Program Listing for File SubhingeBase.h

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#pragmaonce

#include<memory>

#include"Karana/SOADyn/CoordBase.h"

namespaceKarana::Dynamics{

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

classHingeBase;
classCoordData;

classSubhingeBase:publicCoordBase{

/*foraccessto_parent_hingemember*/
friendclassHingeOnode;
friendclassPhysicalHinge;

//ForaccesstoisOriented.
friendclassCompoundSubhinge;

public:
enumclassSUBHINGE_TYPE{
LOCKED,
PIN,
LINEAR,
LINEAR3,
SPHERICAL,
SPHERICAL_QUAT,
SCREW,
COMPOUND
};

virtual~SubhingeBase();

#if0
virtualstd::stringdumpString(conststd::string&prefix,
constKarana::Core::Base::dumpOptions*options)const=0;

virtualconststd::string&name()const=0;

virtualconstkc::id_t&id()const=0;
#endif

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

virtualSubhingeBase::SUBHINGE_TYPEsubhingeType()const=0;

staticstd::stringsubhingeTypeString(SubhingeBase::SUBHINGE_TYPEshtype);

virtualvoidsetPrescribed(boolflag){_prescribed=flag;}

boolgetPrescribed()const{return_prescribed;}

constkc::ks_ptr<HingeBase>&parentHinge()const{return_parent_hinge;}

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

#if0
virtualsize_tnQ()const=0;

virtualsize_tnU()const=0;

virtualvoidsetQ(constEigen::Ref<constkm::Vec>&val)=0;

virtualvoidsetQ(doublefill_value)=0;

virtualconstkm::Vec&getQ()const=0;

virtualvoidsetU(constEigen::Ref<constkm::Vec>&val)=0;

virtualvoidsetU(doublefill_value)=0;

virtualconstkm::Vec&getU()const=0;

virtualvoidsetT(constEigen::Ref<constkm::Vec>&val)=0;

virtualvoidsetT(doublefill_value)=0;

virtualconstkm::Vec&getT()const=0;

virtualvoidsetUdot(constEigen::Ref<constkm::Vec>&val)=0;

virtualvoidsetUdot(doublefill_value)=0;

virtualconstkm::Vec&getUdot()const=0;

virtualconstkm::Vec&getQdot()const=0;
#endif

//virtualconstkm::Mat&coordMapMatrix()const=0;

protected:
SubhingeBase(conststd::string&nm,kc::id_tid,kc::ks_ptr<HingeBase>);

//virtualstd::optional<bool>isOriented(constkf::Frame2Frame&f2f)const=0;

protected:
kc::ks_ptr<HingeBase>_parent_hinge=nullptr;

bool_prescribed=false;
};

}//namespaceKarana::Dynamics