Program Listing for File JacobianGenerator.h

↰ Return to documentation for file (include/Karana/SOADyn/JacobianGenerator.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"CoordData.h"
#include"Karana/KCore/LockingBase.h"

namespaceKarana::Dynamics{

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

classSubTree;

classFrameToFrameJacobianGenerator:publickc::LockingBase{

//foraccessto_coord_data
friendclassMultiJacobianGenerator;

public:
statickc::ks_ptr<FrameToFrameJacobianGenerator>create(std::string_viewname,
kc::ks_ptr<kf::FrameToFrame>f_to_f,
kc::ks_ptr<CoordData>coord_data);

FrameToFrameJacobianGenerator(std::string_viewname,
kc::ks_ptr<kf::FrameToFrame>f2f,
kc::ks_ptr<CoordData>coord_data);

km::Matjacobian(boolanalytical=true);

km::MatjacobianDot();

km::MatposeGradient(boolanalytical=true);

protected:
conststd::unordered_map<kc::id_t,bool>&_getPolarityMap()const{return_polarity_map;}

void_setupPolarityMap();

void_makeHealthy()override;

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

protected:
kc::ks_ptr<kf::FrameToFrame>_f2f=nullptr;

std::unordered_map<kc::id_t,bool>_polarity_map;

kc::ks_ptr<CoordData>_coord_data;
};

classMultiJacobianGenerator:publickc::LockingBase{

public:
statickc::ks_ptr<MultiJacobianGenerator>
create(std::string_viewname,
conststd::vector<kc::ks_ptr<kf::FrameToFrame>>&f2fs,
kc::ks_ptr<CoordData>coord_data);

MultiJacobianGenerator(std::string_viewname,
conststd::vector<kc::ks_ptr<kf::FrameToFrame>>&f2fs,
kc::ks_ptr<CoordData>coord_data);

~MultiJacobianGenerator();

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

km::Matjacobian(boolanalytical);

km::MatjacobianDot();

km::MatposeGradient(boolanalytical);

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

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

std::vector<kc::ks_ptr<kf::FrameToFrame>>_f2fs;

std::unordered_map<kc::ks_ptr<kf::FrameToFrame>,kc::ks_ptr<FrameToFrameJacobianGenerator>>
_jac_gen_map;

kc::ks_ptr<CoordData>_coord_data;
};

}//namespaceKarana::Dynamics