Program Listing for File PinSubhinge.h

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#pragmaonce

#include"Karana/SOADyn/PhysicalSubhinge.h"

namespaceKarana::Dynamics{

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

classLockedSubhinge:publicPhysicalSubhinge_T<0,0>{

public:
LockedSubhinge(kc::ks_ptr<kf::Frame>oframe,
kc::ks_ptr<kf::Frame>pframe,
conststd::string&name,
kc::ks_ptr<FramePairHinge>hge);

virtual~LockedSubhinge();

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

SubhingeBase::SUBHINGE_TYPEsubhingeType()constoverride;

protected:
kc::ks_ptr<PhysicalSubhinge::PhysicalSubhingeParams>_getParams()constoverride;
void_setParams(constPhysicalSubhinge::PhysicalSubhingeParams&params)override;
};

classPhysical1DofSubhinge:publicPhysicalSubhinge_T<1,1>{

public:
Physical1DofSubhinge(kc::ks_ptr<kf::Frame>oframe,
kc::ks_ptr<kf::Frame>pframe,
conststd::string&name,
kc::ks_ptr<FramePairHinge>hge);

~Physical1DofSubhinge(){};

virtualvoidsetUnitAxis(constkm::Vec3&axis);

constkm::Vec3&getUnitAxis()const{return_unit_axis;}

voidsetJointLimits(constKarana::Math::Vec&limits);

km::VecgetJointLimits()const{return_joint_limits;}

voidsetGearRatio(doublegear_ratio);

doublegetGearRatio()const{return_gear_ratio;}

structPhysicalSubhingeParams:publicPhysicalSubhinge::PhysicalSubhingeParams{
km::Vec3unit_axis;

PhysicalSubhingeParams()=default;

PhysicalSubhingeParams&operator=(constPhysicalSubhinge::PhysicalSubhingeParams*p){
if(this!=p){
PhysicalSubhinge::PhysicalSubhingeParams::operator=(
*p);//Callbaseclassassignmentoperator
//AssignDerived-specificmembershere
unit_axis=static_cast<constPhysicalSubhingeParams*>(p)->unit_axis;
}

return*this;
}
};

boolisFinalized()constoverride;

protected:
kc::ks_ptr<PhysicalSubhinge::PhysicalSubhingeParams>_getParams()constoverride;
void_setParams(constPhysicalSubhinge::PhysicalSubhingeParams&params)override;

protected:
km::Vec_joint_limits=km::Vec(2);

double_gear_ratio=km::uninitializedNaN;

km::Vec3_unit_axis={0,0,0};
};

classPinSubhinge:publicPhysical1DofSubhinge{

//foraccesstoconstructor
//friendclassPinHinge;
friendclassPhysicalBody;

public:
virtual~PinSubhinge(){};

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

SubhingeBase::SUBHINGE_TYPEsubhingeType()constoverride;

PinSubhinge(kc::ks_ptr<kf::Frame>oframe,
kc::ks_ptr<kf::Frame>pframe,
conststd::string&name,
kc::ks_ptr<FramePairHinge>hge);

//constOneDofSubhingeData&oneDofData()const{return_one_dof_data;}

voidsetUnitAxis(constkm::Vec3&axis)override;

protected:
void_computeTransform(km::HomTran&)override;

void_computeVelocity(km::SpatialVector&)override;

void_computeAccel(km::SpatialVector&)override;
};

classLinearSubhinge:publicPhysical1DofSubhinge{

public:
virtual~LinearSubhinge(){};

SubhingeBase::SUBHINGE_TYPEsubhingeType()constoverride;

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

voidsetUnitAxis(constkm::Vec3&axis)override;

LinearSubhinge(kc::ks_ptr<kf::Frame>oframe,
kc::ks_ptr<kf::Frame>pframe,
conststd::string&name,
kc::ks_ptr<FramePairHinge>hge);

protected:
void_computeTransform(km::HomTran&)override;

void_computeVelocity(km::SpatialVector&)override;

void_computeAccel(km::SpatialVector&)override;

private:
//km::Vec3_unit_axis={0,0,0};///<axisoftranslationinpframe
};

classScrewSubhinge:publicPhysical1DofSubhinge{

public:
virtual~ScrewSubhinge(){};

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

SubhingeBase::SUBHINGE_TYPEsubhingeType()constoverride;
voidsetUnitAxis(constkm::Vec3&axis)override;

boolisFinalized()constoverride;

voidsetPitch(doublepitch);

doublegetPitch()const{return_pitch;}

ScrewSubhinge(kc::ks_ptr<kf::Frame>oframe,
kc::ks_ptr<kf::Frame>pframe,
conststd::string&name,
kc::ks_ptr<FramePairHinge>hge);

protected:
void_computeTransform(km::HomTran&)override;

void_computeVelocity(km::SpatialVector&)override;

void_computeAccel(km::SpatialVector&)override;

structPhysicalSubhingeParams:publicPhysical1DofSubhinge::PhysicalSubhingeParams{

doublepitch;

PhysicalSubhingeParams&operator=(constPhysicalSubhinge::PhysicalSubhingeParams*p){
if(this!=p){
Physical1DofSubhinge::PhysicalSubhingeParams::operator=(
p);//Callbaseclassassignmentoperator
pitch=static_cast<constPhysicalSubhingeParams*>(p)->pitch;
}

return*this;
}
};

kc::ks_ptr<PhysicalSubhinge::PhysicalSubhingeParams>_getParams()constoverride;
void_setParams(constPhysicalSubhinge::PhysicalSubhingeParams&params)override;

private:
double_pitch;
};

classSphericalSubhinge:publicPhysicalSubhinge_T<3,3>{

public:
virtual~SphericalSubhinge();

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

SubhingeBase::SUBHINGE_TYPEsubhingeType()constoverride;

SphericalSubhinge(kc::ks_ptr<kf::Frame>oframe,
kc::ks_ptr<kf::Frame>pframe,
conststd::string&name,
kc::ks_ptr<FramePairHinge>hge);

constkm::Vec&getQdot()constoverride;

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

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

/*Reportthatthisisatypeofsubhingethathascoordinate
sanitizationneeds(forrecenteringthechart)*/
boolrequiresCoordSanitization()constoverride{returntrue;}

voidsetMaxChartAngle(doubleval){_max_chart_angle=val;}

doublegetMaxChartAngle()const{return_max_chart_angle;}

/*Recenterthelocalchartifthecoordinatesangleexceeds
theallowedmaxforthechart*/
boolsanitizeCoords()override;

constkm::UnitQuaternion&getChartOffset()const{return_chart_offset;}

voidresetChart()override{_chart_offset.setIdentity();}

protected:
void_computeTransform(km::HomTran&)override;

void_computeVelocity(km::SpatialVector&)override;

void_computeAccel(km::SpatialVector&)override;

void_computeQdot(km::Vec&)const;

km::MatposeGradient(constkf::Frame2Frame&f2f,booloriented)constoverride;

#if0
km::Mat33_genvel2qdotMap()constoverride;
km::Mat33_qdot2genvelMap()constoverride;
bool_usingQuasiVelocities()constoverride{returntrue;}
#endif

km::Mat33_genvel2qdotMap()const;

km::Mat33_qdot2genvelMap()const;

structPhysicalSubhingeParams:PhysicalSubhinge::PhysicalSubhingeParams{
doublemax_chart_angle;

PhysicalSubhingeParams&operator=(constPhysicalSubhinge::PhysicalSubhingeParams*p){
if(this!=p){
PhysicalSubhinge::PhysicalSubhingeParams::operator=(
*p);//Callbaseclassassignmentoperator
//AssignDerived-specificmembershere
max_chart_angle=
static_cast<constPhysicalSubhingeParams*>(p)->max_chart_angle;
}

return*this;
}
};

kc::ks_ptr<PhysicalSubhinge::PhysicalSubhingeParams>_getParams()constoverride;
void_setParams(constPhysicalSubhinge::PhysicalSubhingeParams&params)override;

//PhysicalSubhinge::PhysicalSubhingeParams_getParams()constoverride;
//void_setParams(constPhysicalSubhinge::PhysicalSubhingeParams*params)override;

private:
kc::ks_ptr<kc::DataCache<km::Vec>>_Qdot_cache=nullptr;

double_max_chart_angle;

km::UnitQuaternion_chart_offset=km::UnitQuaternion(0,0,0,1,false,true);
};

classSphericalQuatSubhinge:publicPhysicalSubhinge_T<4,3>{

public:
virtual~SphericalQuatSubhinge();

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

SubhingeBase::SUBHINGE_TYPEsubhingeType()constoverride;

SphericalQuatSubhinge(kc::ks_ptr<kf::Frame>oframe,
kc::ks_ptr<kf::Frame>pframe,
conststd::string&name,
kc::ks_ptr<FramePairHinge>hge);

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

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

constkm::Vec&getQdot()constoverride;

boolsanitizeCoords()override;

boolrequiresCoordSanitization()constoverride{returntrue;}

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

protected:
void_computeTransform(km::HomTran&)override;

void_computeVelocity(km::SpatialVector&)override;

void_computeAccel(km::SpatialVector&)override;

void_computeQdot(km::Vec&)const;

km::MatposeGradient(constkf::Frame2Frame&f2f,booloriented)constoverride;

#if0
km::Mat33_genvel2qdotMap()constoverride;
km::Mat33_qdot2genvelMap()constoverride;
bool_usingQuasiVelocities()constoverride{returntrue;}
#endif
km::Mat_genvel2qdotMap()const;
km::Mat_qdot2genvelMap()const;

kc::ks_ptr<PhysicalSubhingeParams>_getParams()constoverride;

private:
kc::ks_ptr<kc::DataCache<km::Vec>>_Qdot_cache=nullptr;
};

classLinear3Subhinge:publicPhysicalSubhinge_T<3,3>{

public:
virtual~Linear3Subhinge();

conststd::string&typeString()constnoexceptoverride{
staticstd::stringtype_string="Karana::Dynamics::Linear3Subhinge";
returntype_string;
}

SubhingeBase::SUBHINGE_TYPEsubhingeType()constoverride;

Linear3Subhinge(kc::ks_ptr<kf::Frame>oframe,
kc::ks_ptr<kf::Frame>pframe,
conststd::string&name,
kc::ks_ptr<FramePairHinge>hge);

protected:
void_computeTransform(km::HomTran&)override;

void_computeVelocity(km::SpatialVector&)override;

void_computeAccel(km::SpatialVector&)override;

kc::ks_ptr<PhysicalSubhingeParams>_getParams()constoverride;
};

}//namespaceKarana::Dynamics