getPosition3D getQuarternions added

OndselSolver/ASMTSpatialContainer.cpp

@@ -307,14 +307,18 @@ void MbD::ASMTSpatialContainer::updateFromMbD()
 	auto aAOp = mbdPart->aAOp();
 	auto vOcmO = mbdPart->qXdot()->times(mbdUnts->velocity);
 	auto omeOPO = mbdPart->omeOpO()->times(mbdUnts->omega);
+	omega3D = omeOPO;
 	auto aOcmO = mbdPart->qXddot()->times(mbdUnts->acceleration);
 	auto alpOPO = mbdPart->alpOpO()->times(mbdUnts->alpha);
 	auto& rPcmP = principalMassMarker->position3D;
 	auto& aAPp = principalMassMarker->rotationMatrix;
 	auto aAOP = aAOp->timesTransposeFullMatrix(aAPp);
+	rotationMatrix = aAOP;
 	auto rPcmO = aAOP->timesFullColumn(rPcmP);
 	auto rOPO = rOcmO->minusFullColumn(rPcmO);
+	position3D = rOPO;
 	auto vOPO = vOcmO->minusFullColumn(omeOPO->cross(rPcmO));
+	velocity3D = vOPO;
 	auto aOPO = aOcmO->minusFullColumn(alpOPO->cross(rPcmO))->minusFullColumn(omeOPO->cross(omeOPO->cross(rPcmO)));
 	xs->push_back(rOPO->at(0));
 	ys->push_back(rOPO->at(1));

OndselSolver/ASMTSpatialItem.cpp

@@ -7,6 +7,9 @@
  ***************************************************************************/
  
 #include "ASMTSpatialItem.h"
+#include "Units.h"
+#include "Part.h"
+#include "ASMTSpatialContainer.h"
 
 using namespace MbD;
 
@@ -93,6 +96,21 @@ void MbD::ASMTSpatialItem::readOmega3D(std::vector<std::string>& lines)
 	lines.erase(lines.begin());
 }
 
+void MbD::ASMTSpatialItem::getPosition3D(double& a, double& b, double& c)
+{
+	a = position3D->at(0);
+	b = position3D->at(1);
+	c = position3D->at(2);
+}
+
+void MbD::ASMTSpatialItem::getQuarternions(double& q0, double& q1, double& q2, double& q3)
+{
+	auto eulerParameters = rotationMatrix->asEulerParameters();
+	q0 = eulerParameters->at(3);
+	q1 = eulerParameters->at(0);
+	q2 = eulerParameters->at(1);
+	q3 = eulerParameters->at(2);
+}
 
 // Overloads to simplify syntax.
 void MbD::ASMTSpatialItem::setPosition3D(double a, double b, double c)

OndselSolver/ASMTSpatialItem.h

@@ -16,7 +16,6 @@ namespace MbD {
 		//
 	public:
 		void setPosition3D(FColDsptr position3D);
-		void setQuarternions(double q0, double q1, double q2, double q3);
 		void setRotationMatrix(FMatDsptr rotationMatrix);
 		void setVelocity3D(FColDsptr velocity3D);
 		void setOmega3D(FColDsptr omega3D);
@@ -35,7 +34,10 @@ namespace MbD {
 			});
 
 		// Overloads to simplify syntax.
+		void getPosition3D(double& a, double& b, double& c);
+		void getQuarternions(double& q0, double& q1, double& q2, double& q3);
 		void setPosition3D(double a, double b, double c);
+		void setQuarternions(double q0, double q1, double q2, double q3);
 		void setVelocity3D(double a, double b, double c);
 		void setOmega3D(double a, double b, double c);
 		void setRotationMatrix(double v11, double v12, double v13,

OndselSolver/OndselSolver.cpp

@@ -24,7 +24,7 @@ void runSpMat();
 
 int main()
 {
-	MBDynSystem::runFile("crank_slider.mbd");		//To be completed
+	//MBDynSystem::runFile("crank_slider.mbd");		//To be completed
 	//ASMTAssembly::runSinglePendulumSuperSimplified();	//Mass is missing
 	ASMTAssembly::runSinglePendulumSimplified();
 	ASMTAssembly::runSinglePendulum();