Program Listing for File PrescribedFrameToFrame.h

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/**
 * @file
 * @brief Contains the declarations for the PrescribedFrameToFrame class.
 */

#pragma once

#include "Karana/Frame/EdgeFrameToFrame.h"
#include "Karana/Math/HomTran.h"
#include "Karana/Math/SpatialVector.h"

namespace Karana::Frame {

    namespace km = Karana::Math;

    /**
     * @class PrescribedFrameToFrame
     * @brief An edge FrameToFrame with methods to set the edge data
     *
     *
     * See \sref{frames_layer_sec} for more discussion on
     * the frames layer.
     *
     */
    class PrescribedFrameToFrame : public EdgeFrameToFrame {
      public:
        /**
         * @brief Constructor for PrescribedFrameToFrame.
         * @param oframe oframe of the PrescribedFrameToFrame.
         * @param pframe pframe of the PrescribedFrameToFrame.
         * @param name the name for the edge.
         */
        PrescribedFrameToFrame(const kc::ks_ptr<Frame> &oframe,
                               const kc::ks_ptr<Frame> &pframe,
                               std::string_view name = "");

        /**
         * @brief Constructor for PrescribedFrameToFrame.
         * @param oframe - oframe of the PrescribedFrameToFrame.
         * @param pframe - pframe of the PrescribedFrameToFrame.
         * @return The PrescribedFrameToFrame object.
         */
        static kc::ks_ptr<PrescribedFrameToFrame> create(const kc::ks_ptr<Frame> &oframe,
                                                         const kc::ks_ptr<Frame> &pframe);

        /**
         * @brief Set the relative homogeneous transformation between the oframe and pframe.
         */
        void setRelTransform(const km::HomTran &);

        /**
         * @brief Set the relative velocity between the oframe and pframe.
         */
        void setRelSpVel(const km::SpatialVector &);

        /**
         * @brief Set the relative acceleration between the oframe and pframe.
         */
        void setRelSpAccel(const km::SpatialVector &);

      protected:
        /**
         * @brief Compute the transformation between the oframe and pframe.
         *
         * @param T The buffer to place the computed homogeneous transformation in.
         */
        void _computeTransform(km::HomTran &T) override;

        /**
         * @brief Compute the spatial velocity between the oframe and pframe.
         *
         * @param V The buffer to put the computed spatial velocity in.
         */
        void _computeVelocity(km::SpatialVector &V) override;

        /**
         * @brief Compute the spatial acceleration between the oframe and pframe.
         *
         * @param a The buffer to put the computed spatial acceleration in.
         */
        void _computeAccel(km::SpatialVector &a) override;

      private:
        km::HomTran _transform;
        km::SpatialVector _velocity;
        km::SpatialVector _accel;
    };
} // namespace Karana::Frame