Program Listing for File CECompoundBody.h#
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/**
* @file
* @brief Contains the declarations for the CECompoundBody class.
*/
#pragma once
#include "Karana/SOADyn/CompoundBody.h"
#include <vector>
namespace Karana::Dynamics {
namespace kc = Karana::Core;
class CoordData;
class SubGraph;
class ConstraintKinematicsSolver;
class MultiJacobianGenerator;
class PhysicalSubhinge;
class CoordinateConstraint;
class CELoopKinematicsBase;
class CECompoundBody;
/**
* @class CECompoundBodyVars
* @brief The Vars for the CECompoundBody class.
*/
// class CECompoundBodyVars : public Karana::Core::BaseVars {
class CECompoundBodyVars : public CompoundBodyVars {
public:
/**
* @brief CECompoundBodyVars constructor. The constructor is not meant to be
* called directly. Please use the create(...) method instead to create
* an instance.
*
* @param body The body associated with this CECompoundBodyVars.
*/
CECompoundBodyVars(const kc::ks_ptr<CECompoundBody> &body);
/**
* @brief Destructor.
*/
~CECompoundBodyVars();
/**
* @brief Create an instance of the CECompoundBodyVars.
*
* @param body The body associated with this CECompoundBodyVars.
* @returns A pointer to the newly created instance of PhysicalBodyVars.
*/
static kc::ks_ptr<CECompoundBodyVars> create(const kc::ks_ptr<CECompoundBody> &body);
/**
* @brief Get all the Vars that this VarHolder has.
*
* @returns A map of Vars, where the Var name is the key and the Var is the value.
*/
kc::NestedVars getAllVars() const override;
/// independent Q coord indices
kc::ks_ptr<Karana::Core::Var_T<km::VecInt>>
indep_indices_Q; // NOLINT(readability-identifier-naming)
/// independent U coord indices
kc::ks_ptr<Karana::Core::Var_T<km::VecInt>>
indep_indices_U; // NOLINT(readability-identifier-naming)
/// dependent Q coord indices
kc::ks_ptr<Karana::Core::Var_T<km::VecInt>>
dep_indices_Q; // NOLINT(readability-identifier-naming)
/// dependent U coord indices
kc::ks_ptr<Karana::Core::Var_T<km::VecInt>>
dep_indices_U; // NOLINT(readability-identifier-naming)
};
/**
* @class CECompoundBody
* @brief Represents a compound body with embedded constraints (for constraint embedding)
*
* This class is for compound bodies with embedded constraints
*/
class CECompoundBody : public CompoundBody {
/* to get access to _toDependentQ() etc */
friend class CECompoundSubhinge;
// for vars
friend class CECompoundBodyVars;
public:
/**
* @brief Return the indices of the independent Q coordinates.
* @return the independent Q coordinate indices
*/
const km::VecInt &getIndependentIndicesU() const;
/**
* @brief Return the indices of the independent U coordinates.
* @return the independent U coordinate indices
*/
const km::VecInt &getIndependentIndicesQ() const;
#if 1
/**
* @brief Set the independent Q and U coordinate indices.
*
* If the Q indices are unspecified, they are assumed to be the
* same as the U indices.
*
* @param indep_indices_U the independent U coordinate indices
* @param indep_indices_Q the independent Q coordinate indices
*/
void setIndependentIndices(
const km::VecInt &indep_indices_U, // NOLINT(readability-identifier-naming)
// Note that clang-format pushes down the linter comment,
// so we disable it just for this line
// clang-format off
const km::VecInt
&indep_indices_Q = {} // NOLINT(readability-identifier-naming)
// clang-format on
);
#endif
public:
/**
* @brief Constructs a CECompoundBody with list of independent bodies
*
* @param name instance name
* @param parent_subtree the parent SubGraph this the body will belong to
* @param component_bodies SubGraph with bodies being embedded
* @param indep_bodies the bodies whose coordinates should be independent
* @returns a CECompoundBody instance
*/
static kc::ks_ptr<CECompoundBody>
create(std::string_view name,
kc::ks_ptr<SubGraph> parent_subtree,
kc::ks_ptr<SubGraph> component_bodies,
const std::vector<kc::ks_ptr<PhysicalBody>> &indep_bodies);
/**
* @brief Constructs a CECompoundBody with list of independent coord indices
*
* The option of specifying independent coordinates at the
* indices level gives finer-grain control than the other
* create() method. Also, this method allows specifying
* different values for the independent Q and U coordinates. The
* U coordinates are used if the Q list is empty. If empty
* indices are specified, then the required number of
* independent coordinate indices will be auto picked.
*
* @param name instance name
* @param parent_subtree the parent SubGraph this the body will belong to
* @param component_bodies SubGraph with bodies being embedded
* @param indep_indices_U the list of independent U coordinate indices
* @param indep_indices_Q the list of independent Q coordinate indices
* @returns a CECompoundBody instance
*/
static kc::ks_ptr<CECompoundBody>
create(std::string_view name,
kc::ks_ptr<SubGraph> parent_subtree,
kc::ks_ptr<SubGraph> component_bodies,
const km::VecInt &indep_indices_U, // NOLINT(readability-identifier-naming)
const km::VecInt &indep_indices_Q // NOLINT(readability-identifier-naming)
= {});
/**
* @brief Destructor.
*/
virtual ~CECompoundBody();
/**
* @brief Constructs a CECompoundBody with list of independent
* bodies. The constructor is not meant to be called
* directly. Please use the create(...) method instead
* to create an instance one of the classes derived from
* this.
*
* @param name instance name
* @param parent_sg the parent SubGraph this the body will belong to
* @param bodies_sg SubGraph with bodies being embedded
* @param indep_indices_U the list of independent U coordinate indices
* @param indep_indices_Q the list of independent Q coordinate indices
*/
CECompoundBody(std::string_view name,
kc::ks_ptr<SubGraph> parent_sg,
kc::ks_ptr<SubGraph> bodies_sg,
const km::VecInt &indep_indices_U, // NOLINT(readability-identifier-naming)
const km::VecInt &indep_indices_Q // NOLINT(readability-identifier-naming)
= {});
/**
* @brief Constructs a CECompoundBody with list of independent
* coord indices. The constructor is not meant to be
* called directly. Please use the create(...) method
* instead to create an instance one of the classes
* derived from this.
*
* @param name instance name
* @param parent_sg the parent SubGraph this the body will belong to
* @param bodies_sg SubGraph with bodies being embedded
* @param indep_bodies the bodies whose coordinates should be independent
*/
CECompoundBody(std::string_view name,
kc::ks_ptr<SubGraph> parent_sg,
kc::ks_ptr<SubGraph> bodies_sg,
const std::vector<kc::ks_ptr<PhysicalBody>> &indep_bodies);
std::string
dumpString(std::string_view prefix = "",
const Karana::Core::Base::DumpOptions *options = nullptr) const override;
/** @brief Return the CELoopKinematicsSolver for the compound body
* @return the CE loop solver
*/
kc::ks_ptr<CELoopKinematicsBase> loopSolver() const { return _ce_loop_solver; }
/**
* @brief Get the vars member as a CECompoundBodyVars
*
* @return The CECompoundBodyVars for this CECompoundBody.
*/
const CECompoundBodyVars &getVars() const override;
protected:
void _discard(Karana::Core::ks_ptr<Karana::Core::Base> &base) override;
kc::ks_ptr<CompoundSubhinge> _createSubhinge(kc::ks_ptr<CompoundHinge> hinge) override;
/** @brief Return the X matrix that maps the min independent U to the
dependent U (without constraint dofs) for the compound body
* @return the non-constraint X matrix
*/
km::Mat _matX() const;
/** Return the X matrix that maps the min independent U to the
full U (independent, dependent, constraint dofs) for the
compound body
* @returns the full constraint X matrix
*/
const km::Mat &_constraintX() const;
/** Return the Xdot*U product vector where Xdot is the time derivative
of the X constraint matrix
* @returns the Xdot*U product
*/
const km::Vec &_constraintXdotU() const;
/** @brief Get the f' values from tree forward dynamics for all of the
embedded bodies stacked into a single vector
* @return the stacked vector with f' values
*/
km::Vec _getFprimeTreeFwdDyn() const override;
protected:
/** the data cache for the constraint X matrix */
kc::ks_ptr<kc::DataCache<km::Mat>> _cache_constraintX = nullptr;
/** the data cache for the constraint Xdot*U product */
kc::ks_ptr<kc::DataCache<km::Vec>> _cache_XdotU = nullptr;
/** The CE loop constraints solver for the compound body */
kc::ks_ptr<CELoopKinematicsBase> _ce_loop_solver = nullptr;
};
} // namespace Karana::Dynamics