using System;
using System.Collections.Generic;
using System.Text;
namespace Motion6D.Intrefaces
{
/// <summary>
/// Aggregable Mechanical Object
/// </summary>
public interface IAggregableMechanicalObject
{
/// <summary>
/// Number of degrees of freedom
/// </summary>
int Dimension
{
get;
}
/// <summary>
/// Number of connections
/// </summary>
int NumberOfConnections
{
get;
}
/// <summary>
/// State of object
/// </summary>
double[] State
{
get;
}
/// <summary>
/// Internal acceleration
/// </summary>
double[] InternalAcceleration
{
get;
}
/// <summary>
/// State of connection
/// x[0] - position, x[1] - quaternion,
/// x[2] - linear velocity, x[3] - angular velocity
/// </summary>
/// <param name="numOfConnection">Number of connection</param>
/// <returns>State of connection</returns>
double[] this[int numOfConnection]
{
get;
set;
}
/// <summary>
/// Calculates transformation matrix from genrealized coordinates to
/// acceleration of connection
/// </summary>
/// <param name="numOfConnection">Number of connection</param>
/// <returns>The transformation matrix</returns>
double[,] GetAccelerationMatrix(int numOfConnection);
/// <summary>
/// Gets matrix of forces
/// </summary>
/// <param name="numOfConnection">Number of connection</param>
/// <returns>The matrix of forces</returns>
double[,] GetForcesMatrix(int numOfConnection);
/// <summary>
/// Gets internal acceleration
/// </summary>
/// <param name="numOfConnection">Number of connection</param>
/// <returns>Internal accceleration</returns>
double[] GetInternalAcceleration(int numOfConnection);
/// <summary>
/// Gets connection force
/// </summary>
/// <param name="numOfConnection">Number of connection</param>
/// <returns>Connection force</returns>
double[] GetConnectionForce(int numOfConnection);
/// <summary>
/// Children objects
/// </summary>
Dictionary<IAggregableMechanicalObject, int[]> Children
{
get;
}
/// <summary>
/// The is constant sign
/// </summary>
bool IsConstant
{
get;
}
/// <summary>
/// Parent object
/// </summary>
IAggregableMechanicalObject Parent
{
get;
set;
}
}
}
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