Program Listing for File ComputedTorque.h

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/**
 * @file
 * @brief Contains the declarations for the ComputedTorque KModel.
 */

#pragma once
#include "Karana/SOADyn/KModel.h"
#include "Karana/SOADyn/SubTree.h"

namespace Karana::Models {

    namespace km = Karana::Math;
    namespace kd = Karana::Dynamics;

    /**
     * @class ComputedTorque
     * @brief Limits the generalized force that can be applied to a subhinge.
     */
    class ComputedTorque : public KModel<ComputedTorque> {
        using SetAccelFn = std::function<void(const km::Ktime &, const km::Vec &)>;

      public:
        /**
         * @brief ComputedTorque constructor. The constructor is not meant to be called directly.
         *        Please use the create(...) method instead to create an instance.
         *
         * The user-supplied set_accels_fn should set the accelerations on the provided SubGraph.
         * Then, the model uses Algorithms.evalComputedTorque to calculate the corresponding torques
         * and apply them to the SubTree.
         *
         * @param name The name of the model.
         * @param mm The ModelManager to register this model with.
         * @param st The SubTree to apply the torques to.
         * @param set_accels_fn The function that sets the accelerations for the computed torque to
         * compute torques for.
         */
        ComputedTorque(std::string_view name,
                       const kc::ks_ptr<kd::ModelManager> &mm,
                       const kc::ks_ptr<kd::SubTree> &st,
                       const SetAccelFn &set_accels_fn);

        /**
         * @brief Constructor.
         *
         * The user-supplied set_accels_fn should set the accelerations on the provided SubGraph.
         * Then, the model uses Algorithms.evalComputedTorque to calculate the corresponding torques
         * and apply them to the SubTree.
         *
         * @param name The name of the model.
         * @param mm The ModelManager to register this model with.
         * @param st The SubTree to apply the torques to.
         * @param set_accels_fn The function that sets the accelerations for the computed torque to
         * compute torques for.
         * @return A ks_ptr to the newly created instance of the ComputedTorque model.
         */
        static kc::ks_ptr<ComputedTorque> create(std::string_view name,
                                                 const kc::ks_ptr<kd::ModelManager> &mm,
                                                 const kc::ks_ptr<kd::SubTree> &st,
                                                 const SetAccelFn &set_accels_fn);

        /**
         * @brief Calculate and apply the torques.
         *
         * @param t Current time. This is passed to the user-supplied set_accels_fn.
         * @param x Current state. This is passed to the user-supplied set_accels_fn.
         */
        void preDeriv(const km::Ktime &t, const km::Vec &x);

        /**
         * @brief Destructor for ComputedTorque.
         */
        ~ComputedTorque();

      private:
        /// The SubTree to set the torques for.
        kc::ks_ptr<kd::SubTree> _st;

        /// This function sets the accelerations.
        SetAccelFn _set_accels;
    };
} // namespace Karana::Models