WIP: fixes mac errors and warnings (#34)

* fixes mac errors and warnings; check on TODO items

* renamed function as override was not of virtual

* removed another using

* experimental adjustment

* move fcDot to public

* renaming things

CMakeLists.txt

@@ -192,6 +192,7 @@ set(ONDSELSOLVER_SRC
         OndselSolver/IndependentVariable.cpp
         OndselSolver/InLineJoint.cpp
         OndselSolver/InPlaneJoint.cpp
+        OndselSolver/Integral.cpp
         OndselSolver/Integrator.cpp
         OndselSolver/IntegratorInterface.cpp
         OndselSolver/Item.cpp
@@ -220,6 +221,7 @@ set(ONDSELSOLVER_SRC
         OndselSolver/MBDynBody.cpp
         OndselSolver/MBDynControlData.cpp
         OndselSolver/MBDynData.cpp
+        OndselSolver/MBDynDrive.cpp
         OndselSolver/MBDynElement.cpp
         OndselSolver/MBDynInitialValue.cpp
         OndselSolver/MBDynItem.cpp
@@ -244,9 +246,11 @@ set(ONDSELSOLVER_SRC
         OndselSolver/Part.cpp
         OndselSolver/PartFrame.cpp
         OndselSolver/PerpendicularJoint.cpp
+        OndselSolver/PiecewiseFunction.cpp
         OndselSolver/PlanarJoint.cpp
         OndselSolver/PointInLineJoint.cpp
         OndselSolver/PointInPlaneJoint.cpp
+        OndselSolver/Polynomial.cpp
         OndselSolver/PosICKineNewtonRaphson.cpp
         OndselSolver/PosICNewtonRaphson.cpp
         OndselSolver/PosKineNewtonRaphson.cpp
@@ -260,6 +264,7 @@ set(ONDSELSOLVER_SRC
         OndselSolver/RackPinConstraintIqcJc.cpp
         OndselSolver/RackPinConstraintIqcJqc.cpp
         OndselSolver/RackPinJoint.cpp
+        OndselSolver/RampStepFunction.cpp
         OndselSolver/Reciprocal.cpp
         OndselSolver/RedundantConstraint.cpp
         OndselSolver/RevCylJoint.cpp

OndselSolver/ASMTTime.h

@@ -18,7 +18,7 @@ namespace MbD {
         //
     public:
         void deleteMbD();
-        void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits);
+        void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
         Symsptr expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
         Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
         bool isVariable() override;

OndselSolver/AccNewtonRaphson.cpp

@@ -126,18 +126,17 @@ void AccNewtonRaphson::preRun()
 
 void MbD::AccNewtonRaphson::handleSingularMatrix()
 {
-	std::string str = typeid(*matrixSolver).name();
+    auto& r = *matrixSolver;
+	std::string str = typeid(r).name();
 	if (str.find("GESpMatParPvMarkoFast") != std::string::npos) {
 		matrixSolver = CREATE<GESpMatParPvPrecise>::With();
 		this->solveEquations();
-	}
-	else {
-		str = typeid(*matrixSolver).name();
+	} else {
+		str = typeid(r).name();
 		if (str.find("GESpMatParPvPrecise") != std::string::npos) {
 			this->logSingularMatrixMessage();
 			matrixSolver->throwSingularMatrixError("AccAccNewtonRaphson");
-		}
-		else {
+		} else {
 			assert(false);
 		}
 	}

OndselSolver/AngleZIecJec.cpp

@@ -29,7 +29,7 @@ void MbD::AngleZIecJec::calcPostDynCorrectorIteration()
 	auto diffOfSquares = sthez * sthez - (cthez * cthez);
 	auto sumOfSquaresSquared = sumOfSquares * sumOfSquares;
 	auto thez0to2pi = Numeric::arcTan0to2piYoverX(sthez, cthez);
-	thez = std::round(thez - thez0to2pi / (2.0 * M_PI)) * (2.0 * M_PI) + thez0to2pi;
+	thez = std::round(thez - thez0to2pi / (2.0 * OS_M_PI)) * (2.0 * OS_M_PI) + thez0to2pi;
 	cosOverSSq = cthez / sumOfSquares;
 	sinOverSSq = sthez / sumOfSquares;
 	twoCosSinOverSSqSq = 2.0 * cthez * sthez / sumOfSquaresSquared;

OndselSolver/DirectionCosineIecJec.cpp

@@ -9,29 +9,28 @@
 #include <memory>
 
 #include "DirectionCosineIecJec.h"
-#include "FullColumn.h"
 #include "EndFramec.h"
 
-using namespace MbD;
+namespace MbD {
+    DirectionCosineIecJec::DirectionCosineIecJec()
+    = default;
 
-DirectionCosineIecJec::DirectionCosineIecJec()
-{
+    DirectionCosineIecJec::DirectionCosineIecJec(EndFrmsptr frmi, EndFrmsptr frmj, int axisi, int axisj) :
+            KinematicIeJe(frmi, frmj), axisI(axisi), axisJ(axisj)
+    {
+
+    }
+
+    void DirectionCosineIecJec::calcPostDynCorrectorIteration()
+    {
+        aAjOIe = frmI->aAjOe(axisI);
+        aAjOJe = frmJ->aAjOe(axisJ);
+        aAijIeJe = aAjOIe->dotVec(aAjOJe);
+    }
+
+    double MbD::DirectionCosineIecJec::value()
+    {
+        return aAijIeJe;
+    }
 }
 
-DirectionCosineIecJec::DirectionCosineIecJec(EndFrmsptr frmi, EndFrmsptr frmj, int axisi, int axisj) :
-	KinematicIeJe(frmi, frmj), axisI(axisi), axisJ(axisj)
-{
-
-}
-
-void DirectionCosineIecJec::calcPostDynCorrectorIteration()
-{
-	aAjOIe = frmI->aAjOe(axisI);
-	aAjOJe = frmJ->aAjOe(axisJ);
-	aAijIeJe = aAjOIe->dot(aAjOJe);
-}
-
-double MbD::DirectionCosineIecJec::value()
-{
-	return aAijIeJe;
-}

OndselSolver/DirectionCosineIecJec.h

@@ -10,11 +10,10 @@
 
 #include <memory>
 
+#include "FullColumn.h"
 #include "KinematicIeJe.h"
 
 namespace MbD {
-    template<typename T>
-    class FullColumn;
 
     class DirectionCosineIecJec : public KinematicIeJe
     {
@@ -26,8 +25,8 @@ namespace MbD {
         void calcPostDynCorrectorIteration() override;
         double value() override;
 
-        int axisI, axisJ;   //0, 1, 2 = x, y, z
-        double aAijIeJe;
+        int axisI{}, axisJ{};   //0, 1, 2 = x, y, z
+        double aAijIeJe{};
         FColDsptr aAjOIe, aAjOJe;
     };
 }

OndselSolver/DirectionCosineIeqcJec.cpp

@@ -56,7 +56,7 @@ void DirectionCosineIeqcJec::calcPostDynCorrectorIteration()
 		auto& ppAjOIepEIipEI = ppAjOIepEIpEI->at(i);
 		for (int j = 0; j < 4; j++)
 		{
-			ppAijIeJepEIipEI->at(j) = ppAjOIepEIipEI->at(j)->dot(aAjOJe);
+			ppAijIeJepEIipEI->at(j) = ppAjOIepEIipEI->at(j)->dotVec(aAjOJe);
 		}
 	}	
 	ppAijIeJepEIpEI->symLowerWithUpper();

OndselSolver/DirectionCosineIeqcJeqc.cpp

@@ -45,7 +45,7 @@ void DirectionCosineIeqcJeqc::calcPostDynCorrectorIteration()
 	pAjOJepEJT = std::static_pointer_cast<EndFrameqc>(frmJ)->pAjOepET(axisJ);
 	for (int i = 0; i < 4; i++)
 	{
-		pAijIeJepEJ->at(i) = aAjOIe->dot(pAjOJepEJT->at(i));
+		pAijIeJepEJ->at(i) = aAjOIe->dotVec(pAjOJepEJT->at(i));
 	}
 	for (int i = 0; i < 4; i++)
 	{
@@ -61,7 +61,7 @@ void DirectionCosineIeqcJeqc::calcPostDynCorrectorIteration()
 		auto& ppAjOJepEJipEJ = ppAjOJepEJpEJ->at(i);
 		for (int j = 0; j < 4; j++)
 		{
-			ppAijIeJepEJipEJ->at(j) = aAjOIe->dot(ppAjOJepEJipEJ->at(j));
+			ppAijIeJepEJipEJ->at(j) = aAjOIe->dotVec(ppAjOJepEJipEJ->at(j));
 		}
 	}
 	ppAijIeJepEJpEJ->symLowerWithUpper();

OndselSolver/DirectionCosineIeqctJeqc.cpp

@@ -60,7 +60,7 @@ void DirectionCosineIeqctJeqc::preVelIC()
 {
 	Item::preVelIC();
 	auto pAjOIept = std::static_pointer_cast<EndFrameqct>(frmI)->pAjOept(axisI);
-	pAijIeJept = pAjOIept->dot(aAjOJe);
+	pAijIeJept = pAjOIept->dotVec(aAjOJe);
 }
 
 double DirectionCosineIeqctJeqc::pvaluept()
@@ -82,7 +82,7 @@ void DirectionCosineIeqctJeqc::preAccIC()
 	}
 	for (int i = 0; i < 4; i++)
 	{
-		ppAijIeJepEJpt->atiput(i, pAjOIept->dot(pAjOJepEJT->at(i)));
+		ppAijIeJepEJpt->atiput(i, pAjOIept->dotVec(pAjOJepEJT->at(i)));
 	}
-	ppAijIeJeptpt = ppAjOIeptpt->dot(aAjOJe);
+	ppAijIeJeptpt = ppAjOIeptpt->dotVec(aAjOJe);
 }

OndselSolver/DispCompIecJecIe.cpp

@@ -23,7 +23,7 @@ void MbD::DispCompIecJecIe::calc_value()
 {
 	aAjOIe = frmI->aAjOe(axis);
 	rIeJeO = frmJ->rOeO->minusFullColumn(frmI->rOeO);
-	riIeJeIe = aAjOIe->dot(rIeJeO);
+	riIeJeIe = aAjOIe->dotVec(rIeJeO);
 }
 
 void MbD::DispCompIecJecIe::calcPostDynCorrectorIteration()

OndselSolver/DispCompIecJecKeqc.cpp

@@ -37,7 +37,7 @@ void DispCompIecJecKeqc::calcPostDynCorrectorIteration()
 	auto efrmKqc = std::static_pointer_cast<EndFrameqc>(efrmK);
 	aAjOKe = efrmKqc->aAjOe(axisK);
 	rIeJeO = frmJqc->rOeO->minusFullColumn(frmIqc->rOeO);
-	riIeJeKe = aAjOKe->dot(rIeJeO);
+	riIeJeKe = aAjOKe->dotVec(rIeJeO);
 	pAjOKepEKT = efrmKqc->pAjOepET(axisK);
 	ppAjOKepEKpEK = efrmKqc->ppAjOepEpE(axisK);
 	for (int i = 0; i < 4; i++)
@@ -45,10 +45,10 @@ void DispCompIecJecKeqc::calcPostDynCorrectorIteration()
 		priIeJeKepEK->at(i) = ((pAjOKepEKT->at(i))->dot(rIeJeO));
 		auto& ppAjOKepEKipEK = ppAjOKepEKpEK->at(i);
 		auto& ppriIeJeKepEKipEK = ppriIeJeKepEKpEK->at(i);
-		ppriIeJeKepEKipEK->at(i) = ((ppAjOKepEKipEK->at(i))->dot(rIeJeO));
+		ppriIeJeKepEKipEK->at(i) = ((ppAjOKepEKipEK->at(i))->dotVec(rIeJeO));
 		for (int j = i + 1; j < 4; j++)
 		{
-			auto ppriIeJeKepEKipEKj = (ppAjOKepEKipEK->at(i))->dot(rIeJeO);
+			auto ppriIeJeKepEKipEKj = (ppAjOKepEKipEK->at(i))->dotVec(rIeJeO);
 			ppriIeJeKepEKipEK->at(j) = ppriIeJeKepEKipEKj;
 			ppriIeJeKepEKpEK->at(j)->at(i) = ppriIeJeKepEKipEKj;
 		}

OndselSolver/DispCompIeqcJecIe.cpp

@@ -31,10 +31,10 @@ void MbD::DispCompIeqcJecIe::calc_ppvaluepEIpEI()
 		auto ppriIeJeIepEIipEI = ppriIeJeIepEIpEI->at(i);
 		for (int j = i; j < 4; j++)
 		{
-			auto term1 = ppAjOIepEIipEI->at(j)->dot(rIeJeO);
+			auto term1 = ppAjOIepEIipEI->at(j)->dotVec(rIeJeO);
 			auto mterm2 = pAjOIepEIT->at(i)->dot(mprIeJeOpEIT->at(j));
 			auto mterm3 = (i == j) ? mterm2 : pAjOIepEIT->at(j)->dot(mprIeJeOpEIT->at(i));
-			auto mterm4 = aAjOIe->dot(mpprIeJeOpEIipEI->at(j));
+			auto mterm4 = aAjOIe->dotVec(mpprIeJeOpEIipEI->at(j));
 			ppriIeJeIepEIipEI->atiput(j, term1 - mterm2 - mterm3 - mterm4);
 		}
 	}
@@ -60,7 +60,7 @@ void MbD::DispCompIeqcJecIe::calc_pvaluepEI()
 	auto mprIeJeOpEIT = frmIeqc->prOeOpE->transpose();
 	for (int i = 0; i < 4; i++)
 	{
-		priIeJeIepEI->atiput(i, pAjOIepEIT->at(i)->dot(rIeJeO) - aAjOIe->dot(mprIeJeOpEIT->at(i)));
+		priIeJeIepEI->atiput(i, pAjOIepEIT->at(i)->dot(rIeJeO) - aAjOIe->dotVec(mprIeJeOpEIT->at(i)));
 	}
 }
 

OndselSolver/DispCompIeqcJecKeqc.cpp

@@ -41,7 +41,7 @@ void DispCompIeqcJecKeqc::calcPostDynCorrectorIteration()
 	}
 	for (int i = 0; i < 4; i++)
 	{
-		priIeJeKepEI->at(i) = 0.0 - (aAjOKe->dot(mprIeJeOpEIT->at(i)));
+		priIeJeKepEI->at(i) = 0.0 - (aAjOKe->dotVec(mprIeJeOpEIT->at(i)));
 	}
 	for (int i = 0; i < 3; i++)
 	{
@@ -55,10 +55,10 @@ void DispCompIeqcJecKeqc::calcPostDynCorrectorIteration()
 	{
 		auto& mpprIeJeOpEIipEI = mpprIeJeOpEIpEI->at(i);
 		auto& ppriIeJeKepEIipEI = ppriIeJeKepEIpEI->at(i);
-		ppriIeJeKepEIipEI->at(i) = 0.0 - (aAjOKe->dot(mpprIeJeOpEIipEI->at(i)));
+		ppriIeJeKepEIipEI->at(i) = 0.0 - (aAjOKe->dotVec(mpprIeJeOpEIipEI->at(i)));
 		for (int j = 0; j < 4; j++)
 		{
-			auto ppriIeJeKepEIipEIj = 0.0 - (aAjOKe->dot(mpprIeJeOpEIipEI->at(j)));
+			auto ppriIeJeKepEIipEIj = 0.0 - (aAjOKe->dotVec(mpprIeJeOpEIipEI->at(j)));
 			ppriIeJeKepEIipEI->at(j) = ppriIeJeKepEIipEIj;
 			ppriIeJeKepEIpEI->at(j)->at(i) = ppriIeJeKepEIipEIj;
 		}

OndselSolver/DispCompIeqcJeqcIe.cpp

@@ -41,7 +41,7 @@ void MbD::DispCompIeqcJeqcIe::calc_ppvaluepEJpEJ()
 		auto ppriIeJeIepEJipEJ = ppriIeJeIepEJpEJ->at(i);
 		for (int j = i; j < 4; j++)
 		{
-			auto term1 = aAjOIe->dot(pprIeJeOpEJipEJ->at(j));
+			auto term1 = aAjOIe->dotVec(pprIeJeOpEJipEJ->at(j));
 			ppriIeJeIepEJipEJ->atiput(j, term1);
 		}
 	}
@@ -54,7 +54,7 @@ void MbD::DispCompIeqcJeqcIe::calc_pvaluepEJ()
 	auto prIeJeOpEJT = frmJeqc->prOeOpE->transpose();
 	for (int i = 0; i < 4; i++)
 	{
-		priIeJeIepEJ->atiput(i, aAjOIe->dot(prIeJeOpEJT->at(i)));
+		priIeJeIepEJ->atiput(i, aAjOIe->dotVec(prIeJeOpEJT->at(i)));
 	}
 }
 

OndselSolver/DispCompIeqcJeqcKeqc.cpp

@@ -41,7 +41,7 @@ void DispCompIeqcJeqcKeqc::calcPostDynCorrectorIteration()
 	}
 	for (int i = 0; i < 4; i++)
 	{
-		priIeJeKepEJ->atiput(i, aAjOKe->dot(prIeJeOpEJT->at(i)));
+		priIeJeKepEJ->atiput(i, aAjOKe->dotVec(prIeJeOpEJT->at(i)));
 	}
 	for (int i = 0; i < 3; i++)
 	{
@@ -55,10 +55,10 @@ void DispCompIeqcJeqcKeqc::calcPostDynCorrectorIteration()
 	{
 		auto& pprIeJeOpEJipEJ = pprIeJeOpEJpEJ->at(i);
 		auto& ppriIeJeKepEJipEJ = ppriIeJeKepEJpEJ->at(i);
-		ppriIeJeKepEJipEJ->atiput(i, aAjOKe->dot(pprIeJeOpEJipEJ->at(i)));
+		ppriIeJeKepEJipEJ->atiput(i, aAjOKe->dotVec(pprIeJeOpEJipEJ->at(i)));
 		for (int j = 0; j < 4; j++)
 		{
-			auto ppriIeJeKepEJipEJj = (aAjOKe->dot(pprIeJeOpEJipEJ->at(j)));
+			auto ppriIeJeKepEJipEJj = (aAjOKe->dotVec(pprIeJeOpEJipEJ->at(j)));
 			ppriIeJeKepEJipEJ->atiput(j, ppriIeJeKepEJipEJj);
 			ppriIeJeKepEJpEJ->atijput(j, i, ppriIeJeKepEJipEJj);
 		}

OndselSolver/DispCompIeqcJeqcKeqct.cpp

@@ -47,7 +47,7 @@ void DispCompIeqcJeqcKeqct::preVelIC()
 {
 	Item::preVelIC();
 	auto pAjOKept = std::static_pointer_cast<EndFrameqct>(efrmK)->pAjOept(axisK);
-	priIeJeKept = pAjOKept->dot(rIeJeO);
+	priIeJeKept = pAjOKept->dotVec(rIeJeO);
 }
 
 double DispCompIeqcJeqcKeqct::pvaluept()
@@ -100,9 +100,9 @@ void DispCompIeqcJeqcKeqct::preAccIC()
 	}
 	for (int i = 0; i < 4; i++)
 	{
-		ppriIeJeKepEIpt->atiput(i, pAjOKept->dot(prIeJeOpEIT->at(i)));
-		ppriIeJeKepEJpt->atiput(i, pAjOKept->dot(prIeJeOpEJT->at(i)));
+		ppriIeJeKepEIpt->atiput(i, pAjOKept->dotVec(prIeJeOpEIT->at(i)));
+		ppriIeJeKepEJpt->atiput(i, pAjOKept->dotVec(prIeJeOpEJT->at(i)));
 		ppriIeJeKepEKpt->atiput(i, ppAjOKepEKTpt->at(i)->dot(rIeJeO));
 	}
-	ppriIeJeKeptpt = ppAjOKeptpt->dot(rIeJeO);
+	ppriIeJeKeptpt = ppAjOKeptpt->dotVec(rIeJeO);
 }

OndselSolver/DispCompIeqctJeqcIe.cpp

@@ -33,7 +33,9 @@ void MbD::DispCompIeqctJeqcIe::calc_ppvaluepEIpt()
 		auto pAjOIepEITi = pAjOIepEIT->at(i);
 		auto mprIeJeOpEITi = mprIeJeOpEIT->at(i);
 		auto mpprIeJeOpEITpti = mpprIeJeOpEITpt->at(i);
-		auto ppriIeJeIepEIpti = ppAjOIepEITpti->dot(rIeJeO) - pAjOIepEITi->dot(mprIeJeOpt) - pAjOIept->dot(mprIeJeOpEITi) - aAjOIe->dot(mpprIeJeOpEITpti);
+		auto ppriIeJeIepEIpti = ppAjOIepEITpti->dot(rIeJeO) - pAjOIepEITi->dot(mprIeJeOpt) -
+                pAjOIept->dotVec(mprIeJeOpEITi) -
+                                aAjOIe->dotVec(mpprIeJeOpEITpti);
 		ppriIeJeIepEIpt->atiput(i, ppriIeJeIepEIpti);
 	}
 }
@@ -46,7 +48,7 @@ void MbD::DispCompIeqctJeqcIe::calc_ppvaluepEJpt()
 	auto prIeJeOpEJT = frmJeqct->prOeOpE->transpose();
 	for (int i = 0; i < 4; i++)
 	{
-		ppriIeJeIepEJpt->atiput(i, pAjOIept->dot(prIeJeOpEJT->at(i)));
+		ppriIeJeIepEJpt->atiput(i, pAjOIept->dotVec(prIeJeOpEJT->at(i)));
 	}
 }
 
@@ -57,7 +59,8 @@ void MbD::DispCompIeqctJeqcIe::calc_ppvalueptpt()
 	auto ppAjOIeptpt = frmIeqct->ppAjOeptpt(axis);
 	auto mprIeJeOpt = frmIeqct->prOeOpt;
 	auto mpprIeJeOptpt = frmIeqct->pprOeOptpt;
-	ppriIeJeIeptpt = ppAjOIeptpt->dot(rIeJeO) - pAjOIept->dot(mprIeJeOpt) - pAjOIept->dot(mprIeJeOpt) - aAjOIe->dot(mpprIeJeOptpt);
+	ppriIeJeIeptpt = ppAjOIeptpt->dotVec(rIeJeO) - pAjOIept->dotVec(mprIeJeOpt) - pAjOIept->dotVec(mprIeJeOpt) -
+                     aAjOIe->dotVec(mpprIeJeOptpt);
 }
 
 void MbD::DispCompIeqctJeqcIe::calc_ppvaluepXIpt()
@@ -85,7 +88,7 @@ void MbD::DispCompIeqctJeqcIe::calc_pvaluept()
 	auto frmIeqct = std::static_pointer_cast<EndFrameqct>(frmI);
 	auto pAjOIept = frmIeqct->pAjOept(axis);
 	auto mprIeJeOpt = frmIeqct->prOeOpt;
-	priIeJeIept = pAjOIept->dot(rIeJeO) - aAjOIe->dot(mprIeJeOpt);
+	priIeJeIept = pAjOIept->dotVec(rIeJeO) - aAjOIe->dotVec(mprIeJeOpt);
 }
 
 void MbD::DispCompIeqctJeqcIe::calcPostDynCorrectorIteration()

OndselSolver/DispCompIeqctJeqcKeqct.cpp

@@ -23,7 +23,7 @@ void DispCompIeqctJeqcKeqct::preVelIC()
 {
 	DispCompIeqcJeqcKeqct::preVelIC();
 	auto& mprIeJeOpt = std::static_pointer_cast<EndFrameqct>(frmI)->prOeOpt;
-	priIeJeKept -= aAjOKe->dot(mprIeJeOpt);
+	priIeJeKept -= aAjOKe->dotVec(mprIeJeOpt);
 }
 
 void DispCompIeqctJeqcKeqct::preAccIC()
@@ -36,8 +36,8 @@ void DispCompIeqctJeqcKeqct::preAccIC()
 	auto& mpprIeJeOptpt = efrmIqct->pprOeOptpt;
 	for (int i = 0; i < 4; i++)
 	{
-		ppriIeJeKepEIpt->atiminusNumber(i, aAjOKe->dot(mpprIeJeOpEITpt->at(i)));
+		ppriIeJeKepEIpt->atiminusNumber(i, aAjOKe->dotVec(mpprIeJeOpEITpt->at(i)));
 		ppriIeJeKepEKpt->atiminusNumber(i, pAjOKepEKT->at(i)->dot(mprIeJeOpt));
 	}
-	ppriIeJeKeptpt +=  -(2.0 * pAjOKept->dot(mprIeJeOpt)) - aAjOKe->dot(mpprIeJeOptpt);
+	ppriIeJeKeptpt += -(2.0 * pAjOKept->dotVec(mprIeJeOpt)) - aAjOKe->dotVec(mpprIeJeOptpt);
 }

OndselSolver/DistIeqcJec.cpp

@@ -63,7 +63,7 @@ void MbD::DistIeqcJec::calcPrivate()
 		for (int j = 0; j < 4; j++)
 		{
 			auto element = mprIeJeOpEIiT->dot(mprIeJeOpEIT->at(j))
-				- mpprIeJeOpEIipEI->at(j)->dot(rIeJeO) - prIeJepEIi * prIeJepEI->at(j);
+                           - mpprIeJeOpEIipEI->at(j)->dotVec(rIeJeO) - prIeJepEIi * prIeJepEI->at(j);
 			pprIeJepEIipEI->atiput(j, element / rIeJe);
 		}
 	}

OndselSolver/DistIeqcJeqc.cpp

@@ -111,7 +111,7 @@ void MbD::DistIeqcJeqc::calcPrivate()
 		for (int j = 0; j < 4; j++)
 		{
 			auto element = prIeJeOpEJiT->dot(prIeJeOpEJT->at(j))
-				+ pprIeJeOpEJipEJ->at(j)->dot(rIeJeO) - prIeJepEJi * prIeJepEJ->at(j);
+                           + pprIeJeOpEJipEJ->at(j)->dotVec(rIeJeO) - prIeJepEJi * prIeJepEJ->at(j);
 			pprIeJepEJipEJ->atiput(j, element / rIeJe);
 		}
 	}

OndselSolver/FullColumn.cpp

@@ -126,7 +126,7 @@ namespace MbD {
     template<typename T>
     T FullColumn<T>::transposeTimesFullColumn(const FColsptr<T> fullCol)
     {
-        return this->dot(fullCol);
+        return this->dotVec(fullCol);
     }
     template<typename T>
     void FullColumn<T>::equalSelfPlusFullColumntimes(FColsptr<T> fullCol, T factor)
@@ -170,16 +170,6 @@ namespace MbD {
     template class FullColumn<double>;
     template class FullColumn<int>;
     template<typename T>
-    double FullColumn<T>::dot(std::shared_ptr<FullVector<T>> vec)
-    {
-        int n = (int)this->size();
-        double answer = 0.0;
-        for (int i = 0; i < n; i++) {
-            answer += this->at(i) * vec->at(i);
-        }
-        return answer;
-    }
-    template<typename T>
     std::shared_ptr<FullVector<T>> FullColumn<T>::dot(std::shared_ptr<std::vector<std::shared_ptr<FullColumn<T>>>> vecvec)
     {
         int ncol = (int)this->size();
@@ -195,10 +185,4 @@ namespace MbD {
         }
         return answer;
     }
-    template<typename T>
-    std::shared_ptr<FullColumn<T>> FullColumn<T>::clonesptr()
-    {
-        return std::make_shared<FullColumn<T>>(*this);
-    }
-
 }

OndselSolver/FullColumn.h

@@ -47,8 +47,8 @@ namespace MbD {
 		void equalSelfPlusFullColumntimes(FColsptr<T> fullCol, T factor);
 		FColsptr<T> cross(FColsptr<T> fullCol);
 		FColsptr<T> simplified();
-		std::shared_ptr<FullColumn<T>> clonesptr();
-		double dot(std::shared_ptr<FullVector<T>> vec);
+		std::shared_ptr<FullColumn<T>> cloneFcSptr();
+		double dotVec(std::shared_ptr<FullVector<T>> vec);
 		std::shared_ptr<FullVector<T>> dot(std::shared_ptr<std::vector<std::shared_ptr<FullColumn<T>>>> vecvec);
 
 		std::ostream& printOn(std::ostream& s) const override;
@@ -66,4 +66,20 @@ namespace MbD {
         s << "}";
         return s;
     }
+    template<typename T>
+    std::shared_ptr<FullColumn<T>> FullColumn<T>::cloneFcSptr()
+    {
+        return std::make_shared<FullColumn<T>>(*this);
+    }
+    template<typename T>
+    double FullColumn<T>::dotVec(std::shared_ptr<FullVector<T>> vec)
+    {
+        int n = (int)this->size();
+        double answer = 0.0;
+        for (int i = 0; i < n; i++) {
+            answer += this->at(i) * vec->at(i);
+        }
+        return answer;
+    }
+
 }

OndselSolver/FullMatrix.cpp

@@ -602,12 +602,12 @@ namespace MbD {
         if (std::abs(sthe1y) > 0.9999) {
             if (sthe1y > 0.0) {
                 the0x = std::atan2(this->at(1)->at(0), this->at(1)->at(1));
-                the1y = M_PI / 2.0;
+                the1y = OS_M_PI / 2.0;
                 the2z = 0.0;
             }
             else {
                 the0x = std::atan2(this->at(2)->at(1), this->at(2)->at(0));
-                the1y = M_PI / -2.0;
+                the1y = OS_M_PI / -2.0;
                 the2z = 0.0;
             }
         }

OndselSolver/FullRow.cpp

@@ -47,21 +47,6 @@ namespace MbD {
         return answer;
     }
 
-// TODO: can't get the following to work, but CLion says the routine that calls it in FullMatrixFullMatrixDouble is also
-//       never called.
-//    template<>
-//    FRowsptr<std::shared_ptr<FullMatrixDouble>> FullRow<std::shared_ptr<FullMatrixDouble>>::timesTransposeFullMatrixForFMFMDsptr(
-//            std::shared_ptr<FullMatrixFullMatrixDouble> fullMat)
-//    {
-//        //"a*bT = a(1,j)b(k,j)"
-//        int ncol = fullMat->nrow();
-//        auto answer = std::make_shared<FullRow<std::shared_ptr<FullMatrixDouble>>>(ncol);
-//        for (int k = 0; k < ncol; k++) {
-//            answer->at(k) = this->dot(fullMat->at(k));
-//        }
-//        return answer;
-//    }
-
     template<>
     FRowsptr<double> FullRow<double>::timesFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat)
     {

OndselSolver/LDUFullMat.h

@@ -22,7 +22,7 @@ namespace MbD {
         void forwardEliminateWithPivot(int p) override;
         
         void postSolve() override;
-        void preSolvesaveOriginal(FMatDsptr fullMat, bool saveOriginal);
+        void preSolvesaveOriginal(FMatDsptr fullMat, bool saveOriginal) override;
         void decomposesaveOriginal(SpMatDsptr spMat, bool saveOriginal);
         void decomposesaveOriginal(FMatDsptr fullMat, bool saveOriginal);
         FMatDsptr inversesaveOriginal(FMatDsptr fullMat, bool saveOriginal);

OndselSolver/MBDynItem.cpp

@@ -65,7 +65,7 @@ std::vector<std::string> MbD::MBDynItem::collectArgumentsFor(std::string title,
 			//Need to find matching '"'
 			auto it = std::find_if(arguments.begin() + 1, arguments.end(), [](const std::string& s) {
 				auto nn = std::count(s.begin(), s.end(), '"');
-				if ((nn % 2) == 1) return true;
+				return ((nn % 2) == 1);
 				});
 			std::vector<std::string> needToCombineArgs(arguments.begin(), it + 1);
 			arguments.erase(arguments.begin(), it + 1);

OndselSolver/MBDynMarker.h

@@ -14,7 +14,7 @@ namespace MbD {
 	class MBDynMarker : public MBDynItem
 	{
 	public:
-		void parseMBDyn(std::vector<std::string>& args);
+		void parseMBDyn(std::vector<std::string>& args) override;
 		void parseMBDynClamp(std::vector<std::string>& args);
 		void createASMT() override;
 

OndselSolver/MomentOfInertiaSolver.cpp

@@ -15,7 +15,7 @@ void MbD::MomentOfInertiaSolver::example1()
 
 	auto rpPp = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 1 });
 	auto rotAxis = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 1 });
-	auto aApP = std::make_shared<EulerParameters<double>>(rotAxis, M_PI*10/180)->aA;
+	auto aApP = std::make_shared<EulerParameters<double>>(rotAxis, OS_M_PI * 10 / 180)->aA;
 	auto solver = std::make_shared<MomentOfInertiaSolver>();
 	solver->setm(4.0);
 	solver->setJPP(aJpp);
@@ -350,7 +350,7 @@ void MbD::MomentOfInertiaSolver::calcJppFromFullJcmP()
 	auto q = (c + (2.0 * aDiv3 * aDiv3 * aDiv3) - (aDiv3 * b)) / 2.0;
 	auto phiDiv3 = modifiedArcCos(-q / std::sqrt(-p * p * p)) / 3.0;
 	auto twoSqrtMinusp = 2.0 * std::sqrt(-p);
-	auto piDiv3 = M_PI / 3.0;
+	auto piDiv3 = OS_M_PI / 3.0;
 	auto sortedJ = std::make_shared<DiagonalMatrix>();
 	sortedJ->push_back(twoSqrtMinusp * std::cos(phiDiv3));
 	sortedJ->push_back(twoSqrtMinusp * -std::cos(phiDiv3 + piDiv3));
@@ -392,7 +392,7 @@ double MbD::MomentOfInertiaSolver::modifiedArcCos(double val)
 	}
 	else {
 		if (val < -1.0) {
-			return M_PI;
+			return OS_M_PI;
 		}
 		else {
 			return std::acos(val);

OndselSolver/Numeric.cpp

@@ -26,22 +26,22 @@ double MbD::Numeric::arcTan0to2piYoverX(double y, double x)
 		}
 		else {
 			//"Forth quadrant."
-			return 2.0 * M_PI + std::atan2(y, x);
+			return 2.0 * OS_M_PI + std::atan2(y, x);
 		}
 	}
 	else {
 		if (x < 0.0) {
 			//"Second and Third quadrants."
-			return	M_PI + std::atan2(y, x);
+			return OS_M_PI + std::atan2(y, x);
 		}
 		else {
 			//"x = 0"
 			if (y > 0.0) {
-				return M_PI / 2.0;
+				return OS_M_PI / 2.0;
 			}
 			else {
 				if (y < 0.0) {
-					return 1.5 * M_PI;
+					return 1.5 * OS_M_PI;
 				}
 				else {
 					throw std::invalid_argument("atan2(0, 0) is not defined.");

OndselSolver/OrbitAngleZIecJec.cpp

@@ -29,7 +29,7 @@ void MbD::OrbitAngleZIecJec::calcPostDynCorrectorIteration()
 	auto diffOfSquares = y * y - (x * x);
 	auto sumOfSquaresSquared = sumOfSquares * sumOfSquares;
 	auto thez0to2pi = Numeric::arcTan0to2piYoverX(y, x);
-	thez = std::round((thez - thez0to2pi) / (2.0 * M_PI)) * (2.0 * M_PI) + thez0to2pi;
+	thez = std::round((thez - thez0to2pi) / (2.0 * OS_M_PI)) * (2.0 * OS_M_PI) + thez0to2pi;
 	auto cosOverSSq = x / sumOfSquares;
 	auto sinOverSSq = y / sumOfSquares;
 	twoCosSinOverSSqSq = 2.0 * x * y / sumOfSquaresSquared;

OndselSolver/PosICNewtonRaphson.cpp

@@ -102,18 +102,17 @@ void PosICNewtonRaphson::handleSingularMatrix()
 		matrixSolver = this->matrixSolverClassNew();
 	}
 	else {
-		std::string str = typeid(*matrixSolver).name();
+        auto& r = *matrixSolver;
+		std::string str = typeid(r).name();
 		if (str.find("GESpMatParPvMarkoFast") != std::string::npos) {
-		matrixSolver = CREATE<GESpMatParPvPrecise>::With();
-		this->solveEquations();
-		}
-		else {
-			str = typeid(*matrixSolver).name();
+		    matrixSolver = CREATE<GESpMatParPvPrecise>::With();
+		    this->solveEquations();
+        } else {
+			str = typeid(r).name();
 			if (str.find("GESpMatParPvPrecise") != std::string::npos) {
 				this->lookForRedundantConstraints();
 				matrixSolver = this->matrixSolverClassNew();
-			}
-			else {
+			} else {
 				assert(false);
 			}
 		}

OndselSolver/ScrewConstraintIJ.cpp

@@ -20,7 +20,7 @@ void MbD::ScrewConstraintIJ::calcPostDynCorrectorIteration()
 {
 	auto z = zIeJeIe->value();
 	auto thez = thezIeJe->value();
-	aG = (2.0 * M_PI * z) - (pitch * thez) - aConstant;
+	aG = (2.0 * OS_M_PI * z) - (pitch * thez) - aConstant;
 }
 
 void MbD::ScrewConstraintIJ::init_zthez()
@@ -50,7 +50,7 @@ void MbD::ScrewConstraintIJ::postInput()
 {
 	zIeJeIe->postInput();
 	thezIeJe->postInput();
-	aConstant = (2.0 * M_PI * zIeJeIe->value()) - (thezIeJe->value() * pitch);
+	aConstant = (2.0 * OS_M_PI * zIeJeIe->value()) - (thezIeJe->value() * pitch);
 	ConstraintIJ::postInput();
 }
 

OndselSolver/ScrewConstraintIqcJc.cpp

@@ -45,23 +45,23 @@ void MbD::ScrewConstraintIqcJc::addToJointTorqueI(FColDsptr jointTorque)
 
 void MbD::ScrewConstraintIqcJc::calc_pGpEI()
 {
-	pGpEI = zIeJeIe->pvaluepEI()->times(2.0 * M_PI)->minusFullRow(thezIeJe->pvaluepEI()->times(pitch));
+	pGpEI = zIeJeIe->pvaluepEI()->times(2.0 * OS_M_PI)->minusFullRow(thezIeJe->pvaluepEI()->times(pitch));
 }
 
 void MbD::ScrewConstraintIqcJc::calc_pGpXI()
 {
-	pGpXI = zIeJeIe->pvaluepXI()->times(2.0 * M_PI)->minusFullRow(thezIeJe->pvaluepXI()->times(pitch));
+	pGpXI = zIeJeIe->pvaluepXI()->times(2.0 * OS_M_PI)->minusFullRow(thezIeJe->pvaluepXI()->times(pitch));
 }
 
 void MbD::ScrewConstraintIqcJc::calc_ppGpEIpEI()
 {
-	ppGpEIpEI = zIeJeIe->ppvaluepEIpEI()->times(2.0 * M_PI)
+	ppGpEIpEI = zIeJeIe->ppvaluepEIpEI()->times(2.0 * OS_M_PI)
             ->minusFullMatrix(thezIeJe->ppvaluepEIpEI()->times(pitch));
 }
 
 void MbD::ScrewConstraintIqcJc::calc_ppGpXIpEI()
 {
-	ppGpXIpEI = zIeJeIe->ppvaluepXIpEI()->times(2.0 * M_PI)
+	ppGpXIpEI = zIeJeIe->ppvaluepXIpEI()->times(2.0 * OS_M_PI)
             ->minusFullMatrix(thezIeJe->ppvaluepXIpEI()->times(pitch));
 }
 

OndselSolver/ScrewConstraintIqcJqc.cpp

@@ -22,29 +22,29 @@ MbD::ScrewConstraintIqcJqc::ScrewConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr fr
 
 void MbD::ScrewConstraintIqcJqc::calc_pGpEJ()
 {
-	pGpEJ = zIeJeIe->pvaluepEJ()->times(2.0 * M_PI)->minusFullRow(thezIeJe->pvaluepEJ()->times(pitch));
+	pGpEJ = zIeJeIe->pvaluepEJ()->times(2.0 * OS_M_PI)->minusFullRow(thezIeJe->pvaluepEJ()->times(pitch));
 }
 
 void MbD::ScrewConstraintIqcJqc::calc_pGpXJ()
 {
-	pGpXJ = zIeJeIe->pvaluepXJ()->times(2.0 * M_PI)->minusFullRow(thezIeJe->pvaluepXJ()->times(pitch));
+	pGpXJ = zIeJeIe->pvaluepXJ()->times(2.0 * OS_M_PI)->minusFullRow(thezIeJe->pvaluepXJ()->times(pitch));
 }
 
 void MbD::ScrewConstraintIqcJqc::calc_ppGpEIpEJ()
 {
-	ppGpEIpEJ = zIeJeIe->ppvaluepEIpEJ()->times(2.0 * M_PI)
+	ppGpEIpEJ = zIeJeIe->ppvaluepEIpEJ()->times(2.0 * OS_M_PI)
             ->minusFullMatrix(thezIeJe->ppvaluepEIpEJ()->times(pitch));
 }
 
 void MbD::ScrewConstraintIqcJqc::calc_ppGpEIpXJ()
 {
-	ppGpEIpXJ = zIeJeIe->ppvaluepEIpXJ()->times(2.0 * M_PI)
+	ppGpEIpXJ = zIeJeIe->ppvaluepEIpXJ()->times(2.0 * OS_M_PI)
             ->minusFullMatrix(thezIeJe->ppvaluepEIpXJ()->times(pitch));
 }
 
 void MbD::ScrewConstraintIqcJqc::calc_ppGpEJpEJ()
 {
-	ppGpEJpEJ = zIeJeIe->ppvaluepEJpEJ()->times(2.0 * M_PI)
+	ppGpEJpEJ = zIeJeIe->ppvaluepEJpEJ()->times(2.0 * OS_M_PI)
             ->minusFullMatrix(thezIeJe->ppvaluepEJpEJ()->times(pitch));
 }
 

OndselSolver/StableBackwardDifference.cpp

@@ -79,7 +79,7 @@ FColDsptr MbD::StableBackwardDifference::derivativepresentpast(int deriv, FColDs
 	//"Answer ith derivative given present value and past values."
 
 	if (deriv == 0) {
-		return y->clonesptr();
+		return y->cloneFcSptr();
 	}
 	else {
 		if (deriv <= order) {

OndselSolver/StableBackwardDifference.h

@@ -17,13 +17,13 @@ namespace MbD {
         //
     public:
         FColDsptr derivativepresentpast(int order, FColDsptr y, std::shared_ptr<std::vector<FColDsptr>> ypast) override;
-        void instantiateTaylorMatrix();
-        void formTaylorRowwithTimeNodederivative(int i, int ii, int k);
+        void instantiateTaylorMatrix() override;
+        void formTaylorRowwithTimeNodederivative(int i, int ii, int k) override;
         void formTaylorMatrix() override;
         double pvdotpv() override;
         FColDsptr derivativepresentpastpresentDerivativepastDerivative(int n,
             FColDsptr y, std::shared_ptr<std::vector<FColDsptr>> ypast,
-            FColDsptr ydot, std::shared_ptr<std::vector<FColDsptr>> ydotpast);
+            FColDsptr ydot, std::shared_ptr<std::vector<FColDsptr>> ydotpast) override;
         FColDsptr derivativewith(int deriv, std::shared_ptr<std::vector<FColDsptr>> series);
 
     };

OndselSolver/SymbolicParser.cpp

@@ -330,7 +330,7 @@ bool MbD::SymbolicParser::constant()
 		return true;
 	}
 	if (peekForTypevalue("word", "pi")) {
-		auto symconst = std::make_shared<Constant>(M_PI);
+		auto symconst = std::make_shared<Constant>(OS_M_PI);
 		stack->push(symconst);
 		return true;
 	}

OndselSolver/SystemNewtonRaphson.cpp

@@ -51,13 +51,14 @@ void SystemNewtonRaphson::basicSolveEquations()
 
 void SystemNewtonRaphson::handleSingularMatrix()
 {
-	std::string str = typeid(*matrixSolver).name();
+    auto& r = *matrixSolver;
+	std::string str = typeid(r).name();
 	if (str.find("GESpMatParPvMarkoFast") != std::string::npos) {
 		matrixSolver = CREATE<GESpMatParPvPrecise>::With();
 		this->solveEquations();
 	}
 	else {
-		str = typeid(*matrixSolver).name();
+		str = typeid(r).name();
 		if (str.find("GESpMatParPvPrecise") != std::string::npos) {
 			str = "MbD: Singular Matrix Error. ";
 			system->logString(str);

OndselSolver/VectorNewtonRaphson.h

@@ -27,7 +27,7 @@ namespace MbD {
         bool isConverged() override;
         void xEqualxoldPlusdx() override;
         virtual void basicSolveEquations() = 0;
-        virtual void handleSingularMatrix();
+        virtual void handleSingularMatrix() override;
 
         std::shared_ptr<MatrixSolver> matrixSolver;
         int n;

OndselSolver/VelSolver.cpp

@@ -24,13 +24,14 @@ void VelSolver::basicSolveEquations()
 
 void VelSolver::handleSingularMatrix()
 {
-	std::string str = typeid(*matrixSolver).name();
+    auto& r = *matrixSolver;
+	std::string str = typeid(r).name();
 	if (str.find("GESpMatParPvMarkoFast") != std::string::npos) {
 		matrixSolver = CREATE<GESpMatParPvPrecise>::With();
 		this->solveEquations();
 	}
 	else {
-		str = typeid(*matrixSolver).name();
+		str = typeid(r).name();
 		if (str.find("GESpMatParPvPrecise") != std::string::npos) {
 			this->logSingularMatrixMessage();
 			matrixSolver = this->matrixSolverClassNew();

OndselSolver/corecrt_math_defines.h

@@ -19,12 +19,12 @@
 // #define M_LOG10E   0.434294481903251827651  // log10(e)
 // #define M_LN2      0.693147180559945309417  // ln(2)
 // #define M_LN10     2.30258509299404568402   // ln(10)
-#define M_PI       3.14159265358979323846   // pi
+#define OS_M_PI       3.14159265358979323846264338327950288   // pi
 // #define M_PI_2     1.57079632679489661923   // pi/2
 // #define M_PI_4     0.785398163397448309616  // pi/4
 // #define M_1_PI     0.318309886183790671538  // 1/pi
 // #define M_2_PI     0.636619772367581343076  // 2/pi
-#define M_2_SQRTPI 1.12837916709551257390   // 2/sqrt(pi)
-#define M_SQRT2    1.41421356237309504880   // sqrt(2)
+#define OS_M_2_SQRTPI 1.12837916709551257389615890312154517   // 2/sqrt(pi)
+#define OS_M_SQRT2    1.41421356237309504880168872420969808   // sqrt(2)
 // #define M_SQRT1_2  0.707106781186547524401  // 1/sqrt(2)
 #endif