Program Listing for File SubGraph.h

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#pragmaonce

#include"Karana/SOADyn/SubTree.h"

namespaceKarana::Dynamics{

classBilateralConstraintBase;
classLoopConstraintBase;
classLoopConstraintCutJoint;
classLoopConstraintConVel;
classCoordinateConstraint;
classConstraintKinematicsSolver;
classMultiJacobianGenerator;

classSubGraph:publicSubTree{

//foraccessto_loop_constraint_list
friendclassLoopConstraintCutJoint;
friendclassLoopConstraintConVel;
friendclassCECompoundBody;

//foraccessto_enabled_cutjoint_loop_constraints_list
friendConstraintKinematicsSolver;

//foraccessto_Qrows
friendclassAlgorithms;

//foraccessto_resetSubhingeCharts
friendclassModelManager;

//foraccesstoJacobiangenerator
friendclassPartitionedCompoundBody;

public:
SubGraph(std::string_viewname,
kc::ks_ptr<BodyBase>root,
kc::ks_ptr<SubGraph>parent_sg=nullptr);

virtual~SubGraph(){};

boolisSubGraph()constoverride{returntrue;}

statickc::ks_ptr<SubGraph>
create(std::string_viewname,
kc::ks_ptr<SubGraph>parent_sg,
kc::ks_ptr<BodyBase>new_root,
conststd::vector<kc::ks_ptr<BodyBase>>&use_branches={},
conststd::vector<kc::ks_ptr<BodyBase>>&stop_at={},
boolinherit_constraints=true);

constkc::ks_ptr<CoordData>&cutjointCoordData()const;

kc::ks_ptr<SubGraph>
aggregationSubGraph(std::string_viewname,
std::vector<kc::ks_ptr<BilateralConstraintBase>>constraints,
boolwith_velocity_constraints);

kc::ks_ptr<BilateralConstraintBase>getEnabledConstraint(std::string_viewname)const;

std::vector<kc::ks_ptr<CoordinateConstraint>>
getBodyCoordinateConstraints(constPhysicalBody&body)const;

std::vector<kc::ks_ptr<LoopConstraintBase>>
getBodyLoopConstraints(constPhysicalBody&body)const;

std::vector<kc::ks_ptr<PhysicalBody>>
getLoopConstraintBodies(constLoopConstraintBase&c)const;

voiddisplayModel(std::string_viewprefix="")constoverride;

std::stringdumpString(std::string_viewprefix,
constKarana::Core::Base::DumpOptions*options)constoverride;

std::vector<kc::ks_ptr<BilateralConstraintBase>>enabledConstraints()const;

voidenableConstraint(constkc::ks_ptr<BilateralConstraintBase>constraint);

voiddisableConstraint(kc::ks_ptr<BilateralConstraintBase>constraint);

constkc::ks_ptr<ConstraintKinematicsSolver>&cks();

conststd::pair<kc::ks_ptr<CoordBase>,size_t>coordAt(size_tu_offset)constoverride;

conststd::pair<kc::ks_ptr<kc::LockingBase>,size_t>
constraintErrorAt(size_trow_offset)const;

conststd::pair<kc::ks_ptr<kc::LockingBase>,size_t>
constraintResidualAt(size_trow_offset)const;

km::MatconstraintsGc();

km::MatGamma();//NOLINT(readability-identifier-naming)

constkc::ks_ptr<CoordData>graphCoordData()const;

constkc::ks_ptr<CoordData>treeCoordData()constoverride;
constkc::ks_ptr<CoordData>articulationCoordData()constoverride;

voidarticulateSubhinge(kc::ks_ptr<SubhingeBase>shg,
size_tsubhinge_index,
booldisable_ik=false,
doublerange_q=.5,
doubled_q=.01,
doublepause=.01);

voiddumpTree(std::string_viewprefix="",
constDumpTreeOptionsoptions=
DumpTreeOptions(false,false,false,false,false))constoverride;

km::VecposeError()const;

km::VecvelError()const;

km::VecaccelError()const;

km::MatconstraintsErrorPoseGradient()const;

km::MatconstraintsErrorVelJacobian()const;

km::MatconstraintsErrorVelJacobianDot()const;

staticstd::vector<unsignedint>
complementaryIndices(size_tn_u,conststd::vector<unsignedint>&indep_indices);

conststd::vector<kc::ks_ptr<LoopConstraintCutJoint>>&
enabledCutJointLoopConstraints()const;

conststd::vector<kc::ks_ptr<LoopConstraintConVel>>&enabledConVelLoopConstraints()const;

conststd::vector<kc::ks_ptr<CoordinateConstraint>>&enabledCoordinateConstraints()const;

size_tnLoopConstraintResiduals()const;

voidenableSubhingeCharts(boolflag)override;

protected:
std::vector<kc::ks_ptr<CoordData>>_coordDataList()constoverride;

km::Mat_constraintsQmat()const;

kc::ks_ptr<MultiJacobianGenerator>_constraintsNodesTreeJacobianGen()const;

conststd::vector<kc::ks_ptr<ConstraintNode>>&_constraintNodes()const;

protected:
kc::ks_ptr<CoordinateConstraint>
_getEnabledCoordinateConstraint(std::string_viewname)const;

kc::ks_ptr<LoopConstraintCutJoint>
_getEnabledCutJointConstraint(std::string_viewname)const;

kc::ks_ptr<LoopConstraintConVel>_getEnabledConVelConstraint(std::string_viewname)const;

kc::ks_ptr<MultiJacobianGenerator>_cutjointConstraintsErrorJacobianGen()const;

kc::ks_ptr<MultiJacobianGenerator>_convelConstraintsJacobianGen()const;

km::Mat_getCoordinateConstraintsErrorJacobian()const;

km::Mat_getConVelLoopConstraintsErrorJacobian()const;

km::Mat_getConVelLoopConstraintsErrorJacobianDot()const;

protected:
void_inheritConstraints();

CoordData::CoordOffset_coordOffsets(kc::id_tid)constoverride;

void_resetSubhingeCharts()override;

void_clearExternals()override;

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

void_makeConstrainCoordData()const;

void_enableLoopConstraint(constkc::ks_ptr<LoopConstraintBase>constraint);

void_disableLoopConstraint(kc::ks_ptr<LoopConstraintBase>constraint);

void_enableCoordinateConstraint(constkc::ks_ptr<CoordinateConstraint>constraint);

void_disableCoordinateConstraint(kc::ks_ptr<CoordinateConstraint>constraint);

protected:
kc::RegistryList<LoopConstraintCutJoint>_enabled_cutjoint_loop_constraints_list;

kc::RegistryList<LoopConstraintConVel>_enabled_convel_loop_constraints_list;

kc::RegistryList<CoordinateConstraint>_enabled_coordinate_constraints_list;

bool_has_enabled_constraints=false;

size_t_rowsQ_loop=0;

size_t_rowsQ_coord=0;

kc::RegistryList<ConstraintNode>_loop_constraint_nodes_list;

kc::RegistryList<PhysicalSubhinge>_coordinate_constraint_subhinges_list;

mutablekc::ks_ptr<CoordData>_constraint_coord_data=nullptr;

kc::ks_ptr<ConstraintKinematicsSolver>_cks=nullptr;

mutablekc::ks_ptr<CoordData>_graph_coord_data=nullptr;

mutablekc::ks_ptr<MultiJacobianGenerator>_cutjoint_loops_multi_jacgen=nullptr;

mutablekc::ks_ptr<MultiJacobianGenerator>_non_cutjoint_loops_multi_jacgen=nullptr;

mutablekc::ks_ptr<MultiJacobianGenerator>_constraint_nodes_tree_multi_jacgen;

double_baumgarte_stabilization_enabled=false;

double_baumgarte_stiffness=km::notReadyNaN;

double_baumgarte_damping=km::notReadyNaN;
};

}//namespaceKarana::Dynamics