Program Listing for File SubhingeBase.h

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

#pragma once

#include "Karana/SOADyn/CoordBase.h"
#include "Karana/SOADyn/Defs.h"

namespace Karana::Dynamics {

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

    class HingeBase;
    class CoordData;

    /**
     * @class SubhingeBase
     * @brief Represents the abstract base class for articulation subhinges
     *
     * This class is the base class for subhinges from which physical
     * and compound subhinge classes are derived. See \sref{subhinges_sec}
     * for more discussion about subhinges.
     */
    class SubhingeBase : public CoordBase {

        /* for access to _parent_hinge member */
        friend class HingeOnode;
        friend class PhysicalHinge;

        // For access to isOriented.
        friend class CompoundSubhinge;

      public:
        /**
         * @brief SubhingeBase destructor.
         */
        virtual ~SubhingeBase();

        /**
         * @brief Returns the type string of the object.
         *
         * @param brief if true, return the short form of the class type name, else the full type
         *        name
         * @return The type string.
         */
        std::string_view typeString(bool brief = true) const noexcept = 0;

        /**
         * @brief Helper method to return the subhinge type
         *
         * @return the subhinge type
         */
        virtual SubhingeType subhingeType() const = 0;

        /**
         * @brief Helper method to return the string name for a SubhingeType subhinge type
         *
         * @param shtype the subhinge type
         * @return the subhinge type as a string
         */
        static std::string subhingeTypeString(SubhingeType shtype);

        /**
         * @brief Set the prescribed flag for the subhinge
         * @param flag the enable/disable flag
         */
        virtual void setPrescribed(bool flag) { _prescribed = flag; }

        /**
         * @brief Return the prescribed flag for the subhinge
         * @return the prescribed mode status
         */
        bool getPrescribed() const { return _prescribed; }

        /**
         * @brief Return the parent hinge for the subhinge
         * @return the PhysicalHinge parent hinge
         */
        const kc::ks_ptr<HingeBase> &parentHinge() const { return _parent_hinge; }

      protected:
        /**
         * @brief Constructs a SubhingeBase.
         * @param nm the name for the subhinge
         * @param id the id for the subhinge
         * @param hge the parent hinge
         */
        SubhingeBase(std::string_view nm, kc::id_t id, kc::ks_ptr<HingeBase> hge);

      protected:
        /** the parent hinge */
        kc::ks_ptr<HingeBase> _parent_hinge = nullptr;

        /** flag indicating whether the subhinge is prescribed */
        bool _prescribed = false;
    };

} // namespace Karana::Dynamics