fix(core): Give a common Instance::initialize() method

Author: sanguinariojoe

source/Body.hpp

@@ -255,15 +255,27 @@ class DECLDIR Body final : public Instance, public SuperCFL
 	 */
 	inline vec6 getUnfreeVel() const { return rd_ves; }
 
-	/** @brief Initialize the FREE point state
+	/** @brief Initialize a free instance
+	 * @param r The output state variable
 	 * @return The 6-dof position (first) and the 6-dof velocity (second)
-	 * @throw moordyn::invalid_value_error If the body is not of type
-	 * moordyn::Body::FREE
+	 * @throw moordyn::invalid_value_error If the instance does not have free
+	 * states. e.g. a coupled body controlled from outside
 	 * @throws moordyn::output_file_error If an outfile has been provided, but
 	 * it cannot be written
+	 * @{
 	 */
 	std::pair<XYZQuat, vec6> initialize();
 
+	inline void initialize(InstanceStateVarView r)
+	{
+		const auto [pos, vel] = initialize();
+		r.row(0).head<7>() = pos.toVec7();
+		r.row(0).tail<6>() = vel;
+	}
+	/**
+	 * @}
+	 */
+
 	/** @brief Initialize the free body
 	 *
 	 * Those are the bodies with type moordyn::Body::FREE

source/Instance.hpp

@@ -75,6 +75,13 @@ class DECLDIR Instance : public io::IO
 	 */
 	inline const size_t id() const { return _id; }
 
+	/** @brief Initialize a free instance
+	 * @param r The output state variable
+	 * @throw moordyn::invalid_value_error If the instance does not have free
+	 * states. e.g. a coupled body controlled from outside
+	 */
+	virtual void initialize(InstanceStateVarView r) = 0;
+
 	/** @brief Set the state
 	 * @param r The state variable
 	 */

source/Line.hpp

@@ -343,14 +343,28 @@ class DECLDIR Line final : public Instance, public NatFreqCFL
 	}
 
 	/** @brief Compute the stationary Initial Condition (IC)
+	 * @param r The output state variable
 	 * @return The states, i.e. the positions of the internal nodes
 	 * (first) and the velocities of the internal nodes (second)
 	 * @throws moordyn::output_file_error If an outfile has been provided, but
 	 * it cannot be written
 	 * @throws invalid_value_error If there is no enough water depth
+	 * @{
 	 */
 	std::pair<std::vector<vec>, std::vector<vec>> initialize();
 
+	inline void initialize(InstanceStateVarView r)
+	{
+		const auto [pos, vel] = initialize();
+		for (unsigned int i = 0; i < N - 1; i++) {
+			r.row(i).head<3>() = pos[i];
+			r.row(i).segment<3>(3) = vel[i];
+		}
+	}
+	/**
+	 * @}
+	 */
+
 	/** @brief Number of segments
 	 *
 	 * The number of nodes can be computed as moordyn::Line::getN() + 1

source/Point.hpp

@@ -243,11 +243,22 @@ class DECLDIR Point final : public Instance, public SuperCFL
 	inline std::vector<attachment> getLines() const { return attached; }
 
 	/** @brief Initialize the FREE point state
+	 * @param r The output state variable
 	 * @return The position (first) and the velocity (second)
 	 * @throws moordyn::invalid_value_error If it is not a FREE point
 	 */
 	std::pair<vec, vec> initialize();
 
+	inline void initialize(InstanceStateVarView r)
+	{
+		const auto [pos, vel] = initialize();
+		r.row(0).head<3>() = pos;
+		r.row(0).tail<3>() = vel;
+	}
+	/**
+	 * @}
+	 */
+
 	/** @brief Get the point position
 	 * @return The position [x,y,z]
 	 */

source/Rod.hpp

@@ -336,6 +336,7 @@ class DECLDIR Rod final : public Instance, public SuperCFL
 	inline void openoutput();
 
 	/** @brief Initialize the rod state
+	 * @param r The output state variable
 	 * @return The position and orientation angles (first) and the linear and
 	 * angular velocity (second)
 	 * @note moordyn::Rod::r6 and moordyn::Rod::v6 must already be set
@@ -346,6 +347,16 @@ class DECLDIR Rod final : public Instance, public SuperCFL
 	 */
 	std::pair<XYZQuat, vec6> initialize();
 
+	inline void initialize(InstanceStateVarView r)
+	{
+		const auto [pos, vel] = initialize();
+		r.row(0).head<7>() = pos.toVec7();
+		r.row(0).tail<6>() = vel;
+	}
+	/**
+	 * @}
+	 */
+
 	/** @brief Number of segments
 	 *
 	 * The number of nodes can be computed as moordyn::Rod::getN() + 1

source/Time.hpp

@@ -532,41 +532,29 @@ class SchemeBase : public Scheme
 			if ((bodies[i]->type != Body::FREE) &&
 			    (bodies[i]->type != Body::CPLDPIN))
 				continue;
-			auto [pos, vel] = bodies[i]->initialize();
-			auto r = AS_STATE(_r[0])->get(bodies[i]);
-			r.row(0).head(7) = pos.toVec7();
-			r.row(0).tail(6) = vel;
+			bodies[i]->initialize(AS_STATE(_r[0])->get(bodies[i]));
+			for (unsigned int j = 0; j < NDERIV; j++)
+				AS_STATE(_rd[j])->get(bodies[i]).setZero();
 		}
 
 		for (unsigned int i = 0; i < rods.size(); i++) {
 			if ((rods[i]->type != Rod::FREE) && (rods[i]->type != Rod::PINNED))
 				continue;
-			auto [pos, vel] = rods[i]->initialize();
-			auto r = AS_STATE(_r[0])->get(rods[i]);
-			r.row(0).head(7) = pos.toVec7();
-			r.row(0).tail(6) = vel;
+			rods[i]->initialize(AS_STATE(_r[0])->get(rods[i]));
 			for (unsigned int j = 0; j < NDERIV; j++)
 				AS_STATE(_rd[j])->get(rods[i]).setZero();
 		}
 
 		for (unsigned int i = 0; i < points.size(); i++) {
 			if (points[i]->type != Point::FREE)
 				continue;
-			auto [pos, vel] = points[i]->initialize();
-			auto r = AS_STATE(_r[0])->get(points[i]);
-			r.row(0).head(3) = pos;
-			r.row(0).tail(3) = vel;
+			points[i]->initialize(AS_STATE(_r[0])->get(points[i]));
 			for (unsigned int j = 0; j < NDERIV; j++)
 				AS_STATE(_rd[j])->get(points[i]).setZero();
 		}
 
 		for (unsigned int i = 0; i < lines.size(); i++) {
-			auto [pos, vel] = lines[i]->initialize();
-			auto r = AS_STATE(_r[0])->get(lines[i]);
-			for (unsigned int j = 0; j < pos.size(); j++) {
-				r.row(j).head(3) = pos[j];
-				r.row(j).segment(3, 3) = vel[j];
-			}
+			lines[i]->initialize(AS_STATE(_r[0])->get(lines[i]));
 			for (unsigned int j = 0; j < NDERIV; j++)
 				AS_STATE(_rd[j])->get(lines[i]).setZero();
 		}