Program Listing for File CECompoundSubhinge.h

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

#pragma once

#include "Karana/SOADyn/CompoundSubhinge.h"

namespace Karana::Dynamics {

    namespace kc = Karana::Core;
    namespace km = Karana::Math;

    class CompoundHinge;
    class CompoundBody;
    class PhysicalBody;

    /**
     * @class CECompoundSubhinge
     * @brief Represents the articulation subhinge class for compound body subhinge with embedded
     * constraints
     */
    class CECompoundSubhinge : public CompoundSubhinge {

        /* for access to _setNu() */
        friend class CECompoundBody;

      public:
        /**
         * @brief Destructor.
         */
        virtual ~CECompoundSubhinge();

        void setQ(const Eigen::Ref<const km::Vec> &val) override;

        void setU(const Eigen::Ref<const km::Vec> &val) override;

        const km::Vec &getQ() const override;

        const km::Vec &getU() const override;

        void setT(const Eigen::Ref<const km::Vec> &val) override;

        const km::Vec &getT() const override;

        void setUdot(const Eigen::Ref<const km::Vec> &val) override;

        const km::Vec &getUdot() const override;

        const km::Vec &getQdot() const override;

        /**
         * @brief Constructs a CECompoundSubhinge

         * @param hge the parent compound hinge
         * @param indep_n_u the number U velocity coordinates
         * @param indep_n_q the number Q generalized coordinates
         */
        CECompoundSubhinge(kc::ks_ptr<CompoundHinge> hge, size_t indep_n_u, size_t indep_n_q);

      protected:
        void _localChartSetQ(const Eigen::Ref<const km::Vec> &val) override;
        const km::Vec &_localChartGetQ() const override;

        void _discard(Karana::Core::ks_ptr<Karana::Core::Base> &base) override;

        km::Vec _getHingeXdotU(PhysicalHinge &hge) const override;

        const km::Mat atbiCoordMapMatrix() const override;

        km::Mat _jacobian(const kf::FrameToFrame &f2f) const override;

        km::Mat _jacobianDot(const kf::FrameToFrame &f2f) const override;

      protected:
        /** local variable for the intermediate coord map matrix with
              columns for the dependent coordinates as well. This matrix is
              post multiplied by X to get the actual coord map matrix for
              this CE subhinge */
        mutable km::Mat _dependent_coord_map_matrix;

      protected:
        /** keep track of the size of the dependent coords nU */
        size_t _dependents_nU = 0;

        // need these because the getQ() etc methods need to return references

        /// Vector for storing getQ
        mutable km::Vec _getQ_min_cache;

        /// Vector for storing getQdot
        mutable km::Vec _getQdot_min_cache;

        /// Vector for storing getU
        mutable km::Vec _getU_min_cache;

        /// Vector for storing getUdot
        mutable km::Vec _getUdot_min_cache;

        /// Vector for storing getT
        mutable km::Vec _getT_min_cache;
    };

} // namespace Karana::Dynamics