Program Listing for File ChainedFrameToFrame.h

↰ Return to documentation for file (include/Karana/Frame/ChainedFrameToFrame.h)

/*
*Copyright(c)2024-2026KaranaDynamicsPtyLtd.Allrightsreserved.
*
*NOTICETOUSER:
*
*Thissourcecodeand/ordocumentation(the"LicensedMaterials")is
*theconfidentialandproprietaryinformationofKaranaDynamicsInc.
*UseoftheseLicensedMaterialsisgovernedbythetermsandconditions
*ofaseparatesoftwarelicenseagreementbetweenKaranaDynamicsandthe
*Licensee("LicenseAgreement").Unlessexpresslypermittedunderthat
*agreement,anyreproduction,modification,distribution,ordisclosure
*oftheLicensedMaterials,inwholeorinpart,toanythirdparty
*withoutthepriorwrittenconsentofKaranaDynamicsisstrictlyprohibited.
*
*THELICENSEDMATERIALSAREPROVIDED"ASIS"WITHOUTWARRANTYOFANYKIND.
*KARANADYNAMICSDISCLAIMSALLWARRANTIES,EXPRESSORIMPLIED,INCLUDING
*BUTNOTLIMITEDTOWARRANTIESOFMERCHANTABILITY,NON-INFRINGEMENT,AND
*FITNESSFORAPARTICULARPURPOSE.
*
*INNOEVENTSHALLKARANADYNAMICSBELIABLEFORANYDAMAGESWHATSOEVER,
*INCLUDINGBUTNOTLIMITEDTOLOSSOFPROFITS,DATA,ORUSE,EVENIF
*ADVISEDOFTHEPOSSIBILITYOFSUCHDAMAGES,WHETHERINCONTRACT,TORT,
*OROTHERWISEARISINGOUTOFORINCONNECTIONWITHTHELICENSEDMATERIALS.
*
*U.S.GovernmentEndUsers:TheLicensedMaterialsarea"commercialitem"
*asdefinedat48C.F.R.2.101,andareprovidedtotheU.S.Government
*onlyasacommercialenditemunderthetermsofthislicense.
*
*AnyuseoftheLicensedMaterialsinindividualorcommercialsoftwaremust
*include,intheuserdocumentationandinternalsourcecodecomments,
*thisNotice,Disclaimer,andU.S.GovernmentUseProvision.
*/


#pragmaonce

#include"Karana/Frame/OrientedChainedFrameToFrame.h"

namespaceKarana::Frame{

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

classChainedFrameToFrame:publicFrameToFrame{
//Foraccessto_empty
friendclassFrame;

public:
ChainedFrameToFrame(constkc::ks_ptr<Frame>&oframe,
constkc::ks_ptr<Frame>&pframe,
std::string_viewname="");

staticconstkc::ks_ptr<ChainedFrameToFrame>&
lookupOrCreate(constkc::ks_ptr<Frame>&oframe,constkc::ks_ptr<Frame>&pframe);

std::string
dumpString(std::string_viewprefix="",
constKarana::Core::Base::DumpOptions*options=nullptr)constoverride;

protected:
void_empty()override;

void_makeNotHealthy()override;

void_setup();

void_makeHealthy()override;

void_computeTransform(km::HomTran&)override;

void_computeVelocity(km::SpatialVector&)override;

void_computeAccel(km::SpatialVector&)override;

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

private:
kc::ks_ptr<Frame>_ancestor=nullptr;
kc::ks_ptr<OrientedChainedFrameToFrame>_forward=nullptr;
kc::ks_ptr<OrientedChainedFrameToFrame>_opposed=nullptr;
kc::ks_ptr<ChainedFrameToFrame>_rev_opposed=nullptr;
};

}//namespaceKarana::Frame