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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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24
MbDCode/EndFrameqc.cpp
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@@ -38,13 +38,13 @@ void EndFrameqc::initEndFrameqct()
endFrameqct->setMarkerFrame(markerFrame);
}
FMatFColDsptr MbD::EndFrameqc::ppAjOepEpE(size_t jj)
FMatFColDsptr MbD::EndFrameqc::ppAjOepEpE(int jj)
{
auto answer = std::make_shared<FullMatrix<std::shared_ptr<FullColumn<double>>>>(4, 4);
for (size_t i = 0; i < 4; i++) {
for (int i = 0; i < 4; i++) {
auto& answeri = answer->at(i);
auto& ppAOepEipE = ppAOepEpE->at(i);
for (size_t j = i; j < 4; j++) {
for (int j = i; j < 4; j++) {
answeri->at(j) = ppAOepEipE->at(j)->column(jj);
}
}
@@ -59,13 +59,13 @@ void MbD::EndFrameqc::calcPostDynCorrectorIteration()
pAOepE = markerFrame->pAOmpE;
}
FMatDsptr MbD::EndFrameqc::pAjOepET(size_t axis)
FMatDsptr MbD::EndFrameqc::pAjOepET(int axis)
{
auto answer = std::make_shared<FullMatrix<double>>(4, 3);
for (size_t i = 0; i < 4; i++) {
for (int i = 0; i < 4; i++) {
auto& answeri = answer->at(i);
auto& pAOepEi = pAOepE->at(i);
for (size_t j = 0; j < 3; j++) {
for (int j = 0; j < 3; j++) {
auto& answerij = pAOepEi->at(j)->at(axis);
answeri->at(j) = answerij;
}
@@ -73,13 +73,13 @@ FMatDsptr MbD::EndFrameqc::pAjOepET(size_t axis)
return answer;
}
FMatDsptr MbD::EndFrameqc::ppriOeOpEpE(size_t ii)
FMatDsptr MbD::EndFrameqc::ppriOeOpEpE(int ii)
{
auto answer = std::make_shared<FullMatrix<double>>(4, 4);
for (size_t i = 0; i < 4; i++) {
for (int i = 0; i < 4; i++) {
auto& answeri = answer->at(i);
auto& pprOeOpEipE = pprOeOpEpE->at(i);
for (size_t j = 0; j < 4; j++) {
for (int j = 0; j < 4; j++) {
auto& answerij = pprOeOpEipE->at(j)->at(ii);
answeri->at(j) = answerij;
}
@@ -87,17 +87,17 @@ FMatDsptr MbD::EndFrameqc::ppriOeOpEpE(size_t ii)
return answer;
}
size_t MbD::EndFrameqc::iqX()
int MbD::EndFrameqc::iqX()
{
return markerFrame->iqX();
}
size_t MbD::EndFrameqc::iqE()
int MbD::EndFrameqc::iqE()
{
return markerFrame->iqE();
}
FRowDsptr MbD::EndFrameqc::priOeOpE(size_t i)
FRowDsptr MbD::EndFrameqc::priOeOpE(int i)
{
return prOeOpE->at(i);
}