Program Listing for File SubhingeSpringDamper.h

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

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

        /// Setpoint for the subhinge
        km::Vec setpoint;

        /// Spring constant
        double k;

        /// Damper constant
        double d;
    };

    /**
     * @class SubhingeSpringDamper
     * @brief Adds a spring damper to the provided subhinge.
     */
    class SubhingeSpringDamper : public KModel<SubhingeSpringDamper, SubhingeSpringDamperParams> {
      public:
        /**
         * @brief SubhingeSpringDamper constructor. The constructor is not meant to be called
         * directly. Please use the create(...) method instead to create an instance. The
         * SubhingeSpringDamper model a spring damper force to a subhinge based on a given setpoint.
         *
         * @param name The name of the model.
         * @param mm The ModelManager to register this model with.
         * @param sh The subhinge to add the spring damper to.
         */
        SubhingeSpringDamper(std::string_view name,
                             const kc::ks_ptr<kd::ModelManager> &mm,
                             const kc::ks_ptr<kd::PhysicalSubhinge> &sh);

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

        /**
         * @brief Constructor. The SubhingeSpringDamper model a spring damper force to a subhinge
         *        based on a given setpoint.
         *
         * @param name The name of the model.
         * @param mm The ModelManager to register this model with.
         * @param sh The subhinge to add the spring damper to.
         * @return A ks_ptr to the newly created instance of the SubhingeSpringDamper model.
         */
        static kc::ks_ptr<SubhingeSpringDamper> 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 first node of the spring-damper.
        kc::ks_ptr<kd::PhysicalSubhinge> _sh;
    };
} // namespace Karana::Models