calculate_constraint_output.hpp

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#pragma once
 
#include <Kokkos_Core.hpp>
 
#include "calculate_revolute_joint_output.hpp"
#include "constraint_type.hpp"
 
namespace kynema::constraints {
 
template <typename DeviceType>
struct CalculateConstraintOutput {
    template <typename ValueType>
    using View = Kokkos::View<ValueType, DeviceType>;
    template <typename ValueType>
    using ConstView = typename View<ValueType>::const_type;
 
    ConstView<ConstraintType*> type;
    ConstView<size_t*> target_node_index;
    ConstView<double* [3][3]> axes;
    ConstView<double* [7]> node_x0;     // Initial position
    ConstView<double* [7]> node_u;      // Displacement
    ConstView<double* [6]> node_udot;   // Velocity
    ConstView<double* [6]> node_uddot;  // Acceleration
    View<double* [3]> outputs;
 
    KOKKOS_FUNCTION
    void operator()(int constraint) const {
        if (type(constraint) == ConstraintType::RevoluteJoint) {
            CalculateRevoluteJointOutput<DeviceType>{constraint, target_node_index,
                                                     axes,       node_x0,
                                                     node_u,     node_udot,
                                                     node_uddot, outputs}();
            return;
        }
    }
};
 
}  // namespace kynema::constraints