First commit

2023-04-26 17:23:31 -06:00
commit 475b8d16bc
40 changed files with 721 additions and 0 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -0,0 +1,35 @@
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+.vs
+x64/
--- a/MbDCode.sln
+++ b/MbDCode.sln
@@ -0,0 +1,31 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 17
+VisualStudioVersion = 17.5.33530.505
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "MbDCode", "MbDCode\MbDCode.vcxproj", "{80F56CBC-B685-4C36-B834-A2DCDF0A98B7}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|x64 = Debug|x64
+		Debug|x86 = Debug|x86
+		Release|x64 = Release|x64
+		Release|x86 = Release|x86
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{80F56CBC-B685-4C36-B834-A2DCDF0A98B7}.Debug|x64.ActiveCfg = Debug|x64
+		{80F56CBC-B685-4C36-B834-A2DCDF0A98B7}.Debug|x64.Build.0 = Debug|x64
+		{80F56CBC-B685-4C36-B834-A2DCDF0A98B7}.Debug|x86.ActiveCfg = Debug|Win32
+		{80F56CBC-B685-4C36-B834-A2DCDF0A98B7}.Debug|x86.Build.0 = Debug|Win32
+		{80F56CBC-B685-4C36-B834-A2DCDF0A98B7}.Release|x64.ActiveCfg = Release|x64
+		{80F56CBC-B685-4C36-B834-A2DCDF0A98B7}.Release|x64.Build.0 = Release|x64
+		{80F56CBC-B685-4C36-B834-A2DCDF0A98B7}.Release|x86.ActiveCfg = Release|Win32
+		{80F56CBC-B685-4C36-B834-A2DCDF0A98B7}.Release|x86.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {BD48A6EF-4E93-4C09-BCE1-84F0439DB2D9}
+	EndGlobalSection
+EndGlobal
--- a/MbDCode/AbsConstraint.cpp
+++ b/MbDCode/AbsConstraint.cpp
@@ -0,0 +1 @@
+#include "AbsConstraint.h"
--- a/MbDCode/AbsConstraint.h
+++ b/MbDCode/AbsConstraint.h
@@ -0,0 +1,12 @@
+#pragma once
+#include "Constraint.h"
+namespace MbD {
+    class AbsConstraint :
+        public Constraint
+    {
+        //axis iqXminusOnePlusAxis 
+        int axis;
+        int iqXminusOnePlusAxis;
+    };
+}
+
--- a/MbDCode/Array.cpp
+++ b/MbDCode/Array.cpp
@@ -0,0 +1 @@
+#include "Array.h"
--- a/MbDCode/Array.h
+++ b/MbDCode/Array.h
@@ -0,0 +1,14 @@
+#pragma once
+#include <vector>
+
+namespace MbD {
+	template <typename T>
+	class Array : public std::vector<T>
+	{
+	public:
+		Array(){}
+		Array(int i) : std::vector<T>(i) {}
+		Array(std::initializer_list<T> list) : std::vector<T>{ list } {}
+	};
+}
+
--- a/MbDCode/CartesianFrame.cpp
+++ b/MbDCode/CartesianFrame.cpp
@@ -0,0 +1 @@
+#include "CartesianFrame.h"
--- a/MbDCode/CartesianFrame.h
+++ b/MbDCode/CartesianFrame.h
@@ -0,0 +1,9 @@
+#pragma once
+#include "Item.h"
+namespace MbD {
+	class CartesianFrame :
+		public Item
+	{
+	};
+}
+
--- a/MbDCode/Constraint.cpp
+++ b/MbDCode/Constraint.cpp
@@ -0,0 +1 @@
+#include "Constraint.h"
--- a/MbDCode/Constraint.h
+++ b/MbDCode/Constraint.h
@@ -0,0 +1,28 @@
+#pragma once
+#include <memory>
+
+#include "Item.h"
+
+namespace MbD {
+    class Constraint : public Item
+    {
+    public:
+        Constraint() : Item() {
+            iG = -1;
+            aG = 0.0;
+            lam = 0.0;
+        }
+        void setOwner(std::shared_ptr<Item> x) {
+            owner = x;
+        }
+        std::shared_ptr<Item> getOwner() {
+            return owner.lock();
+        }
+        //iG aG lam mu lamDeriv owner 
+        int iG;
+        double aG;  //Constraint function
+        double lam; //Lambda is Lagrange Multiplier
+        std::weak_ptr<Item> owner; //A Joint or PartFrame owns the constraint
+    };
+}
+
--- a/MbDCode/EulerConstraint.cpp
+++ b/MbDCode/EulerConstraint.cpp
@@ -0,0 +1 @@
+#include "EulerConstraint.h"
--- a/MbDCode/EulerConstraint.h
+++ b/MbDCode/EulerConstraint.h
@@ -0,0 +1,22 @@
+#pragma once
+#include <memory>
+#include <vector>
+
+#include "Constraint.h"
+#include "FullRow.h"
+
+namespace MbD {
+	using FullRowDPtr = std::shared_ptr<FullRow<double>>;
+
+	class EulerConstraint : public Constraint
+	{
+	public:
+		EulerConstraint() : Constraint() {
+			pGpE = std::make_shared<FullRow<double>>(4);
+		}
+		//pGpE iqE 
+		FullRowDPtr pGpE;    //partial derivative of G wrt pE
+		int iqE;
+	};
+}
+
--- a/MbDCode/FullColumn.cpp
+++ b/MbDCode/FullColumn.cpp
@@ -0,0 +1 @@
+#include "FullColumn.h"
--- a/MbDCode/FullColumn.h
+++ b/MbDCode/FullColumn.h
@@ -0,0 +1,11 @@
+#pragma once
+#include "Vector.h"
+namespace MbD {
+    template <typename T>
+    class FullColumn : public Vector<T>
+    {
+    public:
+        FullColumn(std::initializer_list<T> list) : Vector<T>{ list } {}
+    };
+}
+
--- a/MbDCode/FullRow.cpp
+++ b/MbDCode/FullRow.cpp
@@ -0,0 +1 @@
+#include "FullRow.h"
--- a/MbDCode/FullRow.h
+++ b/MbDCode/FullRow.h
@@ -0,0 +1,13 @@
+#pragma once
+#include "Vector.h"
+namespace MbD {
+	template <typename T>
+	class FullRow : public Vector<T>
+	{
+	public:
+		FullRow() {}
+		FullRow(int i) : Vector<T>(i) {}
+		FullRow(std::initializer_list<T> list) : Vector<T>{ list } {}
+	};
+}
+
--- a/MbDCode/Item.cpp
+++ b/MbDCode/Item.cpp
@@ -0,0 +1,21 @@
+#include "Item.h"
+
+void MbD::Item::setName(std::string& str)
+{
+	name = str;
+}
+
+const std::string& MbD::Item::getName() const
+{
+	return name;
+}
+//
+//void MbD::Item::setMyInt(int val)
+//{
+//	myInt = val;
+//}
+//
+//int MbD::Item::getMyInt()
+//{
+//	return myInt;
+//}
--- a/MbDCode/Item.h
+++ b/MbDCode/Item.h
@@ -0,0 +1,14 @@
+#pragma once
+#include <string>
+namespace MbD {
+	class Item
+	{
+	public:
+		Item() {}
+		void setName(std::string& str);
+		const std::string& getName() const;
+	private:
+		std::string name;
+	};
+}
+
--- a/MbDCode/Joint.cpp
+++ b/MbDCode/Joint.cpp
@@ -0,0 +1 @@
+#include "Joint.h"
--- a/MbDCode/Joint.h
+++ b/MbDCode/Joint.h
@@ -0,0 +1,9 @@
+#pragma once
+#include "Item.h"
+namespace MbD {
+    class Joint :
+        public Item
+    {
+    };
+}
+
--- a/MbDCode/MarkerFrame.cpp
+++ b/MbDCode/MarkerFrame.cpp
@@ -0,0 +1 @@
+#include "MarkerFrame.h"
--- a/MbDCode/MarkerFrame.h
+++ b/MbDCode/MarkerFrame.h
@@ -0,0 +1,9 @@
+#pragma once
+#include "CartesianFrame.h"
+namespace MbD {
+    class MarkerFrame :
+        public CartesianFrame
+    {
+    };
+}
+
--- a/MbDCode/MbDCode.cpp
+++ b/MbDCode/MbDCode.cpp
@@ -0,0 +1,17 @@
+#include <iostream>
+#include "Item.h"
+#include "System.h"
+
+using namespace MbD;
+
+int main()
+{
+	std::cout << "Hello World!\n";
+	auto& TheSystem = System::getInstance();
+	std::string str = "TheSystem";
+	TheSystem.setName(str);
+	std::cout << TheSystem.getName();
+	//auto fixedPart = std::make_shared<Part>();
+	//str = "FixedPart";
+	//fixedPart->setName(str);
+}
--- a/MbDCode/MbDCode.vcxproj
+++ b/MbDCode/MbDCode.vcxproj
@@ -0,0 +1,169 @@
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+    <ProjectGuid>{80f56cbc-b685-4c36-b834-a2dcdf0a98b7}</ProjectGuid>
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+    <ClCompile Include="Array.cpp" />
+    <ClCompile Include="CartesianFrame.cpp" />
+    <ClCompile Include="Constraint.cpp" />
+    <ClCompile Include="EulerConstraint.cpp" />
+    <ClCompile Include="FullColumn.cpp" />
+    <ClCompile Include="FullRow.cpp" />
+    <ClCompile Include="Item.cpp" />
+    <ClCompile Include="Joint.cpp" />
+    <ClCompile Include="MarkerFrame.cpp" />
+    <ClCompile Include="MbDCode.cpp" />
+    <ClCompile Include="NewtonRaphson.cpp" />
+    <ClCompile Include="Part.cpp" />
+    <ClCompile Include="PartFrame.cpp" />
+    <ClCompile Include="Solver.cpp" />
+    <ClCompile Include="System.cpp" />
+    <ClCompile Include="SystemSolver.cpp" />
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+    <ClInclude Include="Array.h" />
+    <ClInclude Include="CartesianFrame.h" />
+    <ClInclude Include="Constraint.h" />
+    <ClInclude Include="EulerConstraint.h" />
+    <ClInclude Include="FullColumn.h" />
+    <ClInclude Include="FullRow.h" />
+    <ClInclude Include="Item.h" />
+    <ClInclude Include="Joint.h" />
+    <ClInclude Include="MarkerFrame.h" />
+    <ClInclude Include="NewtonRaphson.h" />
+    <ClInclude Include="Part.h" />
+    <ClInclude Include="PartFrame.h" />
+    <ClInclude Include="Solver.h" />
+    <ClInclude Include="System.h" />
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+  </ItemGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets">
+  </ImportGroup>
+</Project>
--- a/MbDCode/MbDCode.vcxproj.filters
+++ b/MbDCode/MbDCode.vcxproj.filters
@@ -0,0 +1,120 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
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+    <Filter Include="Source Files">
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+    <Filter Include="Resource Files">
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+      <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
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+      <Filter>Header Files</Filter>
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+      <Filter>Header Files</Filter>
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+    <ClInclude Include="NewtonRaphson.h">
+      <Filter>Header Files</Filter>
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+    <ClInclude Include="Joint.h">
+      <Filter>Header Files</Filter>
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+    <ClInclude Include="Part.h">
+      <Filter>Header Files</Filter>
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+    <ClInclude Include="FullColumn.h">
+      <Filter>Header Files</Filter>
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+    <ClInclude Include="PartFrame.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="AbsConstraint.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="CartesianFrame.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="Constraint.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="EulerConstraint.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="FullRow.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="MarkerFrame.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+  </ItemGroup>
+</Project>
--- a/MbDCode/MbDCode.vcxproj.user
+++ b/MbDCode/MbDCode.vcxproj.user
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup />
+</Project>
--- a/MbDCode/NewtonRaphson.cpp
+++ b/MbDCode/NewtonRaphson.cpp
@@ -0,0 +1 @@
+#include "NewtonRaphson.h"
--- a/MbDCode/NewtonRaphson.h
+++ b/MbDCode/NewtonRaphson.h
@@ -0,0 +1,9 @@
+#pragma once
+#include "Solver.h"
+namespace MbD {
+    class NewtonRaphson :
+        public Solver
+    {
+    };
+}
+
--- a/MbDCode/Part.cpp
+++ b/MbDCode/Part.cpp
@@ -0,0 +1 @@
+#include "Part.h"
--- a/MbDCode/Part.h
+++ b/MbDCode/Part.h
@@ -0,0 +1,28 @@
+#pragma once
+#include <memory>
+
+#include "Item.h"
+#include "PartFrame.h"
+#include "FullColumn.h"
+
+
+namespace MbD {
+	class PartFrame;
+
+	class Part : public Item
+	{
+	public:
+		Part() {
+			partFrame = std::make_shared<PartFrame>();
+		}
+		void setqX(FullColumn<double>* x) {
+			partFrame.get()->setqX(x);
+		}
+		FullColumn<double>* getqX() {
+			return partFrame.get()->getqX();
+		}
+		//ToDo: Needed members ipX ipE m aJ partFrame pX pXdot pE pEdot mX mE mEdot pTpE ppTpEpE ppTpEpEdot 
+		std::shared_ptr<PartFrame> partFrame;
+	};
+}
+
--- a/MbDCode/PartFrame.cpp
+++ b/MbDCode/PartFrame.cpp
@@ -0,0 +1,12 @@
+#include "PartFrame.h"
+#include "AbsConstraint.h"
+#include "MarkerFrame.h"
+
+namespace MbD {
+
+	PartFrame::PartFrame()
+	{
+		aGabs = std::vector<std::shared_ptr<AbsConstraint>>();
+		markerFrames = std::vector<std::shared_ptr<MarkerFrame>>();
+	}
+}
--- a/MbDCode/PartFrame.h
+++ b/MbDCode/PartFrame.h
@@ -0,0 +1,42 @@
+#pragma once
+#include <memory>
+#include <vector>
+
+#include "CartesianFrame.h"
+#include "Part.h"
+#include "MarkerFrame.h"
+#include "EulerConstraint.h"
+#include "AbsConstraint.h"
+#include "FullColumn.h"
+
+namespace MbD {
+	class Part;
+	class MarkerFrame;
+
+	class PartFrame : public CartesianFrame
+	{
+	public:
+		PartFrame();
+		void setqX(FullColumn<double>* x) {
+			qX = x;
+		}
+		FullColumn<double>* getqX() {
+			return qX;
+		}
+		void setPart(std::shared_ptr<Part> x) {
+			part = x;
+		}
+		std::shared_ptr<Part> getPart() {
+			return part.lock();
+		}
+		//part iqX iqE qX qE qXdot qEdot qXddot qEddot aGeu aGabs markerFrames 
+		std::weak_ptr<Part> part;
+		int iqX, iqE;	//Position index of frame variables qX and qE in system list of variables
+		FullColumn<double>* qX;
+		FullColumn<double>* qE;
+		std::shared_ptr<EulerConstraint> aGeu;
+		std::vector<std::shared_ptr<AbsConstraint>> aGabs;
+		std::vector<std::shared_ptr<MarkerFrame>> markerFrames;
+	};
+}
+
--- a/MbDCode/Solver.cpp
+++ b/MbDCode/Solver.cpp
@@ -0,0 +1 @@
+#include "Solver.h"
--- a/MbDCode/Solver.h
+++ b/MbDCode/Solver.h
@@ -0,0 +1,7 @@
+#pragma once
+namespace MbD {
+	class Solver
+	{
+	};
+}
+
--- a/MbDCode/System.cpp
+++ b/MbDCode/System.cpp
@@ -0,0 +1 @@
+#include "System.h"
--- a/MbDCode/System.h
+++ b/MbDCode/System.h
@@ -0,0 +1,36 @@
+#pragma once
+#include <memory>
+#include <vector>
+
+#include "Item.h"
+#include "Part.h"
+#include "Joint.h"
+#include "SystemSolver.h"
+
+namespace MbD {
+	class SystemSolver;
+	class System : public Item
+	{
+		//ToDo: Needed members admSystem namedItems mbdTime parts jointsMotions forcesTorques sensors variables hasChanged mbdSystemSolver
+	public:
+		static System& getInstance() {
+			//https://medium.com/@caglayandokme/further-enhancing-the-singleton-pattern-in-c-8278b02b1ac7
+			static System singleInstance; // Block-scoped static Singleton instance
+			return singleInstance;
+		};
+		std::vector<std::shared_ptr<Part>> parts;
+		std::vector<std::shared_ptr<Joint>> jointsMotions;
+		bool hasChanged = false;
+		std::shared_ptr<SystemSolver> systemSolver;
+	private:
+		System() {
+			parts = std::vector<std::shared_ptr<Part>>();
+			jointsMotions = std::vector<std::shared_ptr<Joint>>();
+			systemSolver = std::make_shared<SystemSolver>(*this);
+		}
+		//System() = default; // Private constructor
+		System(const System&) = delete;
+		System& operator=(const System&) = delete; // Deleted copy assignment
+		~System() = default; // Private destructor
+	};
+}
--- a/MbDCode/SystemSolver.cpp
+++ b/MbDCode/SystemSolver.cpp
@@ -0,0 +1 @@
+#include "SystemSolver.h"
--- a/MbDCode/SystemSolver.h
+++ b/MbDCode/SystemSolver.h
@@ -0,0 +1,22 @@
+#pragma once
+#include <memory>
+
+#include "Solver.h"
+#include "System.h"
+#include "NewtonRaphson.h"
+
+namespace MbD {
+    class System;
+    class SystemSolver : public Solver
+    {
+        //system parts jointsMotions forcesTorques sensors variables icTypeSolver setsOfRedundantConstraints errorTolPosKine errorTolAccKine 
+        //iterMaxPosKine iterMaxAccKine basicIntegrator tstartPasts tstart hmin hmax tend toutFirst hout direction corAbsTol corRelTol 
+        //intAbsTol intRelTol iterMaxDyn orderMax translationLimit rotationLimit 
+    public:
+        SystemSolver(System& x) : system(x) {
+        }
+        std::shared_ptr<NewtonRaphson> icTypeSolver;
+        System& system;
+    };
+}
+
--- a/MbDCode/Vector.cpp
+++ b/MbDCode/Vector.cpp
@@ -0,0 +1 @@
+#include "Vector.h"
--- a/MbDCode/Vector.h
+++ b/MbDCode/Vector.h
@@ -0,0 +1,12 @@
+#pragma once
+#include "Array.h"
+namespace MbD {
+    template <typename T>
+    class Vector : public Array<T>
+    {
+    public:
+        Vector(int i) : Array<T>(i) {}
+        Vector(std::initializer_list<T> list) : Array<T>{ list } {}
+    };
+}
+