Program Listing for File PinJointLimits.h

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

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

namespace Karana::Models {

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

    /**
     * @class PinJointLimitsParams
     * @brief Parameters for the PinJointLimits model.
     */
    class PinJointLimitsParams : public KModelParams {
      public:
        /**
         * @brief Constructor
         * @param name - Name of the params.
         */
        PinJointLimitsParams(std::string_view name);

        /**
         * @brief Used to ensure the params are ready.
         *
         * @return `true` if the params are ready, `false` otherwise.
         */
        bool isReady() const final;

        /// Pin joint upper limit
        double upper_limit;

        /// Pin joint lower limit
        double lower_limit;

        /// Spring constant for the restoring force
        double k;

        /// Damping constant for the restoring force
        double d;
    };

    /**
     * @class PinJointLimits
     * @brief Model that adds joint limits to a pin hinge.
     */
    class PinJointLimits : public KModel<PinJointLimits, PinJointLimitsParams> {
      public:
        /**
         * @brief PinJointLimits constructor. The constructor is not meant to be called directly.
         *        Please use the create(...) method instead to create an instance.
         *
         * @param name The name of the model.
         * @param mm The ModelManager to register this model with.
         * @param pin The pin subhinge to apply joint limits to.
         */
        PinJointLimits(std::string_view name,
                       const kc::ks_ptr<kd::ModelManager> &mm,
                       const kc::ks_ptr<kd::PinSubhinge> &pin);

        /**
         * @brief Destructor for PinJointLimits.
         */
        ~PinJointLimits();
        /**
         * @brief Constructor.
         *
         * @param name The name of the model.
         * @param mm The ModelManager to register this model with.
         * @param pin The pin subhinge to apply joint limits to.
         * @return A ks_ptr to the newly created instance of the PinJointLimits model.
         */
        static kc::ks_ptr<PinJointLimits> create(std::string_view name,
                                                 const kc::ks_ptr<kd::ModelManager> &mm,
                                                 const kc::ks_ptr<kd::PinSubhinge> &pin);

        /**
         * @brief Calculate and apply the restoring force to mimic joint limits.
         * @param t - Current time. Not used.
         * @param x - Current state. Not used.
         */
        void preDeriv(const km::Ktime &t, const km::Vec &x);

      private:
        /// The subhinge to apply the joint limits to
        kc::ks_ptr<kd::PinSubhinge> _pin;
    };
} // namespace Karana::Models