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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/System.cpp
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@@ -55,6 +55,9 @@ void MbD::System::outputInput()
void MbD::System::outputInitialConditions()
{
auto str = std::to_string(time->value);
this->logString(str);
partsJointsMotionsDo([](std::shared_ptr<Item> item) { item->outputStates(); });
}
void MbD::System::outputTimeSeries()
@@ -65,13 +68,13 @@ void System::initializeLocally()
{
hasChanged = false;
time->value = systemSolver->tstart;
partsJointsMotionsDo([](std::shared_ptr<Item> item) { item->initializeLocally(); });
partsJointsMotionsForcesTorquesDo([](std::shared_ptr<Item> item) { item->initializeLocally(); });
systemSolver->initializeLocally();
}
void System::initializeGlobally()
{
partsJointsMotionsDo([](std::shared_ptr<Item> item) { item->initializeGlobally(); });
partsJointsMotionsForcesTorquesDo([](std::shared_ptr<Item> item) { item->initializeGlobally(); });
systemSolver->initializeGlobally();
}
@@ -129,6 +132,13 @@ std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> MbD::System::perpendic
return perpenConstraints;
}
std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> MbD::System::allRedundantConstraints()
{
auto redunConstraints = std::make_shared<std::vector<std::shared_ptr<Constraint>>>();
this->partsJointsMotionsDo([&](std::shared_ptr<Item> item) { item->fillRedundantConstraints(redunConstraints); });
return redunConstraints;
}
double MbD::System::maximumMass()
{
auto maxPart = std::max_element(parts->begin(), parts->end(), [](auto& a, auto& b) { return a->m < b->m; });
@@ -138,12 +148,12 @@ double MbD::System::maximumMass()
double MbD::System::maximumMomentOfInertia()
{
double max = 0.0;
for (size_t i = 0; i < parts->size(); i++)
for (int i = 0; i < parts->size(); i++)
{
auto part = parts->at(i);
for (size_t j = 0; j < 3; j++)
auto& part = parts->at(i);
for (int j = 0; j < 3; j++)
{
auto aJ = part->aJ;
auto& aJ = part->aJ;
auto aJi = aJ->at(j);
if (max < aJi) max = aJi;
}