Program Listing for File CoordBase.h

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#pragmaonce

#include"Karana/Frame/Frame.h"
#include"Karana/Frame/FrameToFrame.h"
#include"Karana/KCore/Base.h"
#include"Karana/KCore/DataCache.h"
#include"Karana/Math/Defs.h"

namespaceKarana::Dynamics{

classHingeOnode;

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

classCoordBase{

//foraccessto_newtonian_frame
friendclassFrameToFrameJacobianGenerator;
friendclassFramePairHinge;

//foraccessto_pframe2otherPhiandrelatedmethods
friendclassSubTree;

//foraccessto_localChartGetQ,_localChartSetQ
friendclassCoordData;
friendclassCECompoundSubhinge;
friendclassLoopsCompoundBody;

public:
CoordBase(std::string_viewnm,kc::id_tid);

virtual~CoordBase();//=default;

std::stringdumpString(std::string_viewprefix,constkc::Base::DumpOptions*options)const;

virtualkc::ks_ptr<kf::FrameToFrame>f2f()const=0;

std::optional<bool>isOriented(constkf::FrameToFrame&f2f)const;

virtualstd::string_viewname()const{return_name;};

virtualconstkc::id_t&id()const{return_id;}

virtualstd::string_viewtypeString()constnoexcept=0;

virtualkm::Matjacobian(constkf::Frame&target,booloriented=true)const=0;

virtualkm::MatjacobianDot(constkf::Frame&target,booloriented=true)const=0;

virtualboolisFinalized()const;//override;

virtualkm::MatgetATBIMatPsi()const=0;

virtualkm::MatgetATBID()const=0;

virtualkm::MatgetATBIDinv()const=0;

virtualkm::MatgetATBIG()const=0;

virtualkm::MatgetATBITauper()const=0;

virtualkm::MatpframeCoordMapMatrix()const{
//defaultdefintion
returnatbiCoordMapMatrix();
}

virtualconstkm::MatatbiCoordMapMatrix()const{returnkm::Mat();}

virtualkm::MatgetUpsilonMatrix()=0;

public:

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

virtualvoidsetQ(doublefill_value);

virtualconstkm::Vec&getQ()const;

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

virtualvoidsetU(doublefill_value);

virtualconstkm::Vec&getU()const;

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

virtualvoidsetT(doublefill_value);

virtualconstkm::Vec&getT()const;

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

virtualvoidsetUdot(doublefill_value);

virtualconstkm::Vec&getUdot()const;

virtualconstkm::Vec&getQdot()const{returngetU();}

size_tnQ()const{return_nQ;};

size_tnU()const{return_nU;};

km::MatjacobianNumDiff(constkf::FrameToFrame&f2f);

virtualkm::MatposeGradient(constkf::FrameToFrame&f_to_f,booloriented=true)const;

km::MatposeGradientNumDiff(constkf::FrameToFrame&f2f);

protected:
structATBIMatrices{

ATBIMatrices()=default;

ATBIMatrices(constATBIMatrices&)=default;

virtual~ATBIMatrices(){};
};

constATBIMatrices&_atbiMatrices()const{return*_atbi_matrices;}

structATBIFilterVectors{

ATBIFilterVectors()=default;

ATBIFilterVectors(constATBIFilterVectors&)=default;

virtual~ATBIFilterVectors(){};
};

constATBIFilterVectors&_atbiFilterVectors()const{return*_atbi_filter_vectors;}

protected:
virtualkm::Mat_oframe2pframePsi()const=0;

virtualkm::Mat_oframe2pframePhi()const=0;

virtualkm::Mat_pframe2otherPhi(constkf::Frame&other)const=0;

protected:
virtualvoid_localChartSetQ(constEigen::Ref<constkm::Vec>&val);

virtualconstkm::Vec&_localChartGetQ()const;

kc::ks_ptr<kf::Frame>_newtonian_frame=nullptr;

void_resizeCoordBuffers(size_tn_q,size_tn_u);

protected:
std::string_name;
kc::id_t_id;

kc::ks_ptr<kc::DataCache<km::Vec>>_cache_Q=nullptr;
kc::ks_ptr<kc::DataCache<km::Vec>>_cache_U=nullptr;
kc::ks_ptr<kc::DataCache<km::Vec>>_cache_Udot=nullptr;
kc::ks_ptr<kc::DataCache<km::Vec>>_cache_T=nullptr;
kc::ks_ptr<kc::DataCache<km::Vec>>_cache_Qdot=nullptr;

kc::ks_ptr<ATBIMatrices>_atbi_matrices=nullptr;
kc::ks_ptr<ATBIFilterVectors>_atbi_filter_vectors=nullptr;

size_t_nQ=0,_nU=0;

protected:
km::Vec_buf_Q;
km::Vec_buf_U;
km::Vec_buf_Udot;
km::Vec_buf_T;
};

}//namespaceKarana::Dynamics