>jacgen();

/*carryoutsideeffectofthethegeneralizedforcechangingfor
thesubhinge.AnexamplesideeffectistomarktheATBIfilter
datacacheforthehingeonodeasstaleforaphysicalhinge.*/
virtualvoid_TChangeAction(){};

void_oneTimeSetup();//conststd::vector<SubhingeBase::SUBHINGE_TYPE>&subhinge_types);
void_oneTimeTeardown();

void_createPhysicalSubhinges(
/*HingeBase::HINGE_TYPEhtype*/conststd::vector<SubhingeBase::SUBHINGE_TYPE>
&subhinge_types);
void_discardPhysicalSubhinges();

void_makeNlSolver();
void_makeJacobianGenerator();

//void_createSubhinges(conststd::vector<SubhingeBase::SUBHINGE_TYPE>&subhinge_types);

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

kc::ks_ptr<F2FJacobianGenerator>_hinge_jacgen=nullptr;

kc::ks_ptr<km::NonlinearSolver>_nl_solver=nullptr;


std::vector<SubhingeBase::SUBHINGE_TYPE>_subhinge_types;

kc::ks_ptr<kf::Frame>_fit_frame=nullptr;
};

}//namespaceKarana::Dynamics