IonDB * createIonDb(Sdr ionsdr, IonDB * iondbPtr)
{
if (iondbPtr == NULL)
iondbPtr = (IonDB*) malloc(sizeof(IonDB));
memset((char *) iondbPtr, 0, sizeof(IonDB));
iondbPtr->ownNodeNbr = getNodeNum();
iondbPtr->productionRate = -1; /* Unknown. */
iondbPtr->consumptionRate = -1; /* Unknown. */
//limit = (sdr_heap_size(ionsdr) / 100) * (100 - ION_SEQUESTERED);
/* By default, let outbound ZCOs occupy up to
* half of the available heap space, leaving
* the other half for inbound ZCO acquisition. */
//zco_set_max_heap_occupancy(ionsdr, limit/2, ZcoInbound);
//zco_set_max_heap_occupancy(ionsdr, limit/2, ZcoOutbound);
/* By default, the occupancy ceiling is 50% more
* than the outbound ZCO allocation. */
//iondbBuf.occupancyCeiling = zco_get_max_file_occupancy(ionsdr, ZcoOutbound);
//iondbBuf.occupancyCeiling += (limit/4);
iondbPtr->contacts = sdr_list_create(ionsdr);
iondbPtr->ranges = sdr_list_create(ionsdr);
iondbPtr->maxClockError = 0;
iondbPtr->clockIsSynchronized = 1;
iondbPtr->contactLog[SENDER_NODE] = sdr_list_create(ionsdr);
iondbPtr->contactLog[RECEIVER_NODE] = sdr_list_create(ionsdr);
//memcpy(&iondbBuf.parmcopy, parms, sizeof(IonParms));
//fprintf(stderr, "ionDb created: %d\n", getOwnNodeNbr());
return iondbPtr;
}
void multiplyBySystemJacobianTranspose(
const SBTreePositionCache& pc,
SpatialVec* zTmp,
const SpatialVec* X,
Real* JtX) const
{
const SpatialVec& in = X[getNodeNum()];
SpatialVec& z = zTmp[getNodeNum()];
z = in;
for (unsigned i=0; i<children.size(); ++i) {
const SpatialVec& zChild = zTmp[children[i]->getNodeNum()];
const PhiMatrix& phiChild = children[i]->getPhi(pc);
z += phiChild * zChild;
}
// No generalized speeds so no contribution to JtX.
}
//==============================================================================
// MULTIPLY BY SYSTEM JACOBIAN TRANSPOSE
//==============================================================================
// Calculate product of kinematic Jacobian transpose ~J=~H*Phi and a spatial
// forces vector on each of the outboard bodies. Requires that Phi and H are
// available, so this should only be called in Stage::Position or higher. This
// does not change the cache at all.
// NOTE (sherm 060214): I reworked this from the original. This one no longer
// incorporates applied hinge gradients if there are any; just add those in at
// the end if you want them.
//
// (sherm 060727) In spatial operators, this calculates ~H*Phi*F where F are the
// spatial forces applied to each body. See Schwieters Eq. 41. (But with sense
// of H transposed.)
//
// Call tip to base.
//
template<int dof, bool noR_FM, bool noX_MB, bool noR_PF> void
RigidBodyNodeSpec<dof, noR_FM, noX_MB, noR_PF>::
multiplyBySystemJacobianTranspose(
const SBTreePositionCache& pc,
SpatialVec* zTmp,
const SpatialVec* X,
Real* JtX) const
{
const SpatialVec& in = X[getNodeNum()];
Vec<dof>& out = Vec<dof>::updAs(&JtX[getUIndex()]);
SpatialVec& z = zTmp[getNodeNum()];
z = in;
for (unsigned i=0; i<children.size(); ++i) {
const SpatialVec& zChild = zTmp[children[i]->getNodeNum()];
const PhiMatrix& phiChild = children[i]->getPhi(pc);
z += phiChild * zChild; // 18 flops
}
out = ~getH(pc) * z; // 11*dof flops
}
static IonPartitions * updateIonPartitions()
{
JNIEnv * jniEnv = getThreadLocalEnv();
IonPartitions * ionP = getIonPartitions();
if (ionP == NULL)
{
putErrmsg("Cannot retrieve ion partitions", NULL);
return NULL;
}
if (ionP->nodeNbr != getNodeNum())
{
ionP->nodeNbr = getNodeNum();
(*jniEnv)->DeleteGlobalRef(jniEnv, ionP->partition[WM_PSM_PARTITION]);
(*jniEnv)->DeleteGlobalRef(jniEnv, ionP->partition[SDR_PSM_PARTITION]);
ionP->partition[WM_PSM_PARTITION] =
(*jniEnv)->NewGlobalRef(jniEnv,
getIonPsmPartition((jlong) ionP->nodeNbr, WM_PSM_PARTITION));
ionP->partition[SDR_PSM_PARTITION] =
(*jniEnv)->NewGlobalRef(jniEnv,
getIonPsmPartition((jlong) ionP->nodeNbr, SDR_PSM_PARTITION));
setIonPartitions(ionP);
}
return ionP;
}
void destroyIonSdr()
{
eraseIonPsmPartition((jlong) getNodeNum(), SDR_PSM_PARTITION);
}
void initIonSdr()
{
newIonPsmPartition((jlong) getNodeNum(), SDR_PSM_PARTITION);
initIonPartitions();
}
