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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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38
MbDCode/MbDCode.cpp
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@@ -55,7 +55,7 @@ int main()
systemSolver->rotationLimit = 0.5;
std::string str;
FColDsptr qX, qE, qXdot, omeOpO;
FColDsptr qX, qE, qXdot, omeOpO, qXddot, qEddot;
FColDsptr rpmp;
FMatDsptr aApm;
FRowDsptr fullRow;
@@ -68,10 +68,14 @@ int main()
qE = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0, 1 });
assembly1->setqX(qX);
assembly1->setqE(qE);
//qXdot = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
//omeOpO = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0, 1 });
//assembly1->setqXdot(qXdot);
//assembly1->setomeOpO(omeOpO);
qXdot = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
omeOpO = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
assembly1->setqXdot(qXdot);
assembly1->setomeOpO(omeOpO);
qXddot = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
qEddot = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
assembly1->setqXddot(qXdot);
assembly1->setqEddot(omeOpO);
std::cout << "assembly1->getqX() " << *assembly1->getqX() << std::endl;
std::cout << "assembly1->getqE() " << *assembly1->getqE() << std::endl;
TheSystem.addPart(assembly1);
@@ -109,6 +113,14 @@ int main()
qE = std::make_shared<FullColumn<double>>(ListD{ 0.0, 0.0, 0.0, 1.0 });
crankPart1->setqX(qX);
crankPart1->setqE(qE);
qXdot = std::make_shared<FullColumn<double>>(ListD{ 0, 0.096568457800423, 0 });
omeOpO = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0.25132741228718 });
crankPart1->setqXdot(qXdot);
crankPart1->setomeOpO(omeOpO);
qXddot = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
qEddot = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
crankPart1->setqXddot(qXdot);
crankPart1->setqEddot(omeOpO);
TheSystem.parts->push_back(crankPart1);
{
auto& partFrame = crankPart1->partFrame;
@@ -143,6 +155,14 @@ int main()
qE = std::make_shared<FullColumn<double>>(ListD{ 0.0, 0.0, 0.89871703427292, 0.43852900965351 });
conrodPart2->setqX(qX);
conrodPart2->setqE(qE);
qXdot = std::make_shared<FullColumn<double>>(ListD{ 0, 0.19313691560085, 0 });
omeOpO = std::make_shared<FullColumn<double>>(ListD{ 1.670970041317e-34, 1.3045598281729e-34, -1.2731200314796e-35 });
crankPart1->setqXdot(qXdot);
crankPart1->setomeOpO(omeOpO);
qXddot = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
qEddot = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
crankPart1->setqXddot(qXdot);
crankPart1->setqEddot(omeOpO);
TheSystem.parts->push_back(conrodPart2);
{
auto& partFrame = conrodPart2->partFrame;
@@ -177,6 +197,14 @@ int main()
qE = std::make_shared<FullColumn<double>>(ListD{ 0.70710678118655, 0.70710678118655, 0.0, 0.0 });
pistonPart3->setqX(qX);
pistonPart3->setqE(qE);
qXdot = std::make_shared<FullColumn<double>>(ListD{ -6.3364526821409e-32, 0.19313691560085, -1.933731897626e-34 });
omeOpO = std::make_shared<FullColumn<double>>(ListD{ 1.670970041317e-34, 1.3045598281729e-34, 1.8896472173894e-50 });
crankPart1->setqXdot(qXdot);
crankPart1->setomeOpO(omeOpO);
qXddot = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
qEddot = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
crankPart1->setqXddot(qXdot);
crankPart1->setqEddot(omeOpO);
TheSystem.parts->push_back(pistonPart3);
{
auto& partFrame = pistonPart3->partFrame;