MobilizedBody_Custom.h

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#ifndef SimTK_SIMBODY_MOBILIZED_BODY_CUSTOM_H_
#define SimTK_SIMBODY_MOBILIZED_BODY_CUSTOM_H_

/* -------------------------------------------------------------------------- *
 *                               Simbody(tm)                                  *
 * -------------------------------------------------------------------------- *
 * This is part of the SimTK biosimulation toolkit originating from           *
 * Simbios, the NIH National Center for Physics-Based Simulation of           *
 * Biological Structures at Stanford, funded under the NIH Roadmap for        *
 * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody.  *
 *                                                                            *
 * Portions copyright (c) 2008-13 Stanford University and the Authors.        *
 * Authors: Peter Eastman, Michael Sherman                                    *
 * Contributors:                                                              *
 *                                                                            *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may    *
 * not use this file except in compliance with the License. You may obtain a  *
 * copy of the License at http://www.apache.org/licenses/LICENSE-2.0.         *
 *                                                                            *
 * Unless required by applicable law or agreed to in writing, software        *
 * distributed under the License is distributed on an "AS IS" BASIS,          *
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *
 * See the License for the specific language governing permissions and        *
 * limitations under the License.                                             *
 * -------------------------------------------------------------------------- */

#include "simbody/internal/MobilizedBody.h"

namespace SimTK {

//==============================================================================
//                        MOBILIZED BODY :: CUSTOM  
//==============================================================================
class SimTK_SIMBODY_EXPORT MobilizedBody::Custom : public MobilizedBody {
public:
    class Implementation;
    class ImplementationImpl;

    Custom() {}

    Custom(MobilizedBody& parent, Implementation* implementation, 
           const Transform& X_PF, const Body& bodyInfo, const Transform& X_BM,
           Direction direction=Forward);
    
    Custom(MobilizedBody& parent, Implementation* implementation, 
           const Body& bodyInfo, Direction direction=Forward);
 // hide from Doxygen
    SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(Custom, CustomImpl, MobilizedBody);
protected:
    const Implementation& getImplementation() const;
    Implementation&       updImplementation();

};

// We only want the template instantiation to occur once. This symbol is 
// defined in the Simbody compilation unit that defines the MobilizedBody class
// but should not be defined any other time.
#ifndef SimTK_SIMBODY_DEFINING_MOBILIZED_BODY
    extern template class PIMPLHandle<MobilizedBody::Custom::Implementation, 
                                      MobilizedBody::Custom::ImplementationImpl>;
#endif


//==============================================================================
//                  MOBILIZED BODY :: CUSTOM :: IMPLEMENTATION
//==============================================================================
class SimTK_SIMBODY_EXPORT MobilizedBody::Custom::Implementation 
  : public PIMPLHandle<Implementation,ImplementationImpl> 
{
public:
    // No default constructor because you have to supply at least the SimbodyMatterSubsystem
    // to which this MobilizedBody belongs.

    virtual ~Implementation();

    virtual Implementation* clone() const = 0;

    Implementation(SimbodyMatterSubsystem&, int nu, int nq, int nAngles=0);

    Vector getQ(const State& s) const;
    
    Vector getU(const State& s) const;

    Vector getQDot(const State& s) const;

    Vector getUDot(const State& s) const;
    
    Vector getQDotDot(const State& s) const;

    Transform getMobilizerTransform(const State& s) const;

    SpatialVec getMobilizerVelocity(const State& s) const;

    bool getUseEulerAngles(const State& s) const;

    void invalidateTopologyCache() const;



    virtual Transform calcMobilizerTransformFromQ(const State& s, int nq, const Real* q) const = 0;


    virtual SpatialVec multiplyByHMatrix(const State& s, int nu, const Real* u) const = 0;

    virtual void multiplyByHTranspose(const State& s, const SpatialVec& F, int nu, Real* f) const = 0;

    virtual SpatialVec multiplyByHDotMatrix(const State& s, int nu, const Real* u) const = 0;

    virtual void multiplyByHDotTranspose(const State& s, const SpatialVec& F, int nu, Real* f) const = 0;

    virtual void multiplyByN(const State& s, bool transposeMatrix, 
                             int nIn, const Real* in, int nOut, Real* out) const;

    virtual void multiplyByNInv(const State& s, bool transposeMatrix, 
                                int nIn, const Real* in, int nOut, Real* out) const;

    virtual void multiplyByNDot(const State& s, bool transposeMatrix, 
                                int nIn, const Real* in, int nOut, Real* out) const;

        // Methods for setting Mobilizer initial conditions. Note -- I've stripped this
        // down to the two basic routines but the built-ins have 8 so that you can 
        // specify only rotations or translations. I'm not sure that's needed here and
        // I suppose you could add more routines later if needed.
        // Eventually it might be nice to provide default implementation here that would
        // use a root finder to attempt to solve these initial condition problems. For
        // most joints there is a much more direct way to do it, and sometimes there
        // are behavioral choices to make, which is why it is nice to have mobilizer-specific
        // overrides for these.

    virtual void setQToFitTransform(const State&, const Transform& X_FM, int nq, Real* q) const;

    virtual void setUToFitVelocity(const State&, const SpatialVec& V_FM, int nu, Real* u) const;

    virtual void calcDecorativeGeometryAndAppend
       (const State& s, Stage stage, Array_<DecorativeGeometry>& geom) const
    {
    }



    virtual void realizeTopology(State&) const { }

    virtual void realizeModel(State&) const { }

    virtual void realizeInstance(const State&) const { }

    virtual void realizeTime(const State&) const { }

    virtual void realizePosition(const State&) const { }

    virtual void realizeVelocity(const State&) const { }

    virtual void realizeDynamics(const State&) const { }

    virtual void realizeAcceleration(const State&) const { }

    virtual void realizeReport(const State&) const { }

    friend class MobilizedBody::CustomImpl;
};

} // namespace SimTK

#endif // SimTK_SIMBODY_MOBILIZED_BODY_CUSTOM_H_