Program Listing for File ModalAlgorithms.h

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/**
 * @file
 * @brief Contains the declarations for various modal algorithms.
 */

#pragma once

#include "Karana/SOADyn/Algorithms.h"
#include "Karana/SOAFlexDyn/PhysicalModalBody.h"

namespace Karana::Dynamics::Algorithms {
    namespace kc = Karana::Core;

    /**
     * @brief struct for modal frequency domain analysis
     */
    struct ModalAnalysis {
        /// Modal frequencies
        km::Vec w;

        /// Mode shapes
        km::Mat phi;

        /// Equilibrium point about which the modal analysis was performed
        km::Vec q_i;

        /// CoordData associated with the modes
        kc::ks_ptr<CoordData> coord_data;

        /**
         * @brief Show the mode shape using a sine wave.
         *
         * @param mode The mode to show.
         * @param scene The ProxyScene to update when showing the mode
         * @param amplitude The amplitude of the sine wave.
         * @param steps The number of steps to take.
         * @param pause The time to sleep between steps.
         */
        void showMode(Eigen::Index mode,
                      ks::ProxyScene &scene,
                      double amplitude = 1.0,
                      Eigen::Index steps = 100,
                      const km::Ktime &pause = km::secondsToKtime(0.01));
    };

    /**
     * @brief Perform a modal analysis for the sub-tree.
     *
     * This creates a state space model of the system about the
     * current configuration, and then solves an eigenproblem to get
     * the frequencies and mode shapes.
     *
     *
     * See the \sref{gnc_algorithms_sec} section for more
     * information.
     *
     * @param mm The ModelManager whose SubTree and models will be used for the modal analysis.
     * @param tol The tolerance used to eliminate rigid-body modes.
     * @param step_size The step size to use for finite differences when performing the modal
     * analysis.
     * @return the eigen problem solution for the state space modal
     */
    ModalAnalysis modalAnalysis(ModelManager &mm,
                                double tol = 1e-3,
                                std::optional<double> step_size = std::nullopt);

    /**
     * @brief Perform a modal analysis for the provided body.
     *
     * This creates a state space model of the PhysicalModalBody about the
     * current configuration, and then solves an eigenproblem to get
     * the frequencies and mode shapes.
     *
     *
     * See the \sref{gnc_algorithms_sec} section for more
     * information.
     *
     * @param body The PhysicalModalBody to do the modal analysis for.
     * @param tol The tolerance used to eliminate rigid-body modes.
     * @param step_size The step size to use for finite differences when performing the modal
     * analysis.
     * @return the eigen problem solution for the state space modal
     */
    ModalAnalysis modalAnalysis(const kc::ks_ptr<PhysicalModalBody> &body,
                                double tol,
                                std::optional<double> step_size);

    /**
     * @brief Perform a modal analysis for the provided SubTree.
     *
     * This creates a state space model for the SubTree about the
     * current configuration, and then solves an eigenproblem to its
     * the frequencies and mode shapes.
     *
     *
     * See the \sref{gnc_algorithms_sec} section for more
     * information.
     *
     * @param subtree The SubTree to do the modal analysis for.
     * @param tol The tolerance used to eliminate rigid-body modes.
     * @param step_size The step size to use for finite differences when performing the modal
     * analysis.
     * @return the eigen problem solution for the state space modal
     */
    ModalAnalysis
    modalAnalysis(const kc::ks_ptr<SubTree> &subtree, double tol, std::optional<double> step_size);

} // namespace Karana::Dynamics::Algorithms