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add runOndselDoublePendulum for simple case

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This commit is contained in:
Aik-Siong Koh
2023-09-26 14:03:05 -06:00
parent 11cbcffacf
commit 2b1ec21b3a
16 changed files with 230 additions and 37 deletions
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36
MbDCode/GeneralSpline.cpp
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@@ -5,7 +5,7 @@
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#include <functional>
#include "GeneralSpline.h"
@@ -27,7 +27,7 @@ double MbD::GeneralSpline::getValue()
Symsptr MbD::GeneralSpline::differentiateWRTx()
{
auto self = clonesptr();
auto arg = std::static_pointer_cast<GeneralSpline>(self)->xx;
auto& arg = std::static_pointer_cast<GeneralSpline>(self)->xx;
auto deriv = std::make_shared<DifferentiatedGeneralSpline>(arg, self, 1);
return deriv;
}
@@ -35,14 +35,14 @@ Symsptr MbD::GeneralSpline::differentiateWRTx()
void MbD::GeneralSpline::arguments(Symsptr args)
{
auto array = args->getTerms();
auto arg = array->at(0);
auto& arg = array->at(0);
int order = (int)array->at(1)->getValue();
int n = (array->size() - 2) / 2;
int n = ((int)array->size() - 2) / 2;
auto xarray = std::make_shared<std::vector<double>>(n);
auto yarray = std::make_shared<std::vector<double>>(n);
for (int i = 0; i < n; i++)
{
size_t ii = 2 * (i + 1);
size_t ii = 2 * ((size_t)i + 1);
xarray->at(i) = array->at(ii)->getValue();
yarray->at(i) = array->at(ii + 1)->getValue();
}
@@ -63,7 +63,7 @@ void MbD::GeneralSpline::computeDerivatives()
{
//"See derivation in MbDTheory 9spline.fodt."
if (degree == 0) throw std::runtime_error("ToDo: Use ZeroDegreeSpline");
auto n = xs->size();
auto n = (int)xs->size();
auto p = degree;
auto np = n * p;
auto matrix = std::make_shared<SparseMatrix<double>>(np, np);
@@ -72,7 +72,7 @@ void MbD::GeneralSpline::computeDerivatives()
auto hmax = 0.0;
for (int i = 0; i < n - 1; i++)
{
auto h = xs->at(i + 1) - xs->at(i);
auto h = xs->at((size_t)i + 1) - xs->at(i);
hmax = std::max(hmax, std::abs(h));
hs->atiput(i, h);
}
@@ -94,7 +94,7 @@ void MbD::GeneralSpline::computeDerivatives()
matrix->atijput(offset + k - j, offset + k, dum);
}
}
bvector->atiput(offset, ys->at(i + 1) - ys->at(i));
bvector->atiput(offset, ys->at((size_t)i + 1) - ys->at(i));
}
if (isCyclic()) {
for (int j = 1; j < p + 1; j++)
@@ -127,7 +127,7 @@ void MbD::GeneralSpline::computeDerivatives()
}
for (int i = 0; i < n; i++)
{
auto derivsi = derivs->at(i);
auto& derivsi = derivs->at(i);
derivsi->equalArrayAt(derivsVector, (i - 1) * p + 1);
for (int j = 0; j < p; j++)
{
@@ -147,13 +147,13 @@ double MbD::GeneralSpline::derivativeAt(int n, double xxx)
//"d2ydx2(x) := d2ydx2i + d3ydx3i*hi + d4ydx4i*hi^2/2! +"
if (n > degree) return 0.0;
calcIndexAndDeltaFor(xxx);
auto derivsi = derivs->at(index);
auto& derivsi = derivs->at(index);
auto sum = 0.0;
for (int j = degree; j >= n + 1; j--)
{
sum = (sum + derivsi->at(j - 1)) * delta / (j - n);
sum = (sum + derivsi->at((size_t)j - 1)) * delta / (j - n);
}
return derivsi->at(n - 1) + sum;
return derivsi->at((size_t)n - 1) + sum;
}
void MbD::GeneralSpline::calcIndexAndDeltaFor(double xxx)
@@ -185,7 +185,7 @@ void MbD::GeneralSpline::calcNonCyclicIndexAndDelta()
}
else {
if (xvalue >= xLast) {
index = xs->size() - 1;
index = (int)xs->size() - 1;
delta = xvalue - xLast;
}
else {
@@ -196,8 +196,8 @@ void MbD::GeneralSpline::calcNonCyclicIndexAndDelta()
void MbD::GeneralSpline::calcIndexAndDelta()
{
if (!(index < xs->size() - 1) || !(xs->at(index) <= xvalue) || !(xvalue < xs->at(index + 1))) {
searchIndexFromto(0, xs->size()); //Using range.
if (!(index < xs->size() - 1) || !(xs->at(index) <= xvalue) || !(xvalue < xs->at((size_t)index + 1))) {
searchIndexFromto(0, (int)xs->size()); //Using range.
}
delta = xvalue - xs->at(index);
}
@@ -209,7 +209,7 @@ void MbD::GeneralSpline::searchIndexFromto(int first, int last)
index = first;
}
else {
auto middle = std::floor((first + last) / 2);
auto middle = (int)std::floor((first + last) / 2);
if (xvalue < xs->at(middle)) {
searchIndexFromto(first, middle);
}
@@ -229,11 +229,11 @@ double MbD::GeneralSpline::y(double xxx)
//"y(x) := yi + dydxi*hi + d2ydx2i*hi^2/2! + d3ydx3i*hi^3/3! +"
calcIndexAndDeltaFor(xxx);
auto derivsi = derivs->at(index);
auto& derivsi = derivs->at(index);
auto sum = 0.0;
for (int j = degree; j >= 1; j--)
{
sum = (sum + derivsi->at(j - 1)) * delta / j;
sum = (sum + derivsi->at((size_t)j - 1)) * delta / j;
}
return ys->at(index) + sum;
}