Program Listing for File SubhingeForceLimits.h

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

#pragma once
#include "Karana/SOADyn/KModel.h"
#include "Karana/SOADyn/Node.h"
#include "Karana/SOADyn/PhysicalSubhinge.h"

namespace Karana::Models {

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

    /**
     * @class SubhingeForceLimitsParams
     * @brief Parameters for the SubhingeForceLimits model.
     */
    class SubhingeForceLimitsParams : public KModelParams {
      public:
        /**
         * @brief Constructor
         * @param name - Name of the params.
         */
        SubhingeForceLimitsParams(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;

        /// Lower bound for the force limit
        km::Vec lower_limits;

        /// Upper bound for the force limit
        km::Vec upper_limits;
    };

    /**
     * @class SubhingeForceLimits
     * @brief Limits the generalized force that can be applied to a subhinge.
     */
    class SubhingeForceLimits : public KModel<SubhingeForceLimits, SubhingeForceLimitsParams> {
      public:
        /**
         * @brief SubhingeForceLimits constructor. The constructor is not meant to be called
         * directly. Please use the create(...) method instead to create an instance.
         *
         * The SubhingeForceLimits models actuator saturation limits for a
         * subhinge. This clamps the generalized force of the subhinge using a lower bound and upper
         * bound defined by lower_limits and upper_limits in the param.
         *
         * @param name The name of the model.
         * @param mm The ModelManager to register this model with.
         * @param sh The subhinge to add the force limits to.
         */
        SubhingeForceLimits(std::string_view name,
                            const kc::ks_ptr<kd::ModelManager> &mm,
                            const kc::ks_ptr<kd::PhysicalSubhinge> &sh);

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

        /**
         * @brief Constructor. The SubhingeForceLimits models actuator saturation limits for a
         * subhinge. This clamps the generalized force of the subhinge using a lower bound and upper
         * bound defined by lower_limits and upper_limits in the param.
         *
         * @param name The name of the model.
         * @param mm The ModelManager to register this model with.
         * @param sh The subhinge to add the force limits to.
         * @return A ks_ptr to the newly created instance of the SubhingeForceLimits model.
         */
        static kc::ks_ptr<SubhingeForceLimits> create(std::string_view name,
                                                      const kc::ks_ptr<kd::ModelManager> &mm,
                                                      const kc::ks_ptr<kd::PhysicalSubhinge> &sh);

        /**
         * @brief Calculate and apply the spring/damper force.
         *
         * @param t Current time. Not used.
         * @param x Current state. Not used.
         */
        void preDeriv(const km::Ktime &t, const km::Vec &x);

        /**
         * @brief Ensure the model is ready.
         *
         * @return `true` if the model is ready, `false` otherwise.
         */
        bool isReady() const final;

      private:
        /// The subhinge to apply force limits to.
        kc::ks_ptr<kd::PhysicalSubhinge> _sh;
    };
} // namespace Karana::Models