AssemblyCondition.h

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#ifndef SimTK_SIMBODY_ASSEMBLY_CONDITION_H_
#define SimTK_SIMBODY_ASSEMBLY_CONDITION_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) 2010-14 Stanford University and the Authors.        *
 * Authors: 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 "SimTKcommon.h"
#include "simbody/internal/common.h"
#include "simbody/internal/Assembler.h"

#include <map>

namespace SimTK {

//------------------------------------------------------------------------------
//                            ASSEMBLY CONDITION
//------------------------------------------------------------------------------
class SimTK_SIMBODY_EXPORT AssemblyCondition {
public:

explicit AssemblyCondition(const String& name) 
:   name(name), assembler(0) {}

virtual ~AssemblyCondition() {}

virtual int initializeCondition() const {return 0;}

virtual void uninitializeCondition() const {}

virtual int calcErrors(const State& state, Vector& err) const
{   return -1; }

virtual int calcErrorJacobian(const State& state, Matrix& jacobian) const
{   return -1; }

virtual int getNumErrors(const State& state) const 
{   Vector err;
    const int status = calcErrors(state, err);
    if (status == 0)
        return err.size();
    SimTK_ERRCHK1_ALWAYS(status != -1, "AssemblyCondition::getNumErrors()",
        "The default implementation of getNumErrors() depends on"
        " calcErrors() but that method was not implemented for assembly"
        " condition '%s'.", name.c_str());
    SimTK_ERRCHK2_ALWAYS(status == 0,  "AssemblyCondition::getNumErrors()",
        "The default implementation of getNumErrors() uses calcErrors()"
        " which returned status %d (assembly condition '%s').", 
        status, name.c_str());
    return -1; // NOTREACHED
}

virtual int calcGoal(const State& state, Real& goal) const
{   static Vector err;
    const int status = calcErrors(state, err);
    if (status == 0)
    {   goal = err.normSqr() / std::max(1,err.size());
        return 0; }
    SimTK_ERRCHK1_ALWAYS(status != -1, "AssemblyCondition::calcGoal()",
        "The default implementation of calcGoal() depends on calcErrors()"
        " but that method was not implemented for assembly condition '%s'.",
        name.c_str());
    SimTK_ERRCHK2_ALWAYS(status == 0,  "AssemblyCondition::calcGoal()",
        "The default implementation of calcGoal() uses calcErrors() which"
        " returned status %d (assembly condition '%s').", 
        status, name.c_str());
    return -1; // NOTREACHED
}

virtual int calcGoalGradient(const State& state, Vector& gradient) const
{   return -1; }

const char* getName() const {return name.c_str();}

bool isInAssembler() const {return assembler != 0;}
const Assembler& getAssembler() const 
{   assert(assembler); return *assembler;}
AssemblyConditionIndex getAssemblyConditionIndex() const 
{   return myAssemblyConditionIndex; }

//------------------------------------------------------------------------------
                                 protected:
//------------------------------------------------------------------------------
// These are useful when writing concrete AssemblyConditions.

int getNumFreeQs() const {return getAssembler().getNumFreeQs();}
QIndex getQIndexOfFreeQ(Assembler::FreeQIndex fx) const
{   return getAssembler().getQIndexOfFreeQ(fx); }
Assembler::FreeQIndex getFreeQIndexOfQ(QIndex qx) const
{   return getAssembler().getFreeQIndexOfQ(qx); }
const MultibodySystem& getMultibodySystem() const
{   return getAssembler().getMultibodySystem(); }
const SimbodyMatterSubsystem& getMatterSubsystem() const
{   return getMultibodySystem().getMatterSubsystem(); }

void initializeAssembler() const {
    // The Assembler will in turn invoke initializeCondition().
    if (isInAssembler()) getAssembler().initialize();
    else                 initializeCondition();
}

void uninitializeAssembler() const {
    // The Assembler will in turn invoke uninitializeCondition().
    if (isInAssembler()) getAssembler().uninitialize();
    else                 uninitializeCondition();
}

//------------------------------------------------------------------------------
                                   private:
//------------------------------------------------------------------------------
// This method is used by the Assembler when the AssemblyCondition object 
// is adopted.
friend class Assembler;
void setAssembler(const Assembler& assembler, AssemblyConditionIndex acx) {
    assert(!this->assembler);
    this->assembler = &assembler;
    this->myAssemblyConditionIndex = acx;
}

String                  name; // assembly condition name
const Assembler*        assembler;
AssemblyConditionIndex  myAssemblyConditionIndex;
};

} // namespace SimTK

#endif // SimTK_SIMBODY_ASSEMBLY_CONDITION_H_