Program Listing for File JacobianGenerator.h

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#pragmaonce

#include"CoordData.h"
#include"Karana/KCore/LockingBase.h"

namespaceKarana::Dynamics{

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

classSubTree;

classF2FJacobianGenerator:publickc::LockingBase{

//foraccessto_coord_data
friendclassMultiJacobianGenerator;

public:
statickc::ks_ptr<F2FJacobianGenerator>create(std::string_viewname,
kc::ks_ptr<kf::FrameToFrame>f_to_f,
kc::ks_ptr<CoordData>coord_data);

F2FJacobianGenerator(std::string_viewname,
kc::ks_ptr<kf::FrameToFrame>f2f,
kc::ks_ptr<CoordData>coord_data);

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

km::Matjacobian(boolanalytical=true);

km::MatjacobianDot();

km::MatposeGradient(boolanalytical=true);

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

void_setupPolarityMap();

void_makeCurrent()override;

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

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

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

kc::ks_ptr<CoordData>_coord_data;
};

classMultiJacobianGenerator:publickc::LockingBase{

public:
statickc::ks_ptr<MultiJacobianGenerator>
create(std::string_viewname,
conststd::vector<kc::ks_ptr<kf::FrameToFrame>>&f2fs,
kc::ks_ptr<CoordData>coord_data);

MultiJacobianGenerator(std::string_viewname,
conststd::vector<kc::ks_ptr<kf::FrameToFrame>>&f2fs,
kc::ks_ptr<CoordData>coord_data);

~MultiJacobianGenerator();

std::string_viewtypeString()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::FrameToFrame>>_f2fs;

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

kc::ks_ptr<CoordData>_coord_data;
};

}//namespaceKarana::Dynamics