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WIP: Third commit with EndFramec issue

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This commit is contained in:
Aik-Siong Koh
2023-04-29 11:19:31 -06:00
parent 43570d87cd
commit 5c4b08606d
15 changed files with 81 additions and 59 deletions
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5
MbDCode/Array.h
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@@ -1,5 +1,6 @@
#pragma once
#include <vector>
#include <memory>
namespace MbD {
template <typename T>
@@ -9,10 +10,10 @@ namespace MbD {
Array(){}
Array(int i) : std::vector<T>(i) {}
Array(std::initializer_list<T> list) : std::vector<T>{ list } {}
void copy(Array<T>* x);
void copy(std::shared_ptr<Array<T>> x);
};
template<typename T>
inline void Array<T>::copy(Array<T>* x)
inline void Array<T>::copy(std::shared_ptr<Array<T>> x)
{
for (int i = 0; i < x->size(); i++) {
this->at(i) = x->at(i);

2
MbDCode/EndFramec.h
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@@ -16,7 +16,7 @@ namespace MbD {
MarkerFrame* markerFrame;
FullColumn<double>* rOeO = new FullColumn<double>(3);
FullMatrix<double>* aAOe = new FullMatrix<double>(3, 3);
FullMatDptr aAOe = std::make_shared<FullMatrix<double>>(3, 3);
};
}

3
MbDCode/EndFrameqc.h
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@@ -4,13 +4,14 @@
#include "FullMatrix.h"
namespace MbD {
class EndFramec;
class EndFrameqc : public EndFramec
{
//prOeOpE pprOeOpEpE pAOepE ppAOepEpE
public:
EndFrameqc();
FullMatrix<double>* prOeOpE = new FullMatrix<double>(3, 4);
FullMatDptr prOeOpE = std::make_shared<FullMatrix<double>>(3, 4);
FullMatrix<FullColumn<double>>* pprOeOpEpE = new FullMatrix<FullColumn<double>>(3, 4);
FullColumn<FullMatrix<double>>* pAOepE = new FullColumn<FullMatrix<double>>(4);
FullMatrix<FullMatrix<double>>* ppAOepEpE = new FullMatrix<FullMatrix<double>>(4, 4);

1
MbDCode/FullColumn.h
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@@ -12,3 +12,4 @@ namespace MbD {
};
}
typedef std::shared_ptr<MbD::FullColumn<double>> FullColDptr;

2
MbDCode/FullMatrix.cpp
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@@ -4,7 +4,7 @@ using namespace MbD;
FullMatrix<double>::FullMatrix(int m, int n) {
for (int i = 0; i < m; i++) {
auto* row = new FullRow<double>(n);
auto row = std::make_shared<FullRow<double>>(n);
this->push_back(row);
}
}

3
MbDCode/FullMatrix.h
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@@ -4,7 +4,7 @@
namespace MbD {
template <typename T>
class FullMatrix : public RowTypeMatrix<FullRow<T>*>
class FullMatrix : public RowTypeMatrix<std::shared_ptr<FullRow<T>>>
{
public:
FullMatrix() {
@@ -15,3 +15,4 @@ namespace MbD {
};
}
typedef std::shared_ptr<MbD::FullMatrix<double>> FullMatDptr;

1
MbDCode/FullRow.h
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@@ -11,3 +11,4 @@ namespace MbD {
};
}
typedef std::shared_ptr<MbD::FullRow<double>> FullRowDptr;

4
MbDCode/MarkerFrame.cpp
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@@ -16,12 +16,12 @@ void MarkerFrame::setPartFrame(PartFrame* partFrm)
partFrame = partFrm;
}
void MarkerFrame::setrpmp(FullColumn<double>* x)
void MarkerFrame::setrpmp(FullColDptr x)
{
rpmp->copy(x);
}
void MarkerFrame::setaApm(FullMatrix<double>* x)
void MarkerFrame::setaApm(FullMatDptr x)
{
aApm->copy(x);
}

14
MbDCode/MarkerFrame.h
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@@ -17,16 +17,16 @@ namespace MbD {
public:
MarkerFrame();
void setPartFrame(PartFrame* partFrm);
void setrpmp(FullColumn<double>* x);
void setaApm(FullMatrix<double>* x);
void setrpmp(FullColDptr x);
void setaApm(FullMatDptr x);
void addEndFrame(std::shared_ptr<EndFrameqc> x);
PartFrame* partFrame;
FullColumn<double>* rpmp = new FullColumn<double>(3);
FullMatrix<double>* aApm = new FullMatrix<double>(3, 3);
FullColumn<double>* rOmO = new FullColumn<double>(3);
FullMatrix<double>* aAOm = new FullMatrix<double>(3, 3);
FullMatrix<double>* prOmOpE = new FullMatrix<double>(3, 4);
FullColDptr rpmp = std::make_shared<FullColumn<double>>(3);
FullMatDptr aApm = std::make_shared<FullMatrix<double>>(3, 3);
FullColDptr rOmO = std::make_shared<FullColumn<double>>(3);
FullMatDptr aAOm = std::make_shared<FullMatrix<double>>(3, 3);
FullMatDptr prOmOpE = std::make_shared<FullMatrix<double>>(3, 4);
FullColumn<FullMatrix<double>>* pAOmpE = new FullColumn<FullMatrix<double>>(4);
std::vector<std::shared_ptr<EndFrameqc>> endFrames;

65
MbDCode/MbDCode.cpp
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@@ -14,20 +14,23 @@ int main()
std::string str = "TheSystem";
TheSystem.setName(str);
std::cout << "TheSystem.getName() " << TheSystem.getName() << std::endl;
FullColumn<double>* qX, * qE;
FullColumn<double>* rpmp;
FullMatrix<double>* aApm;
FullRow<double>* fullRow;
auto row = new FullRow<double>{ 0, 0, 0, 1 };
fullRow = new FullRow<double>(4);
FullColDptr qX, qE;
FullColDptr rpmp;
FullMatDptr aApm;
FullRowDptr fullRow;
auto elements = { 0.0, 0.0, 0.0, 1.0 };
auto row = std::make_shared<FullRow<double>>(elements);
fullRow = std::make_shared<FullRow<double>>(4);
fullRow->copy(row);
//
auto assembly1 = std::make_shared<Part>();
str = "Assembly1";
assembly1->setName(str);
std::cout << "assembly1->getName() " << assembly1->getName() << std::endl;
qX = new FullColumn<double>{ 0, 0, 0 };
qE = new FullColumn<double>{ 0, 0, 0, 1 };
elements = { 0, 0, 0 };
qX = std::make_shared<FullColumn<double>>(elements);
elements = { 0, 0, 0, 1 };
qE = std::make_shared<FullColumn<double>>(elements);
assembly1->setqX(qX);
assembly1->setqE(qE);
std::cout << "assembly1->getqX() " << assembly1->getqX()->toString() << std::endl;
@@ -37,14 +40,18 @@ int main()
auto marker1 = std::make_shared<MarkerFrame>();
str = "Marker1";
marker1->setName(str);
rpmp = new FullColumn<double>{ 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 };
elements = { 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 };
rpmp = std::make_shared<FullColumn<double>>(elements);
marker1->setrpmp(rpmp);
aApm = new FullMatrix<double>();
fullRow = new FullRow<double>{ 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 };
aApm = std::make_shared<FullMatrix<double>>();
elements = { 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 };
fullRow = std::make_shared<FullRow<double>>(elements);
aApm->push_back(fullRow);
fullRow = new FullRow<double>{ 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 };
elements = { 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 };
fullRow = std::make_shared<FullRow<double>>(elements);
aApm->push_back(fullRow);
fullRow = new FullRow<double>{ 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 };
elements = { 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 };
fullRow = std::make_shared<FullRow<double>>(elements);
aApm->push_back(fullRow);
marker1->setaApm(aApm);
assembly1->partFrame->addMarkerFrame(marker1);
@@ -52,14 +59,18 @@ int main()
auto marker2 = std::make_shared<MarkerFrame>();
str = "Marker2";
marker2->setName(str);
rpmp = new FullColumn<double>{ 0.0, 0.0, 0.0 };
elements = { 0.0, 0.0, 0.0 };
rpmp = std::make_shared<FullColumn<double>>(elements);
marker2->setrpmp(rpmp);
aApm = new FullMatrix<double>();
fullRow = new FullRow<double>{ 1.0, 0.0, 0.0 };
aApm = std::make_shared<FullMatrix<double>>();
elements = { 1.0, 0.0, 0.0 };
fullRow = std::make_shared<FullRow<double>>(elements);
aApm->push_back(fullRow);
fullRow = new FullRow<double>{ 0.0, 1.0, 0.0 };
elements = { 0.0, 1.0, 0.0 };
fullRow = std::make_shared<FullRow<double>>(elements);
aApm->push_back(fullRow);
fullRow = new FullRow<double>{ 0.0, 0.0, 1.0 };
elements = { 0.0, 0.0, 1.0 };
fullRow = std::make_shared<FullRow<double>>(elements);
aApm->push_back(fullRow);
marker2->setaApm(aApm);
assembly1->partFrame->addMarkerFrame(marker2);
@@ -68,8 +79,10 @@ int main()
auto part1 = std::make_shared<Part>();
str = "Part1";
part1->setName(str);
qX = new FullColumn<double>{ 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 };
qE = new FullColumn<double>{ 0.0, 0.0, 1.4248456266393e-10, 1.0 };
elements = { 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 };
qX = std::make_shared<FullColumn<double>>(elements);
elements = { 0.0, 0.0, 1.4248456266393e-10, 1.0 };
qE = std::make_shared<FullColumn<double>>(elements);
part1->setqX(qX);
part1->setqE(qE);
TheSystem.parts.push_back(part1);
@@ -77,8 +90,10 @@ int main()
auto part2 = std::make_shared<Part>();
str = "Part2";
part2->setName(str);
qX = new FullColumn<double>{ 0.38423366582893, 0.49215308269277, 0.048029210642807 };
qE = new FullColumn<double>{ 0.0, 0.0, 0.89871701272344, 0.4385290538168 };
elements = { 0.38423366582893, 0.49215308269277, 0.048029210642807 };
qX = std::make_shared<FullColumn<double>>(elements);
elements = { 0.0, 0.0, 0.89871701272344, 0.4385290538168 };
qE = std::make_shared<FullColumn<double>>(elements);
part2->setqX(qX);
part2->setqE(qE);
TheSystem.parts.push_back(part2);
@@ -86,8 +101,10 @@ int main()
auto part3 = std::make_shared<Part>();
str = "Part3";
part3->setName(str);
qX = new FullColumn<double>{ -1.284772285311e-18, 1.4645982581368, -4.788228906425e-17 };
qE = new FullColumn<double>{ 0.70710678118655, 0.70710678118655, 0.0, 0.0 };
elements = { -1.284772285311e-18, 1.4645982581368, -4.788228906425e-17 };
qX = std::make_shared<FullColumn<double>>(elements);
elements = { 0.70710678118655, 0.70710678118655, 0.0, 0.0 };
qE = std::make_shared<FullColumn<double>>(elements);
part3->setqX(qX);
part3->setqE(qE);
TheSystem.parts.push_back(part3);

8
MbDCode/Part.cpp
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@@ -8,19 +8,19 @@ Part::Part() {
partFrame = std::make_shared<PartFrame>();
}
void Part::setqX(FullColumn<double>* x) {
void Part::setqX(FullColDptr x) {
partFrame.get()->setqX(x);
}
FullColumn<double>* Part::getqX() {
FullColDptr Part::getqX() {
return partFrame.get()->getqX();
}
void Part::setqE(FullColumn<double>* x) {
void Part::setqE(FullColDptr x) {
partFrame.get()->setqE(x);
}
FullColumn<double>* Part::getqE() {
FullColDptr Part::getqE() {
return partFrame.get()->getqE();
}

8
MbDCode/Part.h
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@@ -15,10 +15,10 @@ namespace MbD {
//ToDo: ipX ipE m aJ partFrame pX pXdot pE pEdot mX mE mEdot pTpE ppTpEpE ppTpEpEdot
public:
Part();
void setqX(FullColumn<double>* x);
FullColumn<double>* getqX();
void setqE(FullColumn<double>* x);
FullColumn<double>* getqE();
void setqX(FullColDptr x);
FullColDptr getqX();
void setqE(FullColDptr x);
FullColDptr getqE();
void setSystem(System& sys);
std::shared_ptr<PartFrame> partFrame;
};

8
MbDCode/PartFrame.cpp
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@@ -11,16 +11,16 @@ PartFrame::PartFrame()
aGabs = std::vector<std::shared_ptr<AbsConstraint>>();
markerFrames = std::vector<std::shared_ptr<MarkerFrame>>();
}
void PartFrame::setqX(FullColumn<double>* x) {
void PartFrame::setqX(FullColDptr x) {
qX->copy(x);
}
FullColumn<double>* PartFrame::getqX() {
FullColDptr PartFrame::getqX() {
return qX;
}
void PartFrame::setqE(FullColumn<double>* x) {
void PartFrame::setqE(FullColDptr x) {
qE->copy(x);
}
FullColumn<double>* PartFrame::getqE() {
FullColDptr PartFrame::getqE() {
return qE;
}
void PartFrame::setPart(std::shared_ptr<Part> x) {

12
MbDCode/PartFrame.h
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@@ -19,18 +19,18 @@ namespace MbD {
public:
PartFrame();
void setqX(FullColumn<double>* x);
FullColumn<double>* getqX();
void setqE(FullColumn<double>* x);
FullColumn<double>* getqE();
void setqX(FullColDptr x);
FullColDptr getqX();
void setqE(FullColDptr x);
FullColDptr getqE();
void setPart(std::shared_ptr<Part> x);
std::shared_ptr<Part> getPart();
void addMarkerFrame(std::shared_ptr<MarkerFrame> x);
std::weak_ptr<Part> part;
int iqX, iqE; //Position index of frame variables qX and qE in system list of variables
FullColumn<double>* qX = new FullColumn<double>(3);
FullColumn<double>* qE = new FullColumn<double>(4);
FullColDptr qX = std::make_shared<FullColumn<double>>(3);
FullColDptr qE = std::make_shared<FullColumn<double>>(4);
std::shared_ptr<EulerConstraint> aGeu;
std::vector<std::shared_ptr<AbsConstraint>> aGabs;
std::vector<std::shared_ptr<MarkerFrame>> markerFrames;

4
MbDCode/RowTypeMatrix.h
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@@ -7,11 +7,11 @@ namespace MbD {
public:
RowTypeMatrix() {}
RowTypeMatrix(std::initializer_list<T> list) : Array<T>{ list } {}
void copy(RowTypeMatrix<T>* x);
void copy(std::shared_ptr<RowTypeMatrix<T>> x);
};
template<typename T>
inline void RowTypeMatrix<T>::copy(RowTypeMatrix<T>* x)
inline void RowTypeMatrix<T>::copy(std::shared_ptr<RowTypeMatrix<T>> x)
{
for (int i = 0; i < x->size(); i++) {
this->at(i)->copy(x->at(i));