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MBDyn new joints, sine, cosine

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This commit is contained in:
Aik-Siong Koh
2023-12-08 21:39:53 -07:00
parent 98d6d46ebd
commit 56bba4e921
58 changed files with 5895 additions and 1905 deletions
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17
OndselSolver/ASMTGeneralMotion.cpp
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@@ -69,7 +69,12 @@ void MbD::ASMTGeneralMotion::readRotationOrder(std::vector<std::string>& lines)
{
assert(lines[0].find("RotationOrder") != std::string::npos);
lines.erase(lines.begin());
rotationOrder = readString(lines[0]);
std::istringstream iss(lines[0]);
rotationOrder = std::make_shared<std::vector<int>>();
int i;
while (iss >> i) {
rotationOrder->push_back(i);
}
lines.erase(lines.begin());
}
@@ -137,15 +142,7 @@ void MbD::ASMTGeneralMotion::createMbD(std::shared_ptr<System> mbdSys, std::shar
auto xyzRotBlkList = std::initializer_list<Symsptr>{ phiBlk, theBlk, psiBlk };
auto fangIJJ = std::make_shared<EulerAngles<Symsptr>>(xyzRotBlkList);
std::istringstream iss(rotationOrder);
auto rotOrder = std::make_shared<FullColumn<int>>();
int order;
for (int i = 0; i < 3; i++)
{
iss >> order;
rotOrder->push_back(order);
}
fangIJJ->rotOrder = rotOrder;
fangIJJ->rotOrder = rotationOrder;
fullMotion->fangIJJ = fangIJJ;
}