| 1 |
tim |
1615 |
/* |
| 2 |
|
|
* Copyright (C) 2000-2004 Object Oriented Parallel Simulation Engine (OOPSE) project |
| 3 |
|
|
* |
| 4 |
|
|
* Contact: oopse@oopse.org |
| 5 |
|
|
* |
| 6 |
|
|
* This program is free software; you can redistribute it and/or |
| 7 |
|
|
* modify it under the terms of the GNU Lesser General Public License |
| 8 |
|
|
* as published by the Free Software Foundation; either version 2.1 |
| 9 |
|
|
* of the License, or (at your option) any later version. |
| 10 |
|
|
* All we ask is that proper credit is given for our work, which includes |
| 11 |
|
|
* - but is not limited to - adding the above copyright notice to the beginning |
| 12 |
|
|
* of your source code files, and to any copyright notice that you may distribute |
| 13 |
|
|
* with programs based on this work. |
| 14 |
|
|
* |
| 15 |
|
|
* This program is distributed in the hope that it will be useful, |
| 16 |
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
| 17 |
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| 18 |
|
|
* GNU Lesser General Public License for more details. |
| 19 |
|
|
* |
| 20 |
|
|
* You should have received a copy of the GNU Lesser General Public License |
| 21 |
|
|
* along with this program; if not, write to the Free Software |
| 22 |
|
|
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
| 23 |
|
|
* |
| 24 |
|
|
*/ |
| 25 |
|
|
|
| 26 |
|
|
/** |
| 27 |
|
|
* @file Snapshot.hpp |
| 28 |
|
|
* @author tlin |
| 29 |
|
|
* @date 10/20/2004 |
| 30 |
|
|
* @time 23:56am |
| 31 |
|
|
* @version 1.0 |
| 32 |
|
|
*/ |
| 33 |
|
|
#ifndef BRAINS_SNAPSHOT_HPP |
| 34 |
|
|
#define BRAINS_SNAPSHOT_HPP |
| 35 |
tim |
1630 |
|
| 36 |
|
|
#include <vector> |
| 37 |
|
|
|
| 38 |
|
|
#include "math/Vector3.hpp" |
| 39 |
|
|
#include "math/SquareMatrix3.hpp" |
| 40 |
|
|
|
| 41 |
|
|
using namespace std; |
| 42 |
|
|
|
| 43 |
tim |
1615 |
namespace oopse{ |
| 44 |
|
|
|
| 45 |
|
|
/** |
| 46 |
|
|
* @class Snapshot Snapshot.hpp "brains/Snapshot.hpp" |
| 47 |
|
|
* @brief Snapshot class is a repository class for storing dynamic data during |
| 48 |
|
|
* Simulation |
| 49 |
|
|
* @see SimData |
| 50 |
|
|
*/ |
| 51 |
|
|
class Snapshot { |
| 52 |
|
|
public: |
| 53 |
tim |
1630 |
|
| 54 |
|
|
Snapshot(int i) { |
| 55 |
|
|
|
| 56 |
|
|
} |
| 57 |
|
|
|
| 58 |
|
|
Snapshot(const Snapshot& s); |
| 59 |
|
|
|
| 60 |
|
|
Snapshot& operator =(const Snapshot& s); |
| 61 |
tim |
1615 |
|
| 62 |
tim |
1630 |
/** Returns the id of this Snapshot */ |
| 63 |
|
|
int getID() { |
| 64 |
|
|
return id_; |
| 65 |
|
|
} |
| 66 |
|
|
|
| 67 |
|
|
/** Sets the id of this Snapshot */ |
| 68 |
|
|
void setID(int id) { |
| 69 |
|
|
id_ = id; |
| 70 |
|
|
} |
| 71 |
|
|
|
| 72 |
|
|
/** */ |
| 73 |
|
|
Snapshot* clone() { |
| 74 |
|
|
return new Snapshot(*this); |
| 75 |
|
|
} |
| 76 |
|
|
|
| 77 |
|
|
|
| 78 |
|
|
//template<typename T> |
| 79 |
|
|
//static typename T::ElemPointerType getArrayPointer(vector<T>& v) { |
| 80 |
|
|
// return v[0]->getArrayPointer(); |
| 81 |
|
|
//} |
| 82 |
|
|
|
| 83 |
|
|
static double* getArrayPointer(vector<Vector3d>& v) { |
| 84 |
|
|
return v[0].getArrayPointer(); |
| 85 |
|
|
} |
| 86 |
tim |
1615 |
|
| 87 |
tim |
1630 |
static double* getArrayPointer(vector<RotMat3x3d>& v) { |
| 88 |
|
|
return v[0].getArrayPointer(); |
| 89 |
|
|
} |
| 90 |
|
|
|
| 91 |
|
|
static double* getArrayPointer(vector<double>& v) { |
| 92 |
|
|
assert(v.size() > 0); |
| 93 |
|
|
return &(v[0]); |
| 94 |
|
|
} |
| 95 |
|
|
|
| 96 |
|
|
vector<Vector3d> pos; |
| 97 |
|
|
vector<Vector3d> vel; |
| 98 |
|
|
vector<Vector3d> frc; |
| 99 |
|
|
vector<Vector3d> trq; |
| 100 |
|
|
vector<RotMat3x3d> Amat; |
| 101 |
|
|
vector<Vector3d> mu; |
| 102 |
|
|
vector<Vector3d> ul; |
| 103 |
|
|
vector<double> zAngle; |
| 104 |
|
|
|
| 105 |
tim |
1615 |
private: |
| 106 |
tim |
1630 |
|
| 107 |
|
|
int id_; /**< identification number of the snapshot */ |
| 108 |
tim |
1615 |
}; |
| 109 |
|
|
|
| 110 |
|
|
} |
| 111 |
|
|
#endif //BRAINS_SNAPSHOT_HPP |
