imstkVectorizedState.h

/*
** This file is part of the Interactive Medical Simulation Toolkit (iMSTK)
** iMSTK is distributed under the Apache License, Version 2.0.
** See accompanying NOTICE for details.
*/

#pragma once

#include "imstkMath.h"

namespace imstk
{
class FeDeformBodyState
{
public:
    FeDeformBodyState() = default;
    FeDeformBodyState(const size_t size) { initialize(size); }
    virtual ~FeDeformBodyState() = default;

    void initialize(const size_t numDof);

    void setState(const Vectord& u, const Vectord& v, const Vectord& a);

    void setU(const Vectord& u);

    void setV(const Vectord& v);

    void setA(const Vectord& a);

    void setState(std::shared_ptr<FeDeformBodyState> rhs);

    //const Vectord& getQ() const { return m_q; }
    Vectord& getQ() { return m_q; }

    //const Vectord& getQDot() const { return m_qDot; }
    Vectord& getQDot() { return m_qDot; }

    //const Vectord& getQDotDot() const { return m_qDotDot; }
    Vectord& getQDotDot() { return m_qDotDot; }

    //const Vectord& getState() const { return getQ(); }
    Vectord& getState() { return getQ(); }

protected:
    Vectord m_q;         // State
    Vectord m_qDot;      // Derivative of state w.r.t time
    Vectord m_qDotDot;   // Double derivative of state w.r.t time
};
} // namespace imstk