Program Listing for File LoopConstraintBase.h

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#pragmaonce

#include"Karana/SOADyn/CoordinateConstraint.h"

namespaceKarana::Dynamics{

classMultibody;
classHingePnode;
classConstraintNode;
classPhysicalHinge;

classLoopConstraintBase:publicBilateralConstraintBase{

//foraccessto_sourceParentPnode
friendclassSubGraph;

//foraccessto_error_f2f
friendclassMultibody;

//foraccesstoresidualmethodsfortheTAalgorithm
friendclassAlgorithms;

public:
LoopConstraintBase(std::string_viewname,
kc::ks_ptr<Multibody>&mb,
kc::ks_ptr<kf::FrameToFrame>constraint_f2f);

kc::ks_ptr<kf::FrameToFrame>constraintFrameToFrame()const{return_constraint_f2f;}

virtualboolhasHinge()const{returnfalse;}

virtualboolconstrainsQ()const{returntrue;}

kc::ks_ptr<ConstraintNode>sourceNode()const{return_source_node;}

kc::ks_ptr<ConstraintNode>targetNode()const{return_target_node;}

protected:
void_lambda2ConstraintForces(constkm::Vec&lambda)const;

public:
structQMats{

public:
km::Matsource_Q;//NOLINT(readability-identifier-naming)
km::Mattarget_Q;//NOLINT(readability-identifier-naming)
km::Matrel_Q;//NOLINT(readability-identifier-naming)

public:
voidresize(size_tn_c){
source_Q.resize(n_c,6);
target_Q.resize(n_c,6);
rel_Q.resize(n_c,6);
}
};

constQMats&getQMats()const{return_matsQ_cache->get();}

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

virtualvoid_computeQMats(QMats&val);

kc::ks_ptr<kf::FrameToFrame>_constraint_f2f;

kc::ks_ptr<ConstraintNode>_source_node=nullptr;

kc::ks_ptr<ConstraintNode>_target_node=nullptr;

kc::ks_ptr<kc::DataCache<QMats>>_matsQ_cache=nullptr;

private:
};

classLoopConstraintConVel:publicLoopConstraintBase{

//foraccessto_accelResidual
friendclassAlgorithms;

public:
staticconstkc::ks_ptr<LoopConstraintConVel>
create(std::string_viewname,
kc::ks_ptr<Multibody>&mb,
kc::ks_ptr<kf::FrameToFrame>constraint_f_to_f);

LoopConstraintConVel(std::string_viewname,
kc::ks_ptr<Multibody>&mb,
kc::ks_ptr<kf::FrameToFrame>constraint_f2f);

boolconstrainsQ()constoverride{returnfalse;}

size_tnResiduals()constoverride;
km::VecposeError()constoverride;

voidsetInput(doublevel,doubleaccel);

voidsetUnitAxis(constkm::Vec&axis,boolis_rotational);

constkm::Vec3&getUnitAxis()const;

boolisRotational()const;

boolisReady()constoverride;

km::VecvelError()constoverride;
km::VecaccelError()constoverride;

protected:
void_computeQMats(QMats&val)override;

km::Vec_poseResidual()constoverride;
km::Vec_velResidual()constoverride;
km::Vec_accelResidual()constoverride;

private:
km::Vec3_unit_axis;
bool_is_rotational=true;

double_input_vel=0;
double_input_accel=0;
};

}//namespaceKarana::Dynamics