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

Host-side mirror of the simulation state for a given time increment. More...

#include <host_state.hpp>

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

Public Member Functions
	HostState (const State< DeviceType > &state)
	Construct host state from state.
void	CopyFromState (const State< DeviceType > &state) const
	Copy state data to host state.

Public Attributes
HostView< double *[7]>	x
	Host local copy of current position.
HostView< double *[7]>	q
	Host local copy of current displacement.
HostView< double *[6]>	v
	Host local copy of current velocity.
HostView< double *[6]>	vd
	Host local copy of current acceleration.
HostView< double *[6]>	f
	Host local copy of external forces.

Detailed Description

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

Host-side mirror of the simulation state for a given time increment.

This struct maintains host-local copies of the key state variables required for the dynamic simulation, including:

• Position: Current position and orientation [x, y, z, qw, qx, qy, qz] -> 7 x 1
• Displacement: Current displacement and rotation [δx, δy, δz, δqw, δqx, δqy, δqz] -> 7 x 1
• Velocity: Current linear and angular velocities [vx, vy, vz, wx, wy, wz] -> 6 x 1
• Acceleration: Current linear and angular accelerations [ax, ay, az, αx, αy, αz] -> 6 x 1

Note

This struct serves as a host-side mirror of the device state, 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::HostState< DeviceType >::HostView = typename Kokkos::View<ValueType, DeviceType>::HostMirror

Constructor & Destructor Documentation

HostState()

template<typename DeviceType >

kynema::interfaces::HostState< DeviceType >::HostState ( const State< DeviceType > &  state )

inlineexplicit

Construct host state from state.

Member Function Documentation

CopyFromState()

template<typename DeviceType >

void kynema::interfaces::HostState< DeviceType >::CopyFromState ( const State< DeviceType > &  state ) const

inline

Copy state data to host state.

Member Data Documentation

f

template<typename DeviceType >

HostView<double* [6]> kynema::interfaces::HostState< DeviceType >::f

Host local copy of external forces.

q

template<typename DeviceType >

HostView<double* [7]> kynema::interfaces::HostState< DeviceType >::q

Host local copy of current displacement.

v

template<typename DeviceType >

HostView<double* [6]> kynema::interfaces::HostState< DeviceType >::v

Host local copy of current velocity.

vd

template<typename DeviceType >

HostView<double* [6]> kynema::interfaces::HostState< DeviceType >::vd

Host local copy of current acceleration.

x

template<typename DeviceType >

HostView<double* [7]> kynema::interfaces::HostState< DeviceType >::x

Host local copy of current position.

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

• /home/runner/work/kynema/kynema/kynema/src/interfaces/host_state.hpp