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Program listing for file mechanics/src/collision/native/bodies/DiskMovingPlanR.hpp

Program listing for file mechanics/src/collision/native/bodies/DiskMovingPlanR.hpp#

  1#ifndef DiskMovingPlanR_h
  2#define DiskMovingPlanR_h
  3
  4#include "MechanicsFwd.hpp"
  5#include "LagrangianRheonomousR.hpp"
  6#include "PluggedObject.hpp"
  7
  8typedef double(*FTime)(double);
  9
 10
 11#define COMPUTE(X) \
 12  { if (_##X##Function->fPtr) _##X=((FTime)(_##X##Function->fPtr))(t); else _##X=0.; }
 13
 14
 15
 16class DiskMovingPlanR : public LagrangianRheonomousR,
 17  public std::enable_shared_from_this<DiskMovingPlanR>
 18{
 19private:
 20
 21  ACCEPT_SERIALIZATION(DiskMovingPlanR);
 22
 23  double _time, _A, _B, _C, _ADot, _BDot, _CDot, _sqrA2pB2, _r, _AADot, _BBDot, _cubsqrA2pB2;
 24
 25
 26  SP::PluggedObject _AFunction{nullptr};
 27  SP::PluggedObject _BFunction{nullptr};
 28  SP::PluggedObject _CFunction{nullptr};
 29
 30  SP::PluggedObject _ADotFunction{nullptr};
 31  SP::PluggedObject _BDotFunction{nullptr};
 32  SP::PluggedObject _CDotFunction{nullptr};
 33
 34  DiskMovingPlanR() : LagrangianRheonomousR() {};
 35
 36public:
 37
 38  DiskMovingPlanR(FTime, FTime, FTime, FTime, FTime, FTime, double);
 39
 40  ~DiskMovingPlanR() noexcept = default;
 41
 42  void init(double);
 43
 44
 45  void computeh(double time, const BlockVector& q, BlockVector& z, SiconosVector& y);
 46
 47
 48  void computeJachq(double time, const BlockVector& q, BlockVector& z);
 49
 50
 51  void computehDot(double time, const BlockVector& q, BlockVector& z);
 52
 53  double distance(double, double, double);
 54
 55  void setComputeAFunction(FTime f)
 56  {
 57    _AFunction.reset(new PluggedObject());
 58    _AFunction->setComputeFunction((void*) f);
 59  }
 60
 61  void setComputeBFunction(FTime f)
 62  {
 63    _BFunction.reset(new PluggedObject());
 64    _BFunction->setComputeFunction((void*) f);
 65  }
 66
 67  void setComputeCFunction(FTime f)
 68  {
 69    _CFunction.reset(new PluggedObject());
 70    _CFunction->setComputeFunction((void*) f);
 71  }
 72
 73  void setComputeADotFunction(FTime f)
 74  {
 75    _ADotFunction.reset(new PluggedObject());
 76    _ADotFunction->setComputeFunction((void*) f);
 77  }
 78
 79  void setComputeBDotFunction(FTime f)
 80  {
 81    _BDotFunction.reset(new PluggedObject());
 82    _BDotFunction->setComputeFunction((void*) f);
 83  }
 84
 85  void setComputeCDotFunction(FTime f)
 86  {
 87    _CDotFunction.reset(new PluggedObject());
 88    _CDotFunction->setComputeFunction((void*) f);
 89  }
 90
 91  bool equal(FTime, FTime, FTime, double) const;
 92
 93
 94  void computeA(double t)
 95  COMPUTE(A)
 96
 97
 98  void computeB(double t)
 99  COMPUTE(B)
100
101
102  void computeC(double t)
103  COMPUTE(C)
104
105
106  inline void computeADot(double t)
107  COMPUTE(ADot)
108
109
110  inline void computeBDot(double t)
111  COMPUTE(BDot)
112
113
114
115  inline void computeCDot(double t)
116  COMPUTE(CDot)
117
118  ACCEPT_VISITORS();
119
120
121};
122#undef COMPUTE
123
124#endif