TrackJointLimits.h

//  trax track library
//  AD 2014
//
//  "the resolution of all the fruitless searches"
//
//                              Peter Gabriel
//
// Copyright (c) 2025 Trend Redaktions- und Verlagsgesellschaft mbH
// Copyright (c) 2019 Marc-Michael Horstmann
//
// Permission is hereby granted to any person obtaining a copy of this software 
// and associated source code (the "Software"), to use, view, and study the 
// Software for personal or internal business purposes, subject to the following 
// conditions:
//
// 1. Redistribution, modification, sublicensing, or commercial use of the 
// Software is NOT permitted without prior written consent from the copyright 
// holder.
//
// 2. The Software is provided "AS IS", without warranty of any kind, express 
// or implied.
//
// 3. All copies of the Software must retain this license notice.
//
// For further information, please contact: horstmann.marc@trendverlag.de
 
#pragma once
 
#include "trax/Units.h"
#include "spat/Frame.h"
 
namespace trax{

    struct TrackJointLimits{
        Force NormalForceLimitMin;      
        Force NormalForceLimitMax;      
        Force BinormalForceLimitMin;    
        Force BinormalForceLimitMax;    
        Torque NormalTorqueLimit;       
        Torque TorqueLimit;             
        Length ThresholdPosition;       
        Angle ThresholdTangent;         
        Angle ThresholdNormal;          
        Angle ThresholdBinormal;        
        One ErrorReduction;             
        bool bTiltingEnabled;           
 
        TrackJointLimits() noexcept
            :   NormalForceLimitMin     {-infinite},
                NormalForceLimitMax     {infinite},
                BinormalForceLimitMin   {0},
                BinormalForceLimitMax   {infinite},
                NormalTorqueLimit       {infinite},
                TorqueLimit             {infinite},
                ThresholdPosition       {default_derailing_distance},
                ThresholdTangent        {_rad(pi/4)},
                ThresholdNormal         {_rad(pi/4)},
                ThresholdBinormal       {_rad(pi/4)},
                ErrorReduction          { 0.25_1 },
                bTiltingEnabled         {false}
        {};
 
        TrackJointLimits(
            Force normalForceLimitMin,
            Force normalForceLimitMax,
            Force binormalForceLimitMin,
            Force binormalForceLimitMax,
            Torque normalTorqueLimit,
            Torque torqueLimit,
            Length thresholdPosition,
            Angle thresholdTangent,
            Angle thresholdNormal,
            Angle thresholdBinormal,
            One errorReduction,
            bool bTiltingEnabled ) noexcept
            :   NormalForceLimitMin     {normalForceLimitMin},
                NormalForceLimitMax     {normalForceLimitMax},
                BinormalForceLimitMin   {binormalForceLimitMin},
                BinormalForceLimitMax   {binormalForceLimitMax},
                NormalTorqueLimit       {normalTorqueLimit},
                TorqueLimit             {torqueLimit},
                ThresholdPosition       {thresholdPosition},
                ThresholdTangent        {thresholdTangent},
                ThresholdNormal         {thresholdNormal},
                ThresholdBinormal       {thresholdBinormal},
                ErrorReduction          { errorReduction },
                bTiltingEnabled         {bTiltingEnabled}
        {};
 
        inline bool IsInsideLimits( const spat::Frame<Length,One>& frame, const spat::Frame<Length,One>& anchor ) const noexcept{
            const One eT = std::abs(std::asin((anchor.T % frame.T).Length()));
            const One eN = std::abs(std::asin((anchor.N % frame.N).Length()));
            const One eB = std::abs(std::asin((anchor.B % frame.B).Length()));
 
            return  anchor.P.Equals( frame.P, ThresholdPosition ) &&
                    eN <= ThresholdTangent && eB <= ThresholdTangent &&
                    eT <= ThresholdNormal && eB <= ThresholdNormal &&
                    eT <= ThresholdBinormal && eN <= ThresholdBinormal;
        }
    };
 
}