Program Listing for File SubhingeSpringDamper.h

Program Listing for File SubhingeSpringDamper.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;

classSubhingeSpringDamperParams:publicKModelParams{
public:
SubhingeSpringDamperParams(std::string_viewname);

boolisFinalized()constfinal;

km::Vecsetpoint;

doublek;

doubled;
};

classSubhingeSpringDamper:publicKModel<SubhingeSpringDamper,SubhingeSpringDamperParams>{
public:
SubhingeSpringDamper(std::string_viewname,
constkc::ks_ptr<kd::StatePropagator>&sp,
constkc::ks_ptr<kd::PhysicalSubhinge>&sh);

~SubhingeSpringDamper();

statickc::ks_ptr<SubhingeSpringDamper>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