base/softAbsMetric.h

#ifndef _BETA_SOFTABSMETRIC_

#include <Eigen/Dense>

#include "dynamMetric.h"


class softAbsMetric: public dynamMetric
{
    
    public:
        
        explicit softAbsMetric(int dim);
        virtual ~softAbsMetric() {};
        
        //                   Accessors                  //
        
        double T();
        double tau();
    
        MatrixXd Lambda() 
        { 
            return mEigenDeco.eigenvectors() * mSoftAbsLambdaInv.asDiagonal() * mEigenDeco.eigenvectors().transpose(); 
        }
        
        void bounceP(const VectorXd& normal);
        
        SelfAdjointEigenSolver<MatrixXd>& eigenDeco() { return mEigenDeco; }
        
        VectorXd& lambdaDotP() { return dTaudp(); }
    
        //                   Mutators                   //
        
        void sampleP(Random& random);
        
        void setSoftAbsAlpha(double alpha) { mSoftAbsAlpha = alpha; }
    
        //              Auxiliary Functions             //
        
        void checkEvolution(const double epsilon = 1e-6);
        
        void displayState();
        
    protected:
        
        double mSoftAbsAlpha;   
    
        MatrixXd mH;            
        MatrixXd mGradH;        
        
        MatrixXd mPseudoJ;      
    
        MatrixXd mAuxMatrixOne; 
        MatrixXd mAuxMatrixTwo; 
        MatrixXd mCacheMatrix;  
    
        SelfAdjointEigenSolver<MatrixXd> mEigenDeco;  

        VectorXd mSoftAbsLambda;    
        VectorXd mSoftAbsLambdaInv; 
        VectorXd mQp;               
        VectorXd mLambdaQp;         

        virtual void fComputeH() = 0;
        
        virtual void fComputeGradH(int i) = 0;
        
        void fComputeMetric();
        void fPrepareSpatialGradients();
        void fUpdateP();
    
        VectorXd& dTaudp();
        VectorXd& dTaudq();
        VectorXd& dPhidq();
    
};

#define _BETA_SOFTABSMETRIC_
#endif