Program Listing for File ConstraintKinematicsSolver.h

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#pragmaonce

#include<string>
#include<vector>

#include"JacobianGenerator.h"
#include"Karana/KCore/LockingBase.h"
#include"Karana/Math/NonlinearSolver.h"

namespaceKarana::Dynamics{
namespacekc=Karana::Core;
namespacekm=Karana::Math;

template<int,int,int>classCoordBase_T;
classCoordData;
classLoopConstraint;
classSubGraph;

classConstraintKinematicsSolver:publickc::LockingBase{

/*foraccessto_velJacobian()*/
friendclassAlgorithms;

/*foraccesstocutjointjacobiangenerator*/
friendclassCECompoundBody;

public:
statickc::ks_ptr<ConstraintKinematicsSolver>create(std::string_viewname,
kc::ks_ptr<SubGraph>sg);

ConstraintKinematicsSolver(std::string_viewname,kc::ks_ptr<SubGraph>sg);

~ConstraintKinematicsSolver();

//----------------------------

doublesolveQ();

doublesolveU();

doublesolveUdot();

enumclassCKFrozenCoordType{
Q,
U,
Q_U,
};

voidfreezeCoord(kc::ks_ptr<CoordBase>coord,
size_tindex,
CKFrozenCoordTypetype=CKFrozenCoordType::Q_U);

voidunfreezeCoord(kc::ks_ptr<CoordBase>coord,
size_tindex,
CKFrozenCoordTypetype=CKFrozenCoordType::Q_U);

voidclearFrozenCoords();

usingCoordIndices=std::vector<unsignedint>;

CoordIndicesfrozenCoords(boolQ_type)const;//NOLINT(readability-identifier-naming)

km::VecgetNonfrozenQ()const;

voidsetNonfrozenQ(constEigen::Ref<constkm::Vec>&Q);

km::VecgetNonfrozenU()const;

voidsetNonfrozenU(constEigen::Ref<constkm::Vec>&U);

km::VecgetNonfrozenUdot()const;

voidsetNonfrozenUdot(constEigen::Ref<constkm::Vec>&u_dot);

voiddump(std::string_viewprefix="")const;

boolcheckVelJacobian(doubletolerance=1e-6)const;

protected:
CoordIndices
_updateFrozenCoords(CoordIndices&frozen_coords,size_tnew_frozen,size_ttotal_n);

CoordIndices
_updateNonFrozenCoords(CoordIndices&frozen_coords,size_tnew_unfrozen,size_ttotal_n);

kc::ks_ptr<km::NonlinearSolver>_nlSolver(){return_nl_solver;}

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

void_makeHealthy()override;

void_setup();

void_makeNlSolver();

void_updateDependentCoordsQ();

km::Mat_velJacobianNumDiff()const;

CoordIndices_recomputeNonFrozenCoord(constCoordIndices&frozen_coords,size_tn)const;

protected:
kc::ks_ptr<SubGraph>_sg;

kc::ks_ptr<MultiJacobianGenerator>_cutjoint_loops_multi_jacgen=nullptr;

kc::ks_ptr<MultiJacobianGenerator>_non_cutjoint_loops_multi_jacgen=nullptr;

kc::ks_ptr<km::NonlinearSolver>_nl_solver=nullptr;

CoordIndices_dependent_Q_coord_indices;

CoordIndices_frozen_indices_Q;

CoordIndices_frozen_indices_U;

CoordIndices_nonfrozen_indices_Q;

CoordIndices_nonfrozen_indices_U;
};

}//namespaceKarana::Dynamics