Program Listing for File CompoundBody.h

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#pragmaonce

#include"Karana/SOADyn/BodyBase.h"
#include<map>
#include<vector>

namespaceKarana::Dynamics{

namespacekc=Karana::Core;

classPhysicalBody;
classHingePnode;
classCompoundHinge;
classCompoundSubhinge;

classCompoundBody:publickc::LockingBase,publicBodyBase{

/*foraccessto_physical_bodies_tree*/
friendSubTree;

/*foraccessto_pnodes_list*/
friendCompoundSubhinge;

/*foraccessto_base_onodes_list*/
friendPhysicalBody;

/*foraccesstoinverseDynamicsVectors()*/
friendclassAlgorithms;

public:
statickc::ks_ptr<CompoundBody>create(std::string_viewname,
kc::ks_ptr<SubTree>parent_subtree,
kc::ks_ptr<SubTree>component_bodies);

CompoundBody(std::string_viewname,
kc::ks_ptr<SubTree>parent_subtree,
kc::ks_ptr<SubTree>component_bodies);

virtual~CompoundBody();

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

constkc::id_t&id()constoverride{returnKarana::Core::LockingBase::id();}

std::string_viewname()constoverride{returnKarana::Core::LockingBase::name();}

kc::ks_ptr<kf::FrameToFrame>f2f()constoverride;

constkc::ks_ptr<SubTree>&bodiesTree()const{return_bodies_tree;}

kc::ks_ptr<SubTree>physicalBodiesTree()const{
return_physical_bodies_tree?_physical_bodies_tree:_bodies_tree;
}

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

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

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

/*Returnthecompoundhingeforthiscompoundbody*/
kc::ks_ptr<HingeBase>parentHinge()constoverride;

virtualconstkc::ks_ptr<PhysicalBody>&physicalParentBody()constoverride{
return_physical_parent_body;
}

structDumpOptions:Karana::Core::LockingBase::DumpOptions{
//Addingsuppression,asCodeCheckercomplainsthismethodhasthesamenameasa
//methodinthebaseversion.ThisisjustaCodeCheckerfalsepositive.
//codechecker_suppress[cppcheck-duplInheritedMember]
DumpOptions&operator=(constDumpOptions&p){
if(this!=&p){
kc::LockingBase::DumpOptions::operator=(
p);//Callbaseclassassignmentoperator
//AssignDerived-specificmembershere
cache_deps=p.cache_deps;
}

return*this;
}
};

boolcontainsBody(constBodyBase&bd)const;

std::stringdumpString(std::string_viewprefix,
constKarana::Core::Base::DumpOptions*options)constoverride;

public:
constkc::ks_ptr<kc::DataCache<bool>>atbiMatrixCache()const{
return_atbi_data_caches.matrix_cache;
}

constkc::ks_ptr<kc::DataCache<bool>>atbiFilterCache()const{
return_atbi_data_caches.filter_cache;
}

constkc::ks_ptr<kc::DataCache<bool>>atbiSmootherCache()const{
return_atbi_data_caches.smoother_cache;
}

constkc::ks_ptr<kc::DataCache<bool>>upsilonMatrixCache()const{
return_atbi_data_caches.upsilon_matrix_cache;
}

structInvDynVectors{

km::Vecf_prime;

km::Vecf;
};

constInvDynVectors&inverseDynamicsVectors()const{
return_inverseDynamicsCache()->get();
}

km::VecgetInterBodyForceTreeFwdDyn()const;

protected:
structATBIDataCaches{
kc::ks_ptr<kc::DataCache<bool>>matrix_cache=nullptr;
kc::ks_ptr<kc::DataCache<bool>>filter_cache=nullptr;
kc::ks_ptr<kc::DataCache<bool>>smoother_cache=nullptr;
kc::ks_ptr<kc::DataCache<bool>>upsilon_matrix_cache=nullptr;
};

constkc::ks_ptr<kc::DataCache<InvDynVectors>>_inverseDynamicsCache()const{
return_invdyn_data_cache;
}

protected:
virtualkc::ks_ptr<CompoundSubhinge>_createSubhinge(kc::ks_ptr<CompoundHinge>hinge);

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

std::vector<kc::ks_ptr<PhysicalBody>>_physicalBodiesList()const;

protected:
void_setupChildBodyCacheDependencies(constBodyBase&child_body)override;
void_setupChildPhysicalBodyCacheDependencies(constPhysicalBody&child_body,
boolskip_scatter)override;

void_setupChildCompoundBodyCacheDependencies(constCompoundBody&child_body)override;

void_setupBaseBodyCacheDependencies()override;

void_teardownChildBodyCacheDependencies(constBodyBase&child_body)override;
void_teardownChildPhysicalBodyCacheDependencies(constPhysicalBody&child_body,
boolskip_scatter)override;

void_teardownChildCompoundBodyCacheDependencies(constCompoundBody&child_body)override;

void_teardownBaseBodyCacheDependencies()override;

protected:
void_initialSetup();
void_postSetup();

void_oneTimeSetupDataCaches();

void_oneTimeTeardownDataCaches();

/*computePhi_G*f_prime(fortheactualinter-bodyforce)*/
km::Vec_compute_Phi_G_fprime(constkm::Vec&f_prime)const;

protected:
km::Mat_oframe2pframePsi()constoverride;
km::Mat_oframe2pframePhi()constoverride;

km::Mat_pframe2otherPhi(constkf::Frame&other)constoverride;

void_computeInvDynForces(InvDynVectors&val);

//km::SpatialVector_getBaseOnodeInvDynForces(kc::ks_ptr<HingeOnode>base_onode);

protected:
kc::ks_ptr<PhysicalBody>_physical_parent_body=nullptr;

kc::RegistryList<HingeOnode>_base_onodes_list;

kc::ks_ptr<SubTree>_bodies_tree=nullptr;

kc::ks_ptr<SubTree>_physical_bodies_tree=nullptr;

kc::ks_ptr<CompoundHinge>_hinge=nullptr;

std::map<kc::ks_ptr<PhysicalBody>,kc::RegistryList<HingeOnode>>_child_onodes_map;

kc::ks_ptr<kc::DataCache<InvDynVectors>>_invdyn_data_cache=nullptr;
ATBIDataCaches_atbi_data_caches;

private:
/*
*Wewanttoreturnconstkm::Vec&forthe
*gettermethods.However,weneedtouseCoordData
*forCompoundSubhine.Therefore,weaddtheseasmutable
*variables(sincetheyneedtochangeintheconstfunctions)
*andreturnreferencestothem.
*/

mutablekm::Vec_getQ_cache;

mutablekm::Vec_getU_cache;

mutablekm::Vec_getUdot_cache;

mutablekm::Vec_getT_cache;

//km::Vec_f;
};

}//namespaceKarana::Dynamics