Program Listing for File LoopConstraintHinge.h

↰ Return to documentation for file (include/Karana/SOADyn/LoopConstraintHinge.h)

/*
*Copyright(c)2024-2025KaranaDynamicsPtyLtd.Allrightsreserved.
*
*NOTICETOUSER:
*
*Thissourcecodeand/ordocumentation(the"LicensedMaterials")is
*theconfidentialandproprietaryinformationofKaranaDynamicsInc.
*UseoftheseLicensedMaterialsisgovernedbythetermsandconditions
*ofaseparatesoftwarelicenseagreementbetweenKaranaDynamicsandthe
*Licensee("LicenseAgreement").Unlessexpresslypermittedunderthat
*agreement,anyreproduction,modification,distribution,ordisclosure
*oftheLicensedMaterials,inwholeorinpart,toanythirdparty
*withoutthepriorwrittenconsentofKaranaDynamicsisstrictlyprohibited.
*
*THELICENSEDMATERIALSAREPROVIDED"ASIS"WITHOUTWARRANTYOFANYKIND.
*KARANADYNAMICSDISCLAIMSALLWARRANTIES,EXPRESSORIMPLIED,INCLUDING
*BUTNOTLIMITEDTOWARRANTIESOFMERCHANTABILITY,NON-INFRINGEMENT,AND
*FITNESSFORAPARTICULARPURPOSE.
*
*INNOEVENTSHALLKARANADYNAMICSBELIABLEFORANYDAMAGESWHATSOEVER,
*INCLUDINGBUTNOTLIMITEDTOLOSSOFPROFITS,DATA,ORUSE,EVENIF
*ADVISEDOFTHEPOSSIBILITYOFSUCHDAMAGES,WHETHERINCONTRACT,TORT,
*OROTHERWISEARISINGOUTOFORINCONNECTIONWITHTHELICENSEDMATERIALS.
*
*U.S.GovernmentEndUsers:TheLicensedMaterialsarea"commercialitem"
*asdefinedat48C.F.R.2.101,andareprovidedtotheU.S.Government
*onlyasacommercialenditemunderthetermsofthislicense.
*
*AnyuseoftheLicensedMaterialsinindividualorcommercialsoftwaremust
*include,intheuserdocumentationandinternalsourcecodecomments,
*thisNotice,Disclaimer,andU.S.GovernmentUseProvision.
*/


#pragmaonce

#include"Karana/SOADyn/FramePairHinge.h"
#include"Karana/SOADyn/LoopConstraintBase.h"

namespaceKarana::Dynamics{

classMultibody;
classHingePnode;
classConstraintNode;
classFramePairHinge;

classLoopConstraintHinge:publicLoopConstraintBase{

//foraccessto_sourceParentPnode
friendclassSubGraph;

//foraccessto_error_f2f
friendclassMultibody;

//foraccesstoresidualmethodsfortheTAalgorithm
friendclassAlgorithms;

public:
staticconstkc::ks_ptr<LoopConstraintHinge>
create(kc::ks_ptr<Multibody>&mb,
kc::ks_ptr<kf::FrameToFrame>constraint_f_to_f,
std::string_viewname,
HingeBase::HingeTypehtype,
conststd::vector<SubhingeBase::SubhingeType>&subhinge_types=
std::vector<SubhingeBase::SubhingeType>());

LoopConstraintHinge(kc::ks_ptr<Multibody>&mb,
kc::ks_ptr<kf::FrameToFrame>constrainet_f_to_f,
std::string_viewname,
HingeBase::HingeTypehtype,
conststd::vector<SubhingeBase::SubhingeType>&subhinge_types=
std::vector<SubhingeBase::SubhingeType>());

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

boolhasHinge()constoverride{returntrue;}

kc::ks_ptr<FramePairHinge>hinge()const{return_hinge;}

kc::ks_ptr<kf::FrameToFrame>errorFrameToFrame()const{return_error_f2f;}

voidspExternalForceFromT(constkm::Vec&T,boolno_accumulate=true);

km::VecposeError()constoverride;

km::SpatialVectorgetTAInterBodyForce();

statickc::ks_ptr<PhysicalHinge>toPhysicalHinge(kc::ks_ptr<LoopConstraintHinge>lc,
boolreverse);

size_tnResiduals()constoverride{return6-_hinge->nU();}

km::VecvelError()constoverride;

km::VecaccelError()constoverride;

protected:
km::Vec_accelResidual()constoverride;

void_updateInvDynT();

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

void_computeQMats(QMats&val)override;

km::SpatialVector_constraintSpForceT2Target(constkm::Vec&T)const;
km::SpatialVector_constraintSpForceT2Source(constkm::SpatialVector&tgt_f)const;

private:
km::Vec_velResidual()const;

protected:
/*thef2fmeasuretheerrorfortheconstraint.Theconstraintis
satisfiedwhenthetransformetcvaluesforthisf2fare
zero*/
kc::ks_ptr<kf::FrameToFrame>_error_f2f;

std::optional<HingeBase::HingeType>_hinge_type=std::nullopt;

private:
kc::ks_ptr<FramePairHinge>_hinge=nullptr;
};

}//namespaceKarana::Dynamics