Program Listing for File SubhingeForceLimits.h

Program Listing for File SubhingeForceLimits.h#

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#pragmaonce
#include"Karana/SOADyn/KModel.h"
#include"Karana/SOADyn/Node.h"
#include"Karana/SOADyn/PhysicalSubhinge.h"

namespaceKarana::Models{

namespacekm=Karana::Math;
namespacekd=Karana::Dynamics;

classSubhingeForceLimitsParams:publicKModelParams{
public:
SubhingeForceLimitsParams(std::string_viewname);

boolisFinalized()constfinal;

km::Veclower_limits;

km::Vecupper_limits;
};

classSubhingeForceLimits:publicKModel<SubhingeForceLimits,SubhingeForceLimitsParams>{
public:
SubhingeForceLimits(std::string_viewname,
constkc::ks_ptr<kd::StatePropagator>&sp,
constkc::ks_ptr<kd::PhysicalSubhinge>&sh);

~SubhingeForceLimits();

statickc::ks_ptr<SubhingeForceLimits>create(std::string_viewname,
constkc::ks_ptr<kd::StatePropagator>&sp,
constkc::ks_ptr<kd::PhysicalSubhinge>&sh);

voidpreDeriv(constkm::Ktime&t,constkm::Vec&x);

boolisFinalized()constfinal;

private:
kc::ks_ptr<kd::PhysicalSubhinge>_sh;
};
}//namespaceKarana::Models