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28 lines
909 B
28 lines
909 B
#include "drake/multibody/fem/fem_state_system.h"
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namespace drake {
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namespace multibody {
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namespace fem {
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namespace internal {
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template <typename T>
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FemStateSystem<T>::FemStateSystem(const VectorX<T>& model_q,
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const VectorX<T>& model_v,
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const VectorX<T>& model_a) {
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num_dofs_ = model_q.size();
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DRAKE_THROW_UNLESS(model_q.size() == model_v.size());
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DRAKE_THROW_UNLESS(model_q.size() == model_a.size());
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DRAKE_THROW_UNLESS(model_q.size() % 3 == 0);
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q_index_ = this->DeclareDiscreteState(model_q);
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v_index_ = this->DeclareDiscreteState(model_v);
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a_index_ = this->DeclareDiscreteState(model_a);
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}
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} // namespace internal
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} // namespace fem
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} // namespace multibody
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} // namespace drake
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DRAKE_DEFINE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_NONSYMBOLIC_SCALARS(
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class ::drake::multibody::fem::internal::FemStateSystem);
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