16 #ifndef SURGSIM_MATH_ODESTATE_H 17 #define SURGSIM_MATH_ODESTATE_H 61 void setNumDof(
size_t numDofPerNode,
size_t numNodes);
162 #endif // SURGSIM_MATH_ODESTATE_H size_t m_numDofPerNode
Default public copy constructor and assignment operator are being used on purpose.
Definition: OdeState.h:143
size_t m_numNodes
Definition: OdeState.h:143
std::vector< size_t > m_boundaryConditionsAsDofIds
Boundary conditions stored as a list of dof ids.
Definition: OdeState.h:152
Definition: DriveElementFromInputBehavior.cpp:27
void reset()
Resets the state.
Definition: OdeState.cpp:45
SurgSim::Math::Vector m_v
Degrees of freedom velocity (m_x 1st derivative w.r.t. time)
Definition: OdeState.h:149
SurgSim::Math::Vector & getVelocities()
Retrieves all degrees of freedom's velocity (non-const version)
Definition: OdeState.cpp:98
Eigen::Matrix< bool, Eigen::Dynamic, 1 > m_boundaryConditionsPerDof
Boundary conditions stored per dof (True indicates a boundary condition, False does not) ...
Definition: OdeState.h:155
size_t getNumNodes() const
Retrieves the number of nodes.
Definition: OdeState.cpp:78
SurgSim::Math::Vector m_x
Degrees of freedom position.
Definition: OdeState.h:146
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dynamic size matrix.
Definition: Matrix.h:65
void applyBoundaryConditionsToMatrix(Matrix *matrix, bool hasCompliance=true) const
Apply boundary conditions to a given matrix.
Definition: OdeState.cpp:170
~OdeState()
Destructor.
Definition: OdeState.cpp:31
OdeState defines the state y of an ode of 2nd order of the form M(x,v).a = F(x, v) with boundary cond...
Definition: OdeState.h:34
const std::vector< size_t > & getBoundaryConditions() const
Retrieves all boundary conditions.
Definition: OdeState.cpp:145
bool operator==(const OdeState &state) const
Comparison operator (equality test)
Definition: OdeState.cpp:35
const SurgSim::Math::Vector3d getPosition(size_t nodeId) const
Retrieves the position of a given node (const version)
Definition: OdeState.cpp:93
Eigen::Matrix< double, Eigen::Dynamic, 1 > Vector
A dynamic size column vector.
Definition: Vector.h:67
bool isBoundaryCondition(size_t dof) const
Queries if a specific dof is a boundary condition or not.
Definition: OdeState.cpp:150
Vector * applyBoundaryConditionsToVector(Vector *vector) const
Apply boundary conditions to a given vector.
Definition: OdeState.cpp:155
bool operator!=(const OdeState &state) const
Comparison operator (difference test)
Definition: OdeState.cpp:40
bool isValid() const
Check if this state is numerically valid.
Definition: OdeState.cpp:194
Definitions of small fixed-size square matrix types.
Definitions of small fixed-size vector types.
size_t getNumBoundaryConditions() const
Retrieves the number of boundary conditions.
Definition: OdeState.cpp:140
void addBoundaryCondition(size_t nodeId)
Adds boundary conditions for a given node (fixes all the dof for this node)
Definition: OdeState.cpp:113
void setNumDof(size_t numDofPerNode, size_t numNodes)
Allocates the state for a given number of degrees of freedom.
Definition: OdeState.cpp:53
OdeState()
Default constructor.
Definition: OdeState.cpp:27
SurgSim::Math::Vector & getPositions()
Retrieves all degrees of freedom's position (non-const version)
Definition: OdeState.cpp:83
Eigen::Matrix< double, 3, 1 > Vector3d
A 3D vector of doubles.
Definition: Vector.h:56
size_t getNumDof() const
Retrieves the number of degrees of freedom.
Definition: OdeState.cpp:68
const SurgSim::Math::Vector3d getVelocity(size_t nodeId) const
Retrieves the velocity of a given node (const version)
Definition: OdeState.cpp:108