Program Listing for File HingeNode.h

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#pragmaonce

#include"Karana/KCore/DataCache.h"
#include"Karana/Math/SpatialVector.h"
#include"Karana/SOADyn/Node.h"

namespaceKarana::Frame{
classFrameToFrame;
}

namespaceKarana::Dynamics{

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

classPhysicalHinge;
classPhysicalSubhinge;
classHingeOnode;

structHingeOnodeInvDynVectors{
km::SpatialVectorf;
};

structHingeOnodeATBIMatrices{

km::Mat66Pplus;//NOLINT(readability-identifier-naming)
};

structHingeOnodeUpsilonMatrices{
km::Mat66UpsilonPlus;//NOLINT(readability-identifier-naming)
};

structHingeOnodeATBIFilterVectors{
km::SpatialVectorzplus;

km::SpatialVectorzplus_extra;
};

structHingeOnodeATBISmootherVectors{
km::SpatialVectoralpha_plus;

km::SpatialVectoralpha_plus_extra;
};

structHingeOnodeATBIDataCaches{
kc::ks_ptr<kc::DataCache<HingeOnodeATBIMatrices>>matrix_cache=nullptr;
kc::ks_ptr<kc::DataCache<HingeOnodeATBIFilterVectors>>filter_cache=nullptr;
kc::ks_ptr<kc::DataCache<HingeOnodeATBISmootherVectors>>smoother_cache=nullptr;
/*DatacacheforATBIbasedinter-bodyforcecomputations*/
kc::ks_ptr<kc::DataCache<km::SpatialVector>>interbody_force_cache=nullptr;
kc::ks_ptr<kc::DataCache<HingeOnodeUpsilonMatrices>>upsilon_matrix_cache=nullptr;
};

classHingeNode:publicNode{

/*foraccessto_hinge*/
friendclassPhysicalBody;

public:
virtual~HingeNode();

std::string_viewtypeString()constnoexceptoverride{
staticstd::stringtype_string="Karana::Dynamics::HingeNode";
returntype_string;
}

constkc::ks_ptr<PhysicalHinge>&hinge()const{return_hinge;}

structDumpOptions:kf::Frame::DumpOptions{
//Addingsuppression,asCodeCheckercomplainsthismethodhasthesamenameasa
//methodinthebaseversion.ThisisjustaCodeCheckerfalsepositive.
//codechecker_suppress[cppcheck-duplInheritedMember]
DumpOptions&operator=(constDumpOptions&p){
if(this!=&p){
Frame::DumpOptions::operator=(p);//Callbaseclassassignmentoperator
//AssignDerived-specificmembershere
cache_deps=p.cache_deps;
}

return*this;
}
};

protected:
HingeNode(std::string_viewname,kc::ks_ptr<PhysicalBody>bd);

kc::ks_ptr<PhysicalHinge>_hinge=nullptr;
};

classHingePnode:publicHingeNode{

//foraccessto_pnode2body_f2f
friendclassPhysicalBody;

//foraccessto_invdyn_cache
friendclassPhysicalHinge;
friendclassHingeOnode;
friendclassCompoundBody;

//foraccessto_computeInvDynetc
friendclassMultibody;
friendclassSubTree;
friendclassPhysicalModalBody;

//foraccesstogyrocache
friendclassCompoundSubhinge;

//foraccesstoinvdynandotherdatacaches
friendclassNode;

//foraccessto_hinge
friendclassLoopConstraint;

//foraccesstoUpsilonmethod
friendclassPhysicalSubhinge;

public:
HingePnode(kc::ks_ptr<PhysicalBody>bd);

virtual~HingePnode();

std::string_viewtypeString()constnoexceptoverride{
staticstd::stringtype_string="Karana::Dynamics::HingePnode";
returntype_string;
}

boolisFinalized()constoverride;

public:
structInvDynVectors{
km::SpatialVectorf;
};

public:
structATBIMatrices{

km::Mat66P;//NOLINT(readability-identifier-naming)
};

structUpsilonMatrices{
km::Mat66Upsilon;//NOLINT(readability-identifier-naming)
};

structATBIFilterVectors{
km::SpatialVectorz;
};

structATBISmootherVectors{};

structATBIDataCaches{
kc::ks_ptr<kc::DataCache<ATBIMatrices>>matrix_cache=nullptr;
kc::ks_ptr<kc::DataCache<ATBIFilterVectors>>filter_cache=nullptr;
kc::ks_ptr<kc::DataCache<ATBISmootherVectors>>smoother_cache=nullptr;
kc::ks_ptr<kc::DataCache<UpsilonMatrices>>upsilon_matrix_cache=nullptr;
};

constkc::ks_ptr<kc::DataCache<ATBIMatrices>>atbiMatrixCache()const{
return_atbi_data_caches.matrix_cache;
}

constATBIMatrices&atbiMatrices()const{returnatbiMatrixCache()->get();}

constkc::ks_ptr<kc::DataCache<UpsilonMatrices>>upsilonMatrixCache()const{
return_atbi_data_caches.upsilon_matrix_cache;
}

constUpsilonMatrices&upsilonMatrices()const{returnupsilonMatrixCache()->get();}

constkc::ks_ptr<kc::DataCache<ATBIFilterVectors>>atbiFilterCache()const{
return_atbi_data_caches.filter_cache;
}

constATBIFilterVectors&atbiFilterVectors()const{returnatbiFilterCache()->get();}

constkc::ks_ptr<kc::DataCache<ATBISmootherVectors>>&atbiSmootherCache()const{
return_atbi_data_caches.smoother_cache;
}

constATBISmootherVectors&atbiSmootherVectors()const{
returnatbiSmootherCache()->get();
}

constkc::ks_ptr<kc::DataCache<InvDynVectors>>inverseDynamicsCache()const{
return_invdyn_data_cache;
}

constInvDynVectors&inverseDynamicsVectors()const{
returninverseDynamicsCache()->get();
}

constkm::Mat&crbInertiaMatrix()const{return_crb_inertia_matrix_cache->get();}

public:
std::stringdumpString(std::string_viewprefix,
constKarana::Core::Base::DumpOptions*options)constoverride;

protected:
void_oneTimeSetupDataCaches();
void_oneTimeTeardownDataCaches();

void_oneTimeTeardown();

km::SpatialVector_externalForces()const;
km::SpatialVector_constraintForces()const;

bool_isFloatingFrame()const;

protected:
//void_computeSpatialInertia(km::SpatialInertia&val);
void_computeMassMatrix(km::Mat66&val);

virtualvoid_computeGyroscopicForce(km::SpatialVector&)const;

virtualvoid_computeInvDynForces(InvDynVectors&val);
virtualvoid_computeATBIMatrices(ATBIMatrices&val);

void_computeATBIFilterVectors(ATBIFilterVectors&val);

void_computeATBISmootherVectors(ATBISmootherVectors&val);

virtualvoid_computeUpsilonMatrices(UpsilonMatrices&val);

void_computeCRBInertiaMatrix(km::Mat&val);

protected:
kc::ks_ptr<kf::FrameToFrame>_pnode2body_f2f;

kc::ks_ptr<kc::DataCache<km::SpatialVector>>_gyroscopic_force_cache;

kc::ks_ptr<kc::DataCache<km::Mat66>>_massmat_cache;

ATBIDataCaches_atbi_data_caches;
kc::ks_ptr<kc::DataCache<InvDynVectors>>_invdyn_data_cache=nullptr;

/*thepraentbody'sapparentmassdatatransformedtothepnode*/
km::Mat66_apparent_mass_data;

kc::ks_ptr<kc::DataCache<km::Mat>>_crb_inertia_matrix_cache=nullptr;
};

classHingeOnode:publicHingeNode{

//foraccessto_pnode2onode_f2f
friendclassHingePnode;
friendclassPhysicalBody;

//foraccessto_body2onode_f2f
friendclassPhysicalSubhinge;

//foraccessto_P_atbi
friendclassPhysicalHinge;

//foraccessto_computeInvDynetc
friendclassMultibody;
friendclassSubTree;
friendclassPhysicalModalBody;

//foraccesstodatacachesetupmethod
friendclassCompoundBody;

//foraccessto_saveExtraATBIVariables()
friendclassAlgorithms;

public:
HingeOnode(std::string_viewname,kc::ks_ptr<PhysicalBody>bd);

virtual~HingeOnode();

std::string_viewtypeString()constnoexceptoverride{
staticstd::stringtype_string="Karana::Dynamics::HingeOnode";
returntype_string;
}

std::stringdumpString(std::string_viewprefix,
constKarana::Core::Base::DumpOptions*options)constoverride;

boolisFinalized()constoverride;

constkc::ks_ptr<kc::DataCache<HingeOnodeATBIMatrices>>&atbiMatrixCache()const{
return_atbi_data_caches.matrix_cache;
}

constHingeOnodeATBIMatrices&atbiMatrices()const{returnatbiMatrixCache()->get();}

constkc::ks_ptr<kc::DataCache<HingeOnodeATBIFilterVectors>>&atbiFilterCache()const{
return_atbi_data_caches.filter_cache;
}

constHingeOnodeATBIFilterVectors&atbiFilterVectors()const{
returnatbiFilterCache()->get();
}

constkc::ks_ptr<kc::DataCache<HingeOnodeATBISmootherVectors>>atbiSmootherCache()const{
return_atbi_data_caches.smoother_cache;
}

constHingeOnodeATBISmootherVectors&atbiSmootherVectors()const{
returnatbiSmootherCache()->get();
}

constkm::SpatialVector&interBodyForce()const{
return_atbi_data_caches.interbody_force_cache->get();
}

constkc::ks_ptr<kc::DataCache<HingeOnodeUpsilonMatrices>>&upsilonMatrixCache()const{
return_atbi_data_caches.upsilon_matrix_cache;
}

constHingeOnodeUpsilonMatrices&upsilonMatrices()const{
returnupsilonMatrixCache()->get();
}

constkc::ks_ptr<kc::DataCache<HingeOnodeInvDynVectors>>inverseDynamicsCache()const{
return_invdyn_data_cache;
}

constHingeOnodeInvDynVectors&inverseDynamicsVectors()const{
returninverseDynamicsCache()->get();
}

km::SpatialVectorgetTAInterBodyForce();

protected:
void_saveExtraATBIVariables();

void_computeInvDynForces(HingeOnodeInvDynVectors&);

void_computeATBIMatrices(HingeOnodeATBIMatrices&val);

void_computeATBIFilterVectors(HingeOnodeATBIFilterVectors&val);

void_computeATBISmootherVectors(HingeOnodeATBISmootherVectors&val,boolis_root_onode);

virtualvoid_computeUpsilonMatrices(HingeOnodeUpsilonMatrices&val,boolis_root_onode);

protected:
km::SpatialVector_getInterBodyForce();

protected:
void_oneTimeSetupDataCaches();
void_oneTimeTeardownDataCaches();

void_oneTimeSetupDataCacheGatherCallbacks();
void_oneTimeTeardownDataCacheGatherCallbacks();

void_oneTimeTeardown();

void_setupDataCachesWithParentPnode();
void_teardownDataCachesWithParentPnode();

protected:
kc::ks_ptr<kf::OrientedChainedFrameToFrame>_pnode2onode_f2f=nullptr;

kc::ks_ptr<kf::FrameToFrame>_body2onode_f2f=nullptr;

HingeOnodeATBIDataCaches_atbi_data_caches;
kc::ks_ptr<kc::DataCache<HingeOnodeInvDynVectors>>_invdyn_data_cache=nullptr;
};

}//namespaceKarana::Dynamics