Program listing for file kernel/src/modelingTools/NewtonEulerDS.hpp

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#ifndef NEWTONEULERNLDS_H
#define NEWTONEULERNLDS_H

#include "DynamicalSystem.hpp"
#include "SecondOrderDS.hpp"
#include "BoundaryCondition.hpp"


typedef void (*FInt_NE)(double t, double* q, double* v, double *f, unsigned int size_z,  double* z);
typedef void (*FExt_NE)(double t, double* f, unsigned int size_z, double *z);

void computeT(SP::SiconosVector q, SP::SimpleMatrix T);


void computeExtForceAtPos(SP::SiconosVector q, bool isMextExpressedInInertialFrame,
                          SP::SiconosVector force, bool forceAbsRef,
                          SP::SiconosVector pos, bool posAbsRef,
                          SP::SiconosVector fExt, SP::SiconosVector mExt,
                          bool accumulate);


class NewtonEulerDS : public SecondOrderDS
{
protected:

  ACCEPT_SERIALIZATION(NewtonEulerDS);


  void _init();




  SP::SiconosVector _twist;


  SP::SiconosVector _twist0;


  SP::SiconosVector _q;


  unsigned int _qDim;


  SP::SiconosVector _dotq;


  SP::SiconosVector _acceleration;


  SiconosMemory _twistMemory;
  SiconosMemory _qMemory;
  SiconosMemory _forcesMemory;
  SiconosMemory _dotqMemory;


  SP::SiconosMatrix _I;


  double _scalarMass;


  SP::SimpleMatrix _T;


  SP::SimpleMatrix _Tdot;


  SP::SiconosVector _fExt;


  bool _hasConstantFExt;


  SP::SiconosVector _fInt;


  SP::SiconosVector _mExt;


  bool _hasConstantMExt;


  bool _isMextExpressedInInertialFrame;





  SP::SiconosVector _mInt;


  SP::SimpleMatrix _jacobianFIntq;


  SP::SimpleMatrix _jacobianFInttwist;


  SP::SimpleMatrix _jacobianMIntq;


  SP::SimpleMatrix _jacobianMInttwist;


  SP::SimpleMatrix _jacobianMExtq;


  SP::SiconosVector _mGyr;


  SP::SimpleMatrix _jacobianMGyrtwist;



  SP::SiconosVector _wrench;


  SP::SimpleMatrix _jacobianWrenchq;


  SP::SimpleMatrix _jacobianWrenchTwist;



  bool _nullifyMGyr;


  bool _computeJacobianFIntqByFD;


  bool _computeJacobianFInttwistByFD;


  bool _computeJacobianMIntqByFD;


  bool _computeJacobianMInttwistByFD;


  double _epsilonFD;


  SP::PluggedObject _pluginFExt;


  SP::PluggedObject _pluginMExt;


  SP::PluggedObject _pluginFInt;


  SP::PluggedObject _pluginMInt;








  SP::PluggedObject _pluginJacqFInt;


  SP::PluggedObject _pluginJactwistFInt;


  SP::PluggedObject _pluginJacqMInt;



  SP::PluggedObject _pluginJactwistMInt;



  enum NewtonEulerDSRhsMatrices {jacobianXBloc00, jacobianXBloc01, jacobianXBloc10, jacobianXBloc11, zeroMatrix, zeroMatrixqDim, numberOfRhsMatrices};


  VectorOfSMatrices _rhsMatrices;




  NewtonEulerDS();


  void _zeroPlugin();

public:




  NewtonEulerDS(SP::SiconosVector position,
                SP::SiconosVector twist,
                double mass,
                SP::SiconosMatrix inertia);


  virtual ~NewtonEulerDS();





  void resetToInitialState();


  void initRhs(double time) ;


  void initializeNonSmoothInput(unsigned int level) ;


  virtual void computeRhs(double time);


  virtual void computeJacobianRhsx(double time);


  void resetAllNonSmoothParts();


  void resetNonSmoothPart(unsigned int level);



  inline SP::SiconosVector forces() const
  {
    return _wrench;
  }





  inline SP::SiconosMatrix jacobianqForces() const
  {
    return _jacobianWrenchq;
  }


  inline SP::SiconosMatrix jacobianvForces() const
  {
    return _jacobianWrenchTwist;
  }







  virtual inline unsigned int getqDim() const
  {
    return _qDim;
  }




  inline SP::SiconosVector q() const
  {
    return _q;
  }


  virtual void setQ(const SiconosVector& newValue);


  virtual void setQPtr(SP::SiconosVector newPtr);


  void setQ0(const SiconosVector& newValue);


  void setQ0Ptr(SP::SiconosVector newPtr);




  inline SP::SiconosVector twist() const
  {
    return _twist;
  }


  inline SP::SiconosVector velocity() const
  {
    return _twist;
  }

  inline SP::SiconosVector twist0() const
  {
    return _twist0;
  }

  inline SP::SiconosVector velocity0
  () const
  {
    return _twist0;
  }

  void setVelocity(const SiconosVector& newValue);


  void setVelocityPtr(SP::SiconosVector newPtr) ;


  void setVelocity0(const SiconosVector& newValue);


  void setVelocity0Ptr(SP::SiconosVector newPtr) ;


  SP::SiconosVector acceleration() const
  {
    return _acceleration;
  };


  virtual void computeMass() {};


  virtual void computeMass(SP::SiconosVector position) {};


  SP::SiconosVector linearVelocity(bool absoluteRef) const;


  void linearVelocity(bool absoluteRef, SiconosVector &v) const;


  SP::SiconosVector angularVelocity(bool absoluteRef) const;


  void angularVelocity(bool absoluteRef, SiconosVector &w) const;









  inline double scalarMass() const
  {
    return _scalarMass;
  };


  void setScalarMass(double mass)
  {
    _scalarMass = mass;
    updateMassMatrix();
  };


  SP::SiconosMatrix inertia()
  {
    return _I;
  };


  void setInertia(SP::SiconosMatrix newInertia)
  {
    _I = newInertia;
    updateMassMatrix();
  }


  void setInertia(double ix, double iy, double iz);


  void updateMassMatrix();



  inline SP::SiconosVector fExt() const
  {
    return _fExt;
  }


  inline void setFExtPtr(SP::SiconosVector newPtr)
  {
    _fExt = newPtr;
    _hasConstantFExt = true;
  }


  inline void setMExtPtr(SP::SiconosVector newPtr)
  {
    _mExt = newPtr;
    _hasConstantMExt = true;
  }


  inline SP::SiconosVector mGyr() const
  {
    return _mGyr;
  }

  inline SP::SimpleMatrix T()
  {
    return _T;
  }
  inline SP::SimpleMatrix Tdot()
  {
    assert(_Tdot);
    return _Tdot;
  }

  inline SP::SiconosVector dotq()
  {
    return _dotq;
  }







  inline const SiconosMemory& qMemory()
  {
    return _qMemory;
  }



  inline const SiconosMemory& twistMemory()
  {
    return _twistMemory;
  }

  inline const SiconosMemory& velocityMemory()
  {
    return _twistMemory;
  }


  void initMemory(unsigned int steps);


  void swapInMemory();

  inline const SiconosMemory& forcesMemory()
  {
    return _forcesMemory;
  }

  inline const SiconosMemory& dotqMemory()
  {
    return _dotqMemory;
  }








  double computeKineticEnergy();




  void display(bool brief = true) const;



  inline void setIsMextExpressedInInertialFrame(bool value)
  {
    _isMextExpressedInInertialFrame= value;
    if(!_jacobianMExtq)
      _jacobianMExtq.reset(new SimpleMatrix(3, _qDim));
    if(!_jacobianWrenchq)
      _jacobianWrenchq.reset(new SimpleMatrix(_ndof, _qDim));
  }

  inline void setNullifyMGyr(bool value)
  {
    _nullifyMGyr = value;
  }

  virtual void normalizeq();


  void init_inverse_mass();


  void update_inverse_mass();








  inline void setComputeJacobianFIntqByFD(bool value)
  {
    _computeJacobianFIntqByFD=value;
  }
  inline void setComputeJacobianFIntvByFD(bool value)
  {
    _computeJacobianFInttwistByFD=value;
  }
  inline void setComputeJacobianMIntqByFD(bool value)
  {
    _computeJacobianMIntqByFD=value;
  }
  inline void setComputeJacobianMIntvByFD(bool value)
  {
    _computeJacobianMInttwistByFD=value;
  }



  void setComputeFExtFunction(const std::string&  pluginPath, const std::string& functionName)
  {
    _pluginFExt->setComputeFunction(pluginPath, functionName);
    if(!_fExt)
      _fExt.reset(new SiconosVector(3, 0));
    _hasConstantFExt = false;
  }

  void setComputeMExtFunction(const std::string&  pluginPath, const std::string& functionName)
  {
    _pluginMExt->setComputeFunction(pluginPath, functionName);
    if(!_mExt)
      _mExt.reset(new SiconosVector(3, 0));
    _hasConstantMExt = false;
  }


  void setComputeFExtFunction(FExt_NE fct)
  {
    _pluginFExt->setComputeFunction((void*)fct);
    if(!_fExt)
      _fExt.reset(new SiconosVector(3, 0));
    _hasConstantFExt = false;
  }


  void setComputeMExtFunction(FExt_NE fct)
  {
    _pluginMExt->setComputeFunction((void*)fct);
    if(!_mExt)
      _mExt.reset(new SiconosVector(3, 0));
    _hasConstantMExt = false;
  }


  void setComputeFIntFunction(const std::string&  pluginPath, const std::string& functionName)
  {
    _pluginFInt->setComputeFunction(pluginPath, functionName);
    if(!_fInt)
      _fInt.reset(new SiconosVector(3, 0));
  }

  void setComputeMIntFunction(const std::string&  pluginPath, const std::string& functionName)
  {
    _pluginMInt->setComputeFunction(pluginPath, functionName);
    if(!_mInt)
      _mInt.reset(new SiconosVector(3, 0));
  }


  void setComputeFIntFunction(FInt_NE fct)
  {
    _pluginFInt->setComputeFunction((void*)fct);
    if(!_fInt)
      _fInt.reset(new SiconosVector(3, 0));
  }


  void setComputeMIntFunction(FInt_NE fct)
  {
    _pluginMInt->setComputeFunction((void*)fct);
    if(!_mInt)
      _mInt.reset(new SiconosVector(3, 0));
  }


  void setComputeJacobianFIntqFunction(const std::string&  pluginPath, const std::string&  functionName);


  void setComputeJacobianFIntvFunction(const std::string&  pluginPath, const std::string&  functionName);


  void setComputeJacobianFIntqFunction(FInt_NE fct);


  void setComputeJacobianFIntvFunction(FInt_NE fct);


  void setComputeJacobianMIntqFunction(const std::string&  pluginPath, const std::string&  functionName);

  void setComputeJacobianMIntvFunction(const std::string&  pluginPath, const std::string&  functionName);


  void setComputeJacobianMIntqFunction(FInt_NE fct);


  void setComputeJacobianMIntvFunction(FInt_NE fct);


  virtual void computeFExt(double time);


  virtual void computeFExt(double time, SP::SiconosVector fExt);


  virtual void computeMExt(double time, SP::SiconosVector mExt);

  virtual void computeMExt(double time);


  void addExtForceAtPos(SP::SiconosVector force, bool forceAbsRef,
                        SP::SiconosVector pos = SP::SiconosVector(),
                        bool posAbsRef = false);

  void computeJacobianMExtqExpressedInInertialFrameByFD(double time, SP::SiconosVector q);
  void computeJacobianMExtqExpressedInInertialFrame(double time, SP::SiconosVector q);





  void computeFInt(double time, SP::SiconosVector q, SP::SiconosVector v);


  virtual void computeFInt(double time, SP::SiconosVector q, SP::SiconosVector v, SP::SiconosVector fInt);


  void computeMInt(double time, SP::SiconosVector q, SP::SiconosVector v);


  virtual void computeMInt(double time, SP::SiconosVector q, SP::SiconosVector v, SP::SiconosVector mInt);


  virtual void updatePlugins(double time) {};


  void init_forces();


  virtual void computeForces(double time);


  virtual void computeForces(double time,
                             SP::SiconosVector q,
                             SP::SiconosVector twist);


  virtual void computeJacobianqForces(double time);


  virtual void computeJacobianvForces(double time);



  virtual void computeMGyr(SP::SiconosVector twist);


  virtual void computeMGyr(SP::SiconosVector twist, SP::SiconosVector mGyr);



  virtual void computeJacobianMGyrtwist(double time);


  virtual void computeJacobianMGyrtwistByFD(double time, SP::SiconosVector q, SP::SiconosVector twist);







  void computeJacobianFIntq(double time);


  void computeJacobianFIntv(double time);


  virtual void computeJacobianFIntq(double time,
                                    SP::SiconosVector position,
                                    SP::SiconosVector twist);

  void computeJacobianFIntqByFD(double time,
                                SP::SiconosVector position,
                                SP::SiconosVector twist);



  virtual void computeJacobianFIntv(double time,
                                    SP::SiconosVector position,
                                    SP::SiconosVector twist);


  void computeJacobianFIntvByFD(double time,
                                SP::SiconosVector position,
                                SP::SiconosVector twist);



  virtual void computeJacobianMIntq(double time);


  virtual void computeJacobianMIntv(double time);


  virtual void computeJacobianMIntq(double time,
                                    SP::SiconosVector position,
                                    SP::SiconosVector twist);


  void computeJacobianMIntqByFD(double time,
                                SP::SiconosVector position,
                                SP::SiconosVector twist);





  virtual void computeJacobianMIntv(double time,
                                    SP::SiconosVector position,
                                    SP::SiconosVector twist);


  void computeJacobianMIntvByFD(double time,
                                SP::SiconosVector position,
                                SP::SiconosVector twist);

   virtual void computeT();

  virtual void computeTdot();




  ACCEPT_STD_VISITORS();

};
#endif