Program Listing for File JacobianGenerator.h

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#pragmaonce

#include"CoordData.h"
#include"Karana/Frame/Frame.h"
#include"Karana/KCore/LockingBase.h"
#include<set>

namespaceKarana::Dynamics{

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

classSubTree;

classF2FJacobianGenerator:publickc::LockingBase{

public:
statickc::ks_ptr<F2FJacobianGenerator>
create(conststd::string&name,
kc::ks_ptr<kf::Frame2Frame>f2f,
conststd::vector<kc::ks_ptr<CoordData>>&coord_data_list);

F2FJacobianGenerator(conststd::string&name,
kc::ks_ptr<kf::Frame2Frame>f2f,
conststd::vector<kc::ks_ptr<CoordData>>&coord_data_list);

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

km::Matjacobian(boolanalytical=true);

km::MatjacobianDot();

km::MatposeGradient(boolanalytical=true);

size_tnU()const{return_nU;}

conststd::vector<kc::ks_ptr<CoordData>>&getCoordDataList()const{
return_coord_data_list;
}

protected:
conststd::unordered_map<kc::id_t,bool>&getPolarityMap()const{return_polarity_map;}

void_setupPolarityMap();

//void_processSkipCoords();
void_makeCurrent()override;

void_discard(kc::ks_ptr<Base>&base)override;

protected:
kc::ks_ptr<kf::Frame2Frame>_f2f=nullptr;

size_t_nU=0;

std::unordered_map<kc::id_t,bool>_polarity_map;

std::vector<kc::ks_ptr<CoordData>>_coord_data_list;
};

classMultiJacobianGenerator:publickc::LockingBase{

public:
statickc::ks_ptr<MultiJacobianGenerator>
create(conststd::string&name,
conststd::vector<kc::ks_ptr<kf::Frame2Frame>>&f2fs,
conststd::vector<kc::ks_ptr<CoordData>>&cds);

MultiJacobianGenerator(conststd::string&name,
conststd::vector<kc::ks_ptr<kf::Frame2Frame>>&f2fs,
conststd::vector<kc::ks_ptr<CoordData>>&cds);

~MultiJacobianGenerator();

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

//----------------------------

km::Matjacobian(boolanalytical);

km::MatjacobianDot();

km::MatposeGradient(boolanalytical);

//----------------------------

protected:
void_discard(kc::ks_ptr<Base>&base)override;

std::vector<kc::ks_ptr<kf::Frame2Frame>>_f2fs;
//kc::ks_ptr<SubTree>_st;

std::unordered_map<kc::ks_ptr<kf::Frame2Frame>,kc::ks_ptr<F2FJacobianGenerator>>
_jac_gen_map;

std::vector<kc::ks_ptr<CoordData>>_coord_data_list;
//size_t_non_frozen_nU=0;
size_t_nU=0;
};

}//namespaceKarana::Dynamics