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systemSolver->runBasicKinematic();

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This commit is contained in:
Aik-Siong Koh
2023-06-11 07:15:20 -06:00
parent d848450907
commit 3b08cd72df
182 changed files with 2789 additions and 535 deletions
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15
MbDCode/DirectionCosineConstraintIqcJc.cpp
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@@ -5,7 +5,7 @@
using namespace MbD;
DirectionCosineConstraintIqcJc::DirectionCosineConstraintIqcJc(EndFrmcptr frmi, EndFrmcptr frmj, size_t axisi, size_t axisj) :
DirectionCosineConstraintIqcJc::DirectionCosineConstraintIqcJc(EndFrmcptr frmi, EndFrmcptr frmj, int axisi, int axisj) :
DirectionCosineConstraintIJ(frmi, frmj, axisi, axisj)
{
}
@@ -27,3 +27,16 @@ void MbD::DirectionCosineConstraintIqcJc::useEquationNumbers()
{
iqEI = std::static_pointer_cast<EndFrameqc>(frmI)->iqE();
}
void MbD::DirectionCosineConstraintIqcJc::fillPosICError(FColDsptr col)
{
Constraint::fillPosICError(col);
col->atiplusFullVectortimes(iqEI, pGpEI, lam);
}
void MbD::DirectionCosineConstraintIqcJc::fillPosICJacob(SpMatDsptr mat)
{
mat->atijplusFullRow(iG, iqEI, pGpEI);
mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose());
mat->atijplusFullMatrixtimes(iqEI, iqEI, ppGpEIpEI, lam);
}