kynema::interfaces::HostConstraints< DeviceType > Struct Template Reference

Host-side mirror of the constraint input, output, and loads for a given time increment. More...

#include <host_constraints.hpp>

Public Types
template<typename ValueType >
using	HostView = typename Kokkos::View< ValueType, DeviceType >::HostMirror

Public Member Functions
	HostConstraints (const Constraints< DeviceType > &constraints)
	Construct host state from state.
void	CopyFromConstraints (const Constraints< DeviceType > &constraints)
	Copy state data to host state.
void	CopyInputsToConstraints (Constraints< DeviceType > &constraints) const
	Set inputs in constraints from host constraints.

Public Attributes
HostView< double *[7]>	input
	Host local copy of current inputs.
HostView< double *[3]>	output
	Host local copy of current outputs.
HostView< double *[6]>	loads
	Host local copy of current loads.

Detailed Description

template<typename DeviceType>
struct kynema::interfaces::HostConstraints< DeviceType >

Host-side mirror of the constraint input, output, and loads for a given time increment.

This struct maintains host-local copies of the key constraint values used for the dynamic simulation, including:

• Input: Control inputs for the constraints [x, y, z, qw, qx, qy, qz] -> 7 x 1
• Output: Output values depending on constraint [δx, δy, δz, δqw, δqx, δqy, δqz] -> 7 x 1
• Loads: Constraint loads (Lambda) [fx, fy, fz, mx, my, mz] -> 6 x 1

Note

This struct serves as a host-side mirror of the constraint data, allowing for efficient data transfer between device and host memory. It's primarily used for the interfaces, I/O operations etc.

Member Typedef Documentation

HostView

template<typename DeviceType >

template<typename ValueType >

using kynema::interfaces::HostConstraints< DeviceType >::HostView = typename Kokkos::View<ValueType, DeviceType>::HostMirror

Constructor & Destructor Documentation

HostConstraints()

template<typename DeviceType >

kynema::interfaces::HostConstraints< DeviceType >::HostConstraints ( const Constraints< DeviceType > &  constraints )

inlineexplicit

Construct host state from state.

Member Function Documentation

CopyFromConstraints()

template<typename DeviceType >

void kynema::interfaces::HostConstraints< DeviceType >::CopyFromConstraints ( const Constraints< DeviceType > &  constraints )

inline

Copy state data to host state.

CopyInputsToConstraints()

template<typename DeviceType >

void kynema::interfaces::HostConstraints< DeviceType >::CopyInputsToConstraints ( Constraints< DeviceType > &  constraints ) const

inline

Set inputs in constraints from host constraints.

Parameters

constraints

constraints to update

Member Data Documentation

input

template<typename DeviceType >

HostView<double* [7]> kynema::interfaces::HostConstraints< DeviceType >::input

Host local copy of current inputs.

loads

template<typename DeviceType >

HostView<double* [6]> kynema::interfaces::HostConstraints< DeviceType >::loads

Host local copy of current loads.

output

template<typename DeviceType >

HostView<double* [3]> kynema::interfaces::HostConstraints< DeviceType >::output

Host local copy of current outputs.

---

The documentation for this struct was generated from the following files:

• /home/runner/work/kynema/kynema/kynema/src/interfaces/constraint_data.hpp
• /home/runner/work/kynema/kynema/kynema/src/interfaces/host_constraints.hpp