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suIndAcc.h

// suIndAcc.h
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// AUTHOR: Frank C. Anderson
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#ifndef __suIndAcc_h__
#define __suIndAcc_h__


//=============================================================================
// INCLUDES
//=============================================================================
#include <rdTools.h>
#include <rdMath.h>
#include <rdStorage.h>
#include <rdModel.h>
#include <rdAnalysis.h>
#include "suAnalysesDLL.h"


//=============================================================================
//=============================================================================
class SUANALYSES_API suIndAcc : public rdAnalysis 
{
//=============================================================================
// DATA
//=============================================================================
protected:
   int _nc;
   int _nic;
   int _ne;
   int _cAct;
   int _cGrav;
   int _cVel;
   int _cIner;
   int _cAllAct;
   int _cAll;
   double _ti;
   double _tf;

   const char **_cNames;
   double _contactThreshold;
   bool *_contactEstablished;
   double *_feContig,***_fe;
   rdStorage *_yStore;
   rdStorage *_xStore;
   rdStorage **_feStore;
   rdStorage **_aeStore;
   rdStorage **_velStore;
   rdStorage **_posStore;
   rdStorage *_iPosStore;
   rdStorage *_iVelStore;
   char *_aeDescrip;
   char *_aeLabels;
   bool _computeNormalizedAccelerations;

private:
   bool _useNullDecomposition;

//=============================================================================
// METHODS
//=============================================================================
public:
   suIndAcc(rdModel *aModel);
   suIndAcc(rdModel *aModel,rdStorage *aStates,rdStorage *aControls,
      char *aBaseName,char *aDir=NULL,char *aExtension=NULL);
   virtual ~suIndAcc();
private:
   void setNull();
   void initializeNumbers();
   void constructComponentNames();
   void constructDescription();
   void constructColumnLabels();
   void allocateElementVectors();
   void allocateStoragePointers();
   void allocateStorage();
   void deleteStorage();
   void createNullDecomposition();

public:
   //--------------------------------------------------------------------------
   // GET AND SET
   //--------------------------------------------------------------------------
   // NUMBERS
   int getNumComponents();
   int getNumIndependentComponents();
   int getNumElements();
   // INDICES
   int getLastActuatorIndex();
   int getGravityIndex();
   int getVelocityIndex();
   int getInertialIndex();
   int getAllActuatorsIndex();
   int getAllIndex();
   // CONTACT TOLERANCE
   void setContactThreshold(double aThreshold);
   double getContactThreshold();
   // NAMES
   const char* getComponentName(int aC);
   // STORAGE
   virtual void setStorageCapacityIncrements(int aIncrement);
   rdStorage** getForceStorage();
   // NULL DECOMPOSITION
   bool getUseNullDecomposition();
   // NORMALIZED ACCELERATIONS
   void setComputeNormalizedAccelerations(bool aBool);
   bool getComputeNormalizedAccelerations();

   //--------------------------------------------------------------------------
   // OPERATIONS
   //--------------------------------------------------------------------------
   int computeAccelerations();

   //--------------------------------------------------------------------------
   // UTILITY
   //--------------------------------------------------------------------------
   void sumForceResults();
   void sumAccelerationResults();
   void sumDecomposition();

   //--------------------------------------------------------------------------
   // IO
   //--------------------------------------------------------------------------
   virtual void store();
   virtual int
      printResults(char *aBaseName,char *aDir=NULL,double aDT=-1.0,
      char *aExtension=".sto");
private:
   virtual int
      readDecomposition(char *aBaseName,char *aDir=NULL,
      char *aExtension=NULL);


//=============================================================================
}; // END of class suIndAcc
//=============================================================================
//=============================================================================


#endif // #ifndef __suIndAcc_h__

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