Implicit.hxx

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/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *\
 * Copyright (c) 2025, Davide Stocco and Enrico Bertolazzi.                                      *
 *                                                                                               *
 * The Sandals project is distributed under the BSD 2-Clause License.                            *
 *                                                                                               *
 * Davide Stocco                                                               Enrico Bertolazzi *
 * University of Trento                                                     University of Trento *
 * e-mail: davide.stocco@unitn.it                             e-mail: enrico.bertolazzi@unitn.it *
\* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
 
#pragma once
 
#ifndef SANDALS_IMPLICIT_SYSTEM_HXX
#define SANDALS_IMPLICIT_SYSTEM_HXX
 
namespace Sandals
{
 
  /*\
   |   ___                 _ _      _ _
   |  |_ _|_ __ ___  _ __ | (_) ___(_) |_
   |   | || '_ ` _ \| '_ \| | |/ __| | __|
   |   | || | | | | | |_) | | | (__| | |_
   |  |___|_| |_| |_| .__/|_|_|\___|_|\__|
   |                |_|
  \*/

  template <Integer N, Integer M>
  class Implicit
  {
  public:
    using Type = enum class Type : Integer {IMPLICIT=0, EXPLICIT=1, SEMIEXPLICIT=1}; 
    using Pointer  = std::shared_ptr<Implicit<N, M>>; 
    using VectorF  = Eigen::Vector<Real, N>;          
    using MatrixJF = Eigen::Matrix<Real, N, N>;       
    using VectorH  = Eigen::Vector<Real, M>;          
    using MatrixJH = Eigen::Matrix<Real, M, N>;       
 
  private:
    Type        m_type{Type::IMPLICIT}; 
    std::string m_name;                 
 
  protected:

    Implicit(Type t_type, std::string t_name) : m_type(t_type), m_name(t_name) {}
 
  public:

    Implicit() : m_type(Type::IMPLICIT), m_name("(missing name)") {}

    Implicit(std::string t_name) : m_type(Type::IMPLICIT), m_name(t_name) {}

    virtual ~Implicit() {}

    Type type() const {return this->m_type;}

    bool is_implicit() const {return this->m_type == Type::IMPLICIT;}

    bool is_explicit() const {return this->m_type == Type::EXPLICIT;}

    bool is_semiexplicit() const {return this->m_type == Type::SEMIEXPLICIT;}

    std::string & name() {return this->m_name;}

    std::string const & name() const {return this->m_name;}

    Integer equations_number() const {return N;}

    Integer invariants_number() const {return M;}

    virtual VectorF F(VectorF const &x, VectorF const &x_dot, Real t) const = 0;

    virtual MatrixJF JF_x(VectorF const &x, VectorF const &x_dot, Real t) const = 0;

    virtual MatrixJF JF_x_dot(VectorF const &x, VectorF const &x_dot, Real t) const = 0;

    virtual VectorH h(VectorF const &x, Real t) const = 0;

    virtual MatrixJH Jh_x(VectorF const &x, Real t) const = 0;

    virtual bool in_domain(VectorF const &x, Real t) const = 0;

    VectorF F_reverse(VectorF const &x, VectorF const &x_dot, Real t) const
    {
      return -this->F(x, -x_dot, -t);
    }

    MatrixJF JF_x_reverse(VectorF const &x, VectorF const &x_dot, Real t) const
    {
      return -this->JF_x(x, -x_dot, -t);
    }

    MatrixJF JF_x_dot_reverse(VectorF const &x, VectorF const &x_dot, Real t) const
    {
      return this->JF_x_dot(x, -x_dot, -t);
    }
 
  }; // class Implicit
 
} // namespace Sandals
 
#endif // SANDALS_IMPLICIT_SYSTEM_HXX