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runVelIC

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This commit is contained in:
Aik-Siong Koh
2023-06-18 01:06:39 -06:00
parent 3b08cd72df
commit 371b13a9e0
147 changed files with 2555 additions and 238 deletions
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34
MbDCode/Joint.cpp
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@@ -69,6 +69,11 @@ void MbD::Joint::prePosIC()
constraintsDo([](std::shared_ptr<Constraint> constraint) { constraint->prePosIC(); });
}
void MbD::Joint::prePosKine()
{
constraintsDo([](std::shared_ptr<Constraint> constraint) { constraint->prePosKine(); });
}
void MbD::Joint::fillEssenConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essenConstraints)
{
constraintsDo([&](std::shared_ptr<Constraint> con) { con->fillEssenConstraints(con, essenConstraints); });
@@ -89,11 +94,25 @@ void MbD::Joint::fillRedundantConstraints(std::shared_ptr<std::vector<std::share
constraintsDo([&](std::shared_ptr<Constraint> con) { con->fillRedundantConstraints(con, redunConstraints); });
}
void MbD::Joint::fillConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> allConstraints)
{
constraintsDo([&](std::shared_ptr<Constraint> con) { con->fillConstraints(con, allConstraints); });
}
void MbD::Joint::fillqsulam(FColDsptr col)
{
constraintsDo([&](std::shared_ptr<Constraint> con) { con->fillqsulam(col); });
}
void MbD::Joint::fillqsudot(FColDsptr col)
{
constraintsDo([&](std::shared_ptr<Constraint> con) { con->fillqsudot(col); });
}
void MbD::Joint::fillqsudotWeights(std::shared_ptr<DiagonalMatrix<double>> diagMat)
{
}
void MbD::Joint::useEquationNumbers()
{
constraintsDo([](std::shared_ptr<Constraint> constraint) { constraint->useEquationNumbers(); });
@@ -182,3 +201,18 @@ void MbD::Joint::preDyn()
{
constraintsDo([](std::shared_ptr<Constraint> constraint) { constraint->preDyn(); });
}
void MbD::Joint::fillPosKineError(FColDsptr col)
{
constraintsDo([&](std::shared_ptr<Constraint> con) { con->fillPosKineError(col); });
}
void MbD::Joint::fillPosKineJacob(SpMatDsptr mat)
{
constraintsDo([&](std::shared_ptr<Constraint> constraint) { constraint->fillPosKineJacob(mat); });
}
void MbD::Joint::preVelIC()
{
constraintsDo([](std::shared_ptr<Constraint> constraint) { constraint->preVelIC(); });
}