Program Listing for File SubGraph.h

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#pragmaonce

#include"Karana/SOADyn/SubTree.h"

namespaceKarana::Dynamics{

classBilateralConstraintBase;
classLoopConstraintBase;
classLoopConstraintHinge;
classLoopConstraintConVel;
classCoordinateConstraint;
classConstraintKinematicsSolver;
classMultiJacobianGenerator;

classSubGraph:publicSubTree{

//foraccessto_loop_constraint_list
friendclassLoopConstraintHinge;
friendclassLoopConstraintConVel;
friendclassLoopsCompoundBody;

//foraccessto_enabled_hinge_loop_constraints_list
friendConstraintKinematicsSolver;

//foraccessto_Qrows
friendclassAlgorithms;

//foraccessto_resetSubhingeCharts
friendclassStatePropagator;

public:
SubGraph(conststd::string&name,
kc::ks_ptr<BodyBase>root,
kc::ks_ptr<SubGraph>parent_subgraph=nullptr);

virtual~SubGraph(){};

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

boolisSubGraph()constoverride{returntrue;}

statickc::ks_ptr<SubGraph>
create(kc::ks_ptr<SubGraph>parent_sg,
conststd::string&name,
kc::ks_ptr<BodyBase>new_root,
conststd::vector<kc::ks_ptr<BilateralConstraintBase>>&constraints={},
conststd::vector<kc::ks_ptr<BodyBase>>&use_branches={},
conststd::vector<kc::ks_ptr<BodyBase>>&stop_at={});

constkc::ks_ptr<CoordData>&constraintCoordData()const;

kc::ks_ptr<SubGraph>
aggregationSubGraph(conststd::string&name,
std::vector<kc::ks_ptr<BilateralConstraintBase>>constraints);

kc::ks_ptr<BilateralConstraintBase>getEnabledConstraint(conststd::string&name)const;

std::vector<kc::ks_ptr<CoordinateConstraint>>
getBodyCoordinateConstraints(constPhysicalBody&body)const;

std::vector<kc::ks_ptr<LoopConstraintBase>>
getBodyLoopConstraints(constPhysicalBody&body)const;

std::vector<kc::ks_ptr<PhysicalBody>>
getLoopConstraintBodies(constLoopConstraintBase&c)const;

voidinheritConstraints();

voiddisplayModel(conststd::string&prefix="")constoverride;

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

std::vector<kc::ks_ptr<CoordData>>coordDataList()constoverride;

std::vector<kc::ks_ptr<BilateralConstraintBase>>enabledConstraints()const;

voidenableConstraint(constkc::ks_ptr<BilateralConstraintBase>constraint);

voiddisableConstraint(kc::ks_ptr<BilateralConstraintBase>constraint);

constkc::ks_ptr<ConstraintKinematicsSolver>&cks();

conststd::pair<kc::ks_ptr<CoordBase>,size_t>coordAt(size_tU_offset)constoverride;

conststd::pair<kc::ks_ptr<kc::LockingBase>,size_t>
constraintErrorAt(size_trow_offset)const;

conststd::pair<kc::ks_ptr<kc::LockingBase>,size_t>
constraintResidualAt(size_trow_offset)const;

km::MatconstraintsGc();

km::MatGamma();

constkc::ks_ptr<CoordData>graphCoordData()const;

voidarticulateSubhinge(kc::ks_ptr<SubhingeBase>shg,
size_tsubhinge_index,
booldisable_ik=false,
doublerangeQ=.5,
doubledQ=.01,
doublepause=.01);

//TODO-getridofthismethod,andhavethediscardmethoddo
//theworkoncewegetitworking
voidresetCks();

voiddumpTree(conststd::string&prefix="",
constdumpTreeOptionsoptions=
dumpTreeOptions(false,false,false,false,false))constoverride;

km::VecposeError()const;

km::VecvelError()const;

km::VecaccelError()const;

km::MatconstraintsErrorPoseGradient()const;

km::MatconstraintsErrorVelJacobian()const;

staticstd::vector<unsignedint>
dependentIndices(size_tnU,conststd::vector<unsignedint>&indep_indices);

conststd::vector<kc::ks_ptr<LoopConstraintHinge>>&enabledHingeLoopConstraints()const;

conststd::vector<kc::ks_ptr<LoopConstraintConVel>>&enabledConVelLoopConstraints()const;

conststd::vector<kc::ks_ptr<CoordinateConstraint>>&enabledCoordinateConstraints()const;

size_tnLoopConstraintResiduals()const;

protected:
kc::ks_ptr<MultiJacobianGenerator>_hingeLoopConstraintsErrorJacobianGen()const;

kc::ks_ptr<MultiJacobianGenerator>_nonHingeLoopConstraintsJacobianGen()const;

km::Mat_getCoordinateConstraintsErrorJacobian()const;

km::Mat_getNonHingeLoopConstraintsErrorJacobian()const;

#if0
km::Mat_getVelocityResidualsJacobian()const;
#endif

//km::Mat_velJacobianNumDiff()const;

//boolcheckVelJacobian(doubletolerance=1e-6)const;

protected:
CoordData::CoordOffset_coordOffsets(kc::id_tid)constoverride;

void_resetSubhingeCharts()override;

void_clearExternals()override;

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

void_makeConstrainCoordData()const;

km::Mat_constraintsQmat()const;

kc::ks_ptr<CoordinateConstraint>
_getEnabledCoordinateConstraint(conststd::string&name)const;

kc::ks_ptr<LoopConstraintBase>_getEnabledLoopConstraint(conststd::string&name)const;

conststd::vector<kc::ks_ptr<LoopConstraintBase>>&_enabledLoopConstraints()const;

void_enableLoopConstraint(constkc::ks_ptr<LoopConstraintBase>constraint);

void_disableLoopConstraint(kc::ks_ptr<LoopConstraintBase>constraint);

void_enableCoordinateConstraint(constkc::ks_ptr<CoordinateConstraint>constraint);

void_disableCoordinateConstraint(kc::ks_ptr<CoordinateConstraint>constraint);

protected:
kc::RegistryList<LoopConstraintBase>_enabled_loop_constraints_list;

kc::RegistryList<LoopConstraintHinge>_enabled_hinge_loop_constraints_list;

kc::RegistryList<LoopConstraintConVel>_enabled_nonhinge_loop_constraints_list;

kc::RegistryList<CoordinateConstraint>_enabled_coordinate_constraints_list;

size_t_Qrows_loop=0;

size_t_Qrows_coord=0;

kc::RegistryList<Node>_loop_constraint_nodes_list;

kc::RegistryList<PhysicalSubhinge>_coordinate_constraint_subhinges_list;

mutablekc::ks_ptr<CoordData>_constraint_coord_data=nullptr;

kc::ks_ptr<ConstraintKinematicsSolver>_cks=nullptr;

mutablekc::ks_ptr<CoordData>_graph_coord_data=nullptr;

mutablekc::ks_ptr<MultiJacobianGenerator>_hinge_loops_multi_jacgen=nullptr;

mutablekc::ks_ptr<MultiJacobianGenerator>_non_hinge_loops_multi_jacgen=nullptr;
};

}//namespaceKarana::Dynamics