Program Listing for File CECompoundSubhinge.h

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#pragmaonce

#include"Karana/SOADyn/CompoundSubhinge.h"

namespaceKarana::Dynamics{

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

classCompoundHinge;
classCompoundBody;
classPhysicalBody;

classCECompoundSubhinge:publicCompoundSubhinge{

/*foraccessto_setNu()*/
friendclassCECompoundBody;

public:
virtual~CECompoundSubhinge();

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

voidsetQ(constEigen::Ref<constkm::Vec>&val)override;

voidsetU(constEigen::Ref<constkm::Vec>&val)override;

constkm::Vec&getQ()constoverride;

constkm::Vec&getU()constoverride;

voidsetT(constEigen::Ref<constkm::Vec>&val)override;

constkm::Vec&getT()constoverride;

voidsetUdot(constEigen::Ref<constkm::Vec>&val)override;

constkm::Vec&getUdot()constoverride;

constkm::Vec&getQdot()constoverride;

CECompoundSubhinge(kc::ks_ptr<CompoundHinge>hge,size_tindep_n_u,size_tindep_n_q);

protected:
void_localChartSetQ(constEigen::Ref<constkm::Vec>&val)override;
constkm::Vec&_localChartGetQ()constoverride;

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

km::Vec_getHingeXdotU(PhysicalHinge&hge)constoverride;

constkm::MatatbiCoordMapMatrix()constoverride;

protected:
mutablekm::Mat_dependent_coord_map_matrix;

protected:
size_t_dependents_nU=0;

//needthesebecausethegetQ()etcmethodsneedtoreturnreferences

mutablekm::Vec_getQ_min_cache;

mutablekm::Vec_getQdot_min_cache;

mutablekm::Vec_getU_min_cache;

mutablekm::Vec_getUdot_min_cache;

mutablekm::Vec_getT_min_cache;
};

}//namespaceKarana::Dynamics