model.h

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#pragma once
 
#include <libopynsim/graphics/open_sim_decoration_options.h>
#include <libopynsim/model_state.h>
#include <libopynsim/model_state_stage.h>
#include <libopynsim/model_states.h>
#include <libopynsim/output_value.h>
#include <libopynsim/symbol.h>
 
#include <liboscar/graphics/scene/scene_decoration.h>
#include <liboscar/utilities/copy_on_upd_ptr.h>
 
#include <string>
#include <unordered_map>
#include <unordered_set>
#include <vector>
 
namespace osc { class SceneCache; }
namespace OpenSim { class Model; }
namespace opyn { class DataFrame; }
 
namespace opyn
{
    class Model final {
    private:
        friend class ModelSpecification;
        explicit Model(const OpenSim::Model&);
 
    public:
        ModelState initial_state(ModelStateStage realized_to = ModelStateStage::instance) const;
 
        std::unordered_set<std::string> rotational_columns_in(const DataFrame& data_frame) const;
 
        std::unordered_map<std::string, Symbol> column_to_state_variable_mappings(const DataFrame& data_frame) const;
 
        DataFrame convert_data_frame_to_radians(const DataFrame& data_frame) const;
 
        ModelStates states_from_data_frame(
            const DataFrame& data_frame,
            ModelStateStage realized_to = ModelStateStage::instance
        ) const;
 
        void realize(ModelState& model_state, ModelStateStage model_state_stage) const;
 
        size_t num_coordinates() const;
 
        std::vector<Symbol> coordinates() const;
 
        double get_coordinate_value(const ModelState& model_state, const Symbol& coordinate) const;
 
        void set_coordinate_value(ModelState& model_state, const Symbol& coordinate, double value) const;
 
        double get_coordinate_speed(const ModelState& model_state, const Symbol& coordinate) const;
 
        void set_coordinate_speed(ModelState& model_state, const Symbol& coordinate, double speed) const;
 
        bool is_coordinate_locked(const ModelState& model_state, const Symbol& coordinate) const;
 
        void set_coordinate_locked(ModelState& model_state, const Symbol& coordinate, bool locked = true) const;
 
        bool is_coordinate_rotational(const Symbol& coordinate) const;
 
        size_t num_outputs() const;
 
        std::vector<Symbol> outputs() const;
 
        OutputValue get_output_value(const ModelState& model_state, const Symbol& output) const;
 
        std::vector<osc::SceneDecoration> decorations(
            osc::SceneCache&,
            const ModelState& model_state,
            const OpenSimDecorationOptions& = {}
        ) const;
 
        const OpenSim::Model& open_sim_model() const;
    private:
        class Impl;
        osc::CopyOnUpdPtr<Impl> impl_;
    };
}