files: add system states

backend/src/Systems/CosseratRods/Aliases/CMakeLists.txt

@@ -0,0 +1,26 @@
+# Distributed under the MIT License. See LICENSE.txt for details.
+
+set(LIBRARY CosseratRodAliases)
+
+add_elastica_library(${LIBRARY} INTERFACE)
+
+elastica_target_headers(
+        ${LIBRARY}
+        INCLUDE_DIRECTORY ${CMAKE_SOURCE_DIR}/elastica
+        CosseratRod.hpp
+        CosseratRodWithoutDamping.hpp
+)
+
+elastica_target_sources(
+        ${LIBRARY}
+        INTERFACE
+        CosseratRod.hpp
+        CosseratRodWithoutDamping.hpp
+)
+
+target_link_libraries(
+        ${LIBRARY}
+        INTERFACE
+        CosseratRodComponents
+        CosseratRodTraits
+)

backend/src/Systems/CosseratRods/Aliases/CosseratRod.hpp

@@ -0,0 +1,93 @@
+#pragma once
+
+//******************************************************************************
+// Includes
+//******************************************************************************
+// common
+#include "Systems/common/Types.hpp"
+// blocks
+#include "Systems/Block/Types.hpp"
+// cosserat rod components
+#include "Systems/CosseratRods/_Types.hpp"
+#include "Systems/CosseratRods/Components/Names/CosseratRod.hpp"
+
+namespace elastica {
+
+  namespace cosserat_rod {
+
+    namespace detail {
+
+      template <typename T, typename B>
+      using CosseratRodComponents = ::elastica::SymplecticPolicy<
+          T, B, ::elastica::cosserat_rod::component::WithCircularCosseratRod,
+          ::elastica::cosserat_rod::component::
+              WithExplicitlyDampedDiagonalLinearHyperElasticModel,
+          ::elastica::cosserat_rod::component::WithRodKinematics,
+          ::elastica::cosserat_rod::component::CosseratRodNameAdapted>;
+
+      using CosseratRod = ::elastica::cosserat_rod::CosseratRodPlugin<
+          ::elastica::cosserat_rod::DefaultCosseratRodTraits, ::blocks::Block,
+          detail::CosseratRodComponents>;
+      using CosseratRodSlice = ::elastica::cosserat_rod::CosseratRodPlugin<
+          ::elastica::cosserat_rod::DefaultCosseratRodTraits,
+          ::blocks::BlockSlice, detail::CosseratRodComponents>;
+      using CosseratRodConstSlice = ::elastica::cosserat_rod::CosseratRodPlugin<
+          ::elastica::cosserat_rod::DefaultCosseratRodTraits,
+          ::blocks::ConstBlockSlice, detail::CosseratRodComponents>;
+      using CosseratRodView = ::elastica::cosserat_rod::CosseratRodPlugin<
+          ::elastica::cosserat_rod::DefaultCosseratRodTraits,
+          ::blocks::BlockView, detail::CosseratRodComponents>;
+      using CosseratRodConstView = ::elastica::cosserat_rod::CosseratRodPlugin<
+          ::elastica::cosserat_rod::DefaultCosseratRodTraits,
+          ::blocks::ConstBlockView, detail::CosseratRodComponents>;
+
+      using CosseratRodBlock = ::blocks::Block<CosseratRod>;
+      using CosseratRodBlockSlice = ::blocks::BlockSlice<CosseratRodSlice>;
+      using CosseratRodBlockConstSlice =
+          ::blocks::ConstBlockSlice<CosseratRodConstSlice>;
+      using CosseratRodBlockView = ::blocks::BlockView<CosseratRodView>;
+      using CosseratRodBlockConstView =
+          ::blocks::ConstBlockView<CosseratRodConstView>;
+
+    }  // namespace detail
+
+    // clang-format off
+
+    //**************************************************************************
+    /*!\brief The main type of Cosserat rod in \elastica.
+     * \ingroup cosserat_rod
+     *
+     * \details
+     * CosseratRod is the preferred type for modeling CosseratRods with internal
+     * dissipation in \elastica. It leverages the performance the @ref blocks
+     * machinery and the flexibility of CosseratRodPlugin enhanced with the
+     * composability of  @ref cosserat_rod_component to generate a fast, compact
+     * and efficient CosseratRod data-structure. Users can utilize this to add
+     * cosserat rods to a simulator, as detailed in the tutorials.
+     *
+     * ### Tags
+     * The member data can be accessed using @ref tags. For example, accessing
+     * the position of a rod is done as shown below
+     * \snippet tutorial_single_rod/tutorial_single_rod.cpp tag_example
+     *
+     * The Cosserat rod supports other tags, one for each variable it contains,
+     * documented below.
+     * \copydetails elastica::cosserat_rod::CosseratRodPluginTagsDocsStub
+     * \copydetails elastica::cosserat_rod::component::WithCircularCosseratRodTagsDocsStub
+     * \copydetails elastica::cosserat_rod::component::WithExplicitlyDampedDiagonalLinearHyperElasticModelTagsDocsStub
+     * \copydetails elastica::cosserat_rod::component::WithRodKinematicsTagsDocsStub
+     *
+     * ### Member functions
+     * Additionally, you can also access variables by its member functions. The
+     * convention for the member function is `get_{name}` where `{name}` is the
+     * tag name in small letters. For example, to access the variable
+     * elastica::tags::Position above, you can invoke the `get_position()` member
+     * function
+     */
+    // clang-format on
+    using CosseratRod = detail::CosseratRod;
+    //**************************************************************************
+
+  }  // namespace cosserat_rod
+
+}  // namespace elastica

backend/src/Systems/CosseratRods/Aliases/CosseratRodWithoutDamping.hpp

@@ -0,0 +1,104 @@
+#pragma once
+
+//******************************************************************************
+// Includes
+//******************************************************************************
+// common
+#include "Systems/common/Types.hpp"
+// blocks
+#include "Systems/Block/Types.hpp"
+// cosserat rod components
+#include "Systems/CosseratRods/_Types.hpp"
+#include "Systems/CosseratRods/Components/Names/CosseratRodWithoutDamping.hpp"
+
+namespace elastica {
+
+  namespace cosserat_rod {
+
+    namespace detail {
+
+      template <typename T, typename B>
+      using CosseratRodWithoutDampingComponents = ::elastica::SymplecticPolicy<
+          T, B, ::elastica::cosserat_rod::component::WithCircularCosseratRod,
+          ::elastica::cosserat_rod::component::
+              WithDiagonalLinearHyperElasticModel,
+          ::elastica::cosserat_rod::component::WithRodKinematics,
+          ::elastica::cosserat_rod::component::
+              CosseratRodWithoutDampingNameAdapted>;
+
+      using CosseratRodWithoutDamping =
+          ::elastica::cosserat_rod::CosseratRodPlugin<
+              ::elastica::cosserat_rod::DefaultCosseratRodTraits,
+              ::blocks::Block, detail::CosseratRodWithoutDampingComponents>;
+      using CosseratRodWithoutDampingSlice =
+          ::elastica::cosserat_rod::CosseratRodPlugin<
+              ::elastica::cosserat_rod::DefaultCosseratRodTraits,
+              ::blocks::BlockSlice,
+              detail::CosseratRodWithoutDampingComponents>;
+      using CosseratRodWithoutDampingConstSlice =
+          ::elastica::cosserat_rod::CosseratRodPlugin<
+              ::elastica::cosserat_rod::DefaultCosseratRodTraits,
+              ::blocks::ConstBlockSlice,
+              detail::CosseratRodWithoutDampingComponents>;
+      using CosseratRodWithoutDampingView =
+          ::elastica::cosserat_rod::CosseratRodPlugin<
+              ::elastica::cosserat_rod::DefaultCosseratRodTraits,
+              ::blocks::BlockView, detail::CosseratRodWithoutDampingComponents>;
+      using CosseratRodWithoutDampingConstView =
+          ::elastica::cosserat_rod::CosseratRodPlugin<
+              ::elastica::cosserat_rod::DefaultCosseratRodTraits,
+              ::blocks::ConstBlockView,
+              detail::CosseratRodWithoutDampingComponents>;
+
+      using CosseratRodWithoutDampingBlock =
+          ::blocks::Block<CosseratRodWithoutDamping>;
+      using CosseratRodWithoutDampingBlockSlice =
+          ::blocks::BlockSlice<CosseratRodWithoutDampingSlice>;
+      using CosseratRodWithoutDampingBlockConstSlice =
+          ::blocks::ConstBlockSlice<CosseratRodWithoutDampingConstSlice>;
+      using CosseratRodWithoutDampingBlockView =
+          ::blocks::BlockView<CosseratRodWithoutDampingView>;
+      using CosseratRodWithoutDampingBlockConstView =
+          ::blocks::ConstBlockView<CosseratRodWithoutDampingConstView>;
+
+    }  // namespace detail
+
+    // clang-format off
+    //**************************************************************************
+    /*!\brief Cosserat rod without internal damping in \elastica.
+     * \ingroup cosserat_rod
+     *
+     * \details
+     * CosseratRodWithoutDamping models CosseratRods without internal
+     * dissipation in \elastica. It leverages the performance the @ref blocks
+     * machinery and the flexibility of CosseratRodPlugin enhanced with the
+     * composability of @ref cosserat_rod_component to generate a fast, compact
+     * and efficient CosseratRod data-structure. Users can utilize this to add
+     * cosserat rods to a simulator, as detailed in the tutorials.
+     *
+     * ### Tags
+     * The member data can be accessed using @ref tags. For example, accessing
+     * the position of a rod is done as shown below
+     * \snippet tutorial_single_rod/tutorial_single_rod.cpp tag_example
+     *
+     * The Cosserat rod supports other tags, one for each variable it contains,
+     * documented below.
+     * \copydetails elastica::cosserat_rod::CosseratRodPluginTagsDocsStub
+     * \copydetails elastica::cosserat_rod::component::WithCircularCosseratRodTagsDocsStub
+     * \copydetails elastica::cosserat_rod::component::WithDiagonalLinearHyperElasticModelTagsDocsStub
+     * \copydetails elastica::cosserat_rod::component::WithRodKinematicsTagsDocsStub
+     *
+     * ### Member functions
+     * Additionally, you can also access variables by its member functions. The
+     * convention for the member function is `get_{name}` where `{name}` is the
+     * tag name in small letters. For example, to access the variable
+     * elastica::tags::Position above, you can invoke the `get_position()`
+     * member function
+     */
+    // clang-format on
+    using CosseratRodWithoutDamping = detail::CosseratRodWithoutDamping;
+    //**************************************************************************
+
+  }  // namespace cosserat_rod
+
+}  // namespace elastica

backend/src/Systems/CosseratRods/Initializers/Initializers.hpp

@@ -1,7 +1,3 @@
-//
-// Created by Tejaswin Parthasarathy on 10/30/21.
-//
-
 #pragma once
 
 //******************************************************************************

backend/src/Systems/CosseratRods/Initializers/StraightCosseratRod.hpp

@@ -1,7 +1,3 @@
-//
-// Created by Tejaswin Parthasarathy on 5/20/21.
-//
-
 #pragma once
 
 #include <string>

backend/src/Systems/CosseratRods/Initializers/UserDefinedCosseratRod.hpp

@@ -1,7 +1,3 @@
-//
-// Created by Tejaswin Parthasarathy on 1/8/22.
-//
-
 #pragma once
 
 #include <string>

backend/src/Systems/CosseratRods/Utility.hpp

@@ -0,0 +1,8 @@
+#pragma once
+
+//******************************************************************************
+// Includes
+//******************************************************************************
+
+#include "Systems/CosseratRods/Utility/CenterOfMass.hpp"
+#include "Systems/CosseratRods/Utility/Energy.hpp"

backend/src/Systems/States/CMakeLists.txt

@@ -0,0 +1,35 @@
+# Distributed under the MIT License. See LICENSE.txt for details.
+
+set(LIBRARY States)
+
+add_elastica_library(${LIBRARY} INTERFACE)
+
+elastica_target_headers(
+        ${LIBRARY}
+        INCLUDE_DIRECTORY ${CMAKE_SOURCE_DIR}/elastica
+        HEADERS
+        States.hpp
+        Types.hpp
+        TypeTraits.hpp
+)
+
+elastica_target_sources(
+        ${LIBRARY}
+        INTERFACE
+        States.hpp
+        Types.hpp
+        TypeTraits.hpp
+)
+
+add_subdirectory(Expressions)
+add_library(${LIBRARY}::Expressions ALIAS StateExpressions)
+
+add_subdirectory(TypeTraits)
+add_library(${LIBRARY}::TypeTraits ALIAS StateTypeTraits)
+
+target_link_libraries(
+        ${LIBRARY}
+        INTERFACE
+        StateExpressions
+        StateTypeTraits
+)

backend/src/Systems/States/Concepts.org

@@ -0,0 +1,8 @@
+* Concepts
+
+    * Basic Expression templates modeled after the Blaze library.
+    * No need to make it too "smart" : Blaze handles that load
+    * Need to make it variadic to handle many number of disjointly
+    evolving "states" : any dependence should come from the kernels
+    * LICENSE : BSD, from blaze
+    * TODO : Make it official (include blaze's headers etc.) in every file.

backend/src/Systems/States/Expressions/.gitignore

@@ -0,0 +1 @@
+Traits/*

backend/src/Systems/States/Expressions/CMakeLists.txt

@@ -0,0 +1,55 @@
+# Distributed under the MIT License. See LICENSE.txt for details.
+
+set(LIBRARY StateExpressions)
+
+add_elastica_library(${LIBRARY} INTERFACE)
+
+elastica_target_headers(
+        ${LIBRARY}
+        INCLUDE_DIRECTORY ${CMAKE_SOURCE_DIR}/elastica
+        HEADERS
+        backends.hpp
+        OrderTags.hpp
+        SE3.hpp
+        SO3.hpp
+        States.hpp
+)
+
+elastica_target_sources(
+        ${LIBRARY}
+        INTERFACE
+        backends.hpp
+        OrderTags.hpp
+        SE3.hpp
+        SO3.hpp
+        States.hpp
+)
+
+add_subdirectory(backends)
+add_library(${LIBRARY}::Backends ALIAS StateExpressionBackends)
+
+add_subdirectory(Expr)
+add_library(${LIBRARY}::Expr ALIAS StateExpressionTemplates)
+
+add_subdirectory(OrderTags)
+add_library(${LIBRARY}::OrderTags ALIAS StateExpressionOrderTags)
+
+add_subdirectory(SE3)
+add_library(${LIBRARY}::SE3 ALIAS SE3Expressions)
+
+add_subdirectory(SO3)
+add_library(${LIBRARY}::SO3 ALIAS SO3Expressions)
+
+add_subdirectory(States)
+add_library(${LIBRARY}::States ALIAS StateTemplates)
+
+target_link_libraries(
+        ${LIBRARY}
+        INTERFACE
+        StateExpressionOrderTags
+        StateExpressionTemplates
+        StateExpressionBackends
+        SE3Expressions
+        SO3Expressions
+        StateTemplates
+)

backend/src/Systems/States/Expressions/Expr/CMakeLists.txt

@@ -0,0 +1,32 @@
+# Distributed under the MIT License. See LICENSE.txt for details.
+
+set(LIBRARY StateExpressionTemplates)
+
+add_elastica_library(${LIBRARY} INTERFACE)
+
+elastica_target_headers(
+        ${LIBRARY}
+        INCLUDE_DIRECTORY ${CMAKE_SOURCE_DIR}/elastica
+        StateAddExpr.hpp
+        StateExpr.hpp
+        StateTimeDeltaMultExprBase.hpp
+        StateTimeMultExpr.hpp
+)
+
+elastica_target_sources(
+        ${LIBRARY}
+        INTERFACE
+        StateAddExpr.hpp
+        StateExpr.hpp
+        StateTimeDeltaMultExprBase.hpp
+        StateTimeMultExpr.hpp
+)
+
+
+target_link_libraries(
+        ${LIBRARY}
+        INTERFACE
+        Utilities
+        ErrorHandling
+        StateTypeTraits
+)