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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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22
MbDCode/DirectionCosineIeqcJeqc.cpp
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@@ -7,7 +7,7 @@ DirectionCosineIeqcJeqc::DirectionCosineIeqcJeqc()
{
}
DirectionCosineIeqcJeqc::DirectionCosineIeqcJeqc(EndFrmcptr frmi, EndFrmcptr frmj, size_t axisi, size_t axisj) :
DirectionCosineIeqcJeqc::DirectionCosineIeqcJeqc(EndFrmcptr frmi, EndFrmcptr frmj, int axisi, int axisj) :
DirectionCosineIeqcJec(frmi, frmj, axisi, axisj)
{
}
@@ -30,26 +30,36 @@ void MbD::DirectionCosineIeqcJeqc::calcPostDynCorrectorIteration()
{
DirectionCosineIeqcJec::calcPostDynCorrectorIteration();
pAjOJepEJT = std::static_pointer_cast<EndFrameqc>(frmJ)->pAjOepET(axisJ);
for (size_t i = 0; i < 4; i++)
for (int i = 0; i < 4; i++)
{
pAijIeJepEJ->at(i) = aAjOIe->dot(pAjOJepEJT->at(i));
}
for (size_t i = 0; i < 4; i++)
for (int i = 0; i < 4; i++)
{
auto& ppAijIeJepEIipEJ = ppAijIeJepEIpEJ->at(i);
for (size_t j = 0; j < 4; j++)
for (int j = 0; j < 4; j++)
{
ppAijIeJepEIipEJ->at(j) = pAjOIepEIT->at(i)->dot(pAjOJepEJT->at(j));
}
}
for (size_t i = 0; i < 4; i++)
for (int i = 0; i < 4; i++)
{
auto& ppAijIeJepEJipEJ = ppAijIeJepEJpEJ->at(i);
auto& ppAjOJepEJipEJ = ppAjOJepEJpEJ->at(i);
for (size_t j = 0; j < 4; j++)
for (int j = 0; j < 4; j++)
{
ppAijIeJepEJipEJ->at(j) = aAjOIe->dot(ppAjOJepEJipEJ->at(j));
}
}
ppAijIeJepEJpEJ->symLowerWithUpper();
}
FRowDsptr MbD::DirectionCosineIeqcJeqc::pvaluepEJ()
{
return pAijIeJepEJ;
}
FMatDsptr MbD::DirectionCosineIeqcJeqc::ppvaluepEJpEJ()
{
return ppAijIeJepEJpEJ;
}