From 4b3d676f30ee697f40104314213a051d1bbbd42d Mon Sep 17 00:00:00 2001
From: John Dupuy <jdupuy98@gmail.com>
Date: Tue, 26 Sep 2023 11:49:32 -0500
Subject: [PATCH 1/4] first stages for making more universal

---
 .gitignore                        |   5 +-
 CMakeLists.txt                    |   9 +
 MbDCode/AngleZIecJec.cpp          |   2 +-
 MbDCode/Array.h                   |   2 +-
 MbDCode/CMakeLists.txt            | 273 ++++++++++++++++++++++++++++++
 MbDCode/FullColumn.h              |   2 +-
 MbDCode/FullMatrix.h              |  16 +-
 MbDCode/FullRow.h                 |   2 +-
 MbDCode/FullVector.h              |   3 +-
 MbDCode/GearConstraintIJ.h        |   2 +-
 MbDCode/GearConstraintIqcJc.cpp   |   2 +-
 MbDCode/GearConstraintIqcJqc.cpp  |   2 +-
 MbDCode/Item.cpp                  |   4 +-
 MbDCode/Numeric.cpp               |   2 +-
 MbDCode/OrbitAnglezIecJec.cpp     |   4 +-
 MbDCode/OrbitAnglezIeqcJec.cpp    |   2 +-
 MbDCode/OrbitAnglezIeqcJec.h      |   2 +-
 MbDCode/OrbitAnglezIeqcJeqc.cpp   |   2 +-
 MbDCode/OrbitAnglezIeqcJeqc.h     |   2 +-
 MbDCode/ScrewConstraintIJ.cpp     |   2 +-
 MbDCode/ScrewConstraintIqcJc.cpp  |   2 +-
 MbDCode/ScrewConstraintIqcJqc.cpp |   2 +-
 MbDCode/SymbolicParser.cpp        |   2 +-
 MbDCode/corecrt_math_defines.h    |  30 ++++
 24 files changed, 346 insertions(+), 30 deletions(-)
 create mode 100644 CMakeLists.txt
 create mode 100644 MbDCode/CMakeLists.txt
 create mode 100644 MbDCode/corecrt_math_defines.h

diff --git a/.gitignore b/.gitignore
index 774534a..6ead354 100644
--- a/.gitignore
+++ b/.gitignore
@@ -33,4 +33,7 @@
 
 .vs
 x64/
-*.bak
\ No newline at end of file
+*.bak
+
+cmake-build-debug
+.idea
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..cec7723
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,9 @@
+cmake_minimum_required(VERSION 3.10)
+
+project(MbDCodeLib)
+
+add_executable(MbDCode MbDCode/MbDCode.cpp)
+add_subdirectory(MbDCode)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED True)
diff --git a/MbDCode/AngleZIecJec.cpp b/MbDCode/AngleZIecJec.cpp
index 443d225..dbaa8fd 100644
--- a/MbDCode/AngleZIecJec.cpp
+++ b/MbDCode/AngleZIecJec.cpp
@@ -6,7 +6,7 @@
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
  
-#include <corecrt_math_defines.h>
+#include "corecrt_math_defines.h"
 
 #include "AngleZIecJec.h"
 #include "Numeric.h"
diff --git a/MbDCode/Array.h b/MbDCode/Array.h
index b654812..db8e407 100644
--- a/MbDCode/Array.h
+++ b/MbDCode/Array.h
@@ -29,7 +29,7 @@ namespace MbD {
 		Array(std::vector<T> vec) : std::vector<T>(vec) {}
 		Array(int count) : std::vector<T>(count) {}
 		Array(int count, const T& value) : std::vector<T>(count, value) {}
-		Array(std::vector<T>::iterator begin, std::vector<T>::iterator end) : std::vector<T>(begin, end) {}
+		Array(typename std::vector<T>::const_iterator begin, typename std::vector<T>::const_iterator end) : std::vector<T>(begin, end) {}
 		Array(std::initializer_list<T> list) : std::vector<T>{ list } {}
 		virtual void initialize();
 		void copyFrom(std::shared_ptr<Array<T>> x);
diff --git a/MbDCode/CMakeLists.txt b/MbDCode/CMakeLists.txt
new file mode 100644
index 0000000..6387398
--- /dev/null
+++ b/MbDCode/CMakeLists.txt
@@ -0,0 +1,273 @@
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED True)
+
+add_executable(new_target
+        MbDCode.cpp 
+        Abs.cpp
+        AbsConstraint.cpp
+        AccICKineNewtonRaphson.cpp
+        AccICNewtonRaphson.cpp
+        AccKineNewtonRaphson.cpp
+        AccNewtonRaphson.cpp
+        AngleJoint.cpp
+        AngleZIecJec.cpp
+        AngleZIeqcJec.cpp
+        AngleZIeqcJeqc.cpp
+        AnyGeneralSpline.cpp
+        AnyPosICNewtonRaphson.cpp
+        ArcTan.cpp
+        ArcTan2.cpp
+        Array.cpp
+        ASMTAnimationParameters.cpp
+        ASMTAssembly.cpp
+        ASMTConstantGravity.cpp
+        ASMTConstraintSet.cpp
+        ASMTCylindricalJoint.cpp
+        ASMTExtrusion.cpp
+        ASMTFixedJoint.cpp
+        ASMTForceTorque.cpp
+        ASMTGeneralMotion.cpp
+        ASMTItem.cpp
+        ASMTItemIJ.cpp
+        ASMTJoint.cpp
+        ASMTKinematicIJ.cpp
+        ASMTMarker.cpp
+        ASMTMotion.cpp
+        ASMTPart.cpp
+        ASMTPointInPlaneJoint.cpp
+        ASMTPrincipalMassMarker.cpp
+        ASMTRefCurve.cpp
+        ASMTRefItem.cpp
+        ASMTRefPoint.cpp
+        ASMTRefSurface.cpp
+        ASMTRevoluteJoint.cpp
+        ASMTRotationalMotion.cpp
+        ASMTSimulationParameters.cpp
+        ASMTSpatialContainer.cpp
+        ASMTSpatialItem.cpp
+        ASMTSphericalJoint.cpp
+        ASMTTime.cpp
+        ASMTTranslationalMotion.cpp
+        ASMTTranslationalJoint.cpp
+        ASMTUniversalJoint.cpp
+        AtPointConstraintIJ.cpp
+        AtPointConstraintIqcJc.cpp
+        AtPointConstraintIqcJqc.cpp
+        AtPointConstraintIqctJqc.cpp
+        AtPointJoint.cpp
+        BasicIntegrator.cpp
+        BasicQuasiIntegrator.cpp
+        BasicUserFunction.cpp
+        CADSystem.cpp
+        CartesianFrame.cpp
+        CompoundJoint.cpp
+        Constant.cpp
+        ConstantGravity.cpp
+        ConstantVelocityJoint.cpp
+        Constraint.cpp
+        ConstraintIJ.cpp
+        ConstVelConstraintIJ.cpp
+        ConstVelConstraintIqcJc.cpp
+        ConstVelConstraintIqcJqc.cpp
+        Cosine.cpp
+        CREATE.cpp
+        CylindricalJoint.cpp
+        CylSphJoint.cpp
+        DifferentiatedGeneralSpline.cpp
+        EndFrameqct2.cpp
+        EulerAngles.cpp
+        EulerAnglesDDot.cpp
+        EulerAnglesDot.cpp
+        Exponential.cpp
+        ExternalSystem.cpp
+        FunctionFromData.cpp
+        FunctionXcParameter.cpp
+        FunctionXY.cpp
+        GeneralSpline.cpp
+        Ln.cpp
+        Log10.cpp
+        LogN.cpp
+        Negative.cpp
+        PosVelAccData.cpp
+        DiagonalMatrix.cpp
+        DifferenceOperator.cpp
+        DirectionCosineConstraintIJ.cpp
+        DirectionCosineConstraintIqcJc.cpp
+        DirectionCosineConstraintIqcJqc.cpp
+        DirectionCosineConstraintIqctJqc.cpp
+        DirectionCosineIecJec.cpp
+        DirectionCosineIeqcJec.cpp
+        DirectionCosineIeqcJeqc.cpp
+        DirectionCosineIeqctJeqc.cpp
+        DiscontinuityError.cpp
+        DispCompIecJecIe.cpp
+        DispCompIecJecKec.cpp
+        DispCompIecJecKeqc.cpp
+        DispCompIecJecO.cpp
+        DispCompIeqcJecIe.cpp
+        DispCompIeqcJecKeqc.cpp
+        DispCompIeqcJecO.cpp
+        DispCompIeqcJeqcIe.cpp
+        DispCompIeqcJeqcKeqc.cpp
+        DispCompIeqcJeqcKeqct.cpp
+        DispCompIeqcJeqcO.cpp
+        DispCompIeqctJeqcIe.cpp
+        DispCompIeqctJeqcKeqct.cpp
+        DispCompIeqctJeqcO.cpp
+        DistanceConstraintIJ.cpp
+        DistanceConstraintIqcJc.cpp
+        DistanceConstraintIqcJqc.cpp
+        DistanceConstraintIqctJqc.cpp
+        DistancexyConstraintIJ.cpp
+        DistancexyConstraintIqcJc.cpp
+        DistancexyConstraintIqcJqc.cpp
+        DistIecJec.cpp
+        DistIeqcJec.cpp
+        DistIeqcJeqc.cpp
+        DistIeqctJeqc.cpp
+        DistxyIecJec.cpp
+        DistxyIeqcJec.cpp
+        DistxyIeqcJeqc.cpp
+        DistxyIeqctJeqc.cpp
+        EndFramec.cpp
+        EndFrameqc.cpp
+        EndFrameqct.cpp
+        EulerAngleszxz.cpp
+        EulerAngleszxzDDot.cpp
+        EulerAngleszxzDot.cpp
+        EulerArray.cpp
+        EulerConstraint.cpp
+        EulerParameters.cpp
+        EulerParametersDDot.cpp
+        EulerParametersDot.cpp
+        ExpressionX.cpp
+        FixedJoint.cpp
+        ForceTorqueData.cpp
+        ForceTorqueItem.cpp
+        FullColumn.cpp
+        FullMatrix.cpp
+        FullMotion.cpp
+        FullRow.cpp
+        Function.cpp
+        FunctionWithManyArgs.cpp
+        FunctionX.cpp
+        GearConstraintIJ.cpp
+        GearConstraintIqcJc.cpp
+        GearConstraintIqcJqc.cpp
+        GearJoint.cpp
+        GEFullMat.cpp
+        GEFullMatFullPv.cpp
+        GEFullMatParPv.cpp
+        GESpMat.cpp
+        GESpMatFullPv.cpp
+        GESpMatFullPvPosIC.cpp
+        GESpMatParPv.cpp
+        GESpMatParPvMarko.cpp
+        GESpMatParPvMarkoFast.cpp
+        GESpMatParPvPrecise.cpp
+        ICKineIntegrator.cpp
+        IndependentVariable.cpp
+        InLineJoint.cpp
+        InPlaneJoint.cpp
+        Integrator.cpp
+        IntegratorInterface.cpp
+        Item.cpp
+        Joint.cpp
+        KineIntegrator.cpp
+        KinematicIeJe.cpp
+        LDUFullMatParPv.cpp
+        LDUSpMat.cpp
+        LDUSpMatParPv.cpp
+        LDUSpMatParPvMarko.cpp
+        LDUSpMatParPvPrecise.cpp
+        LinearMultiStepMethod.cpp
+        LineInPlaneJoint.cpp
+        MarkerFrame.cpp
+        Math.cpp
+        MatrixDecomposition.cpp
+        MatrixGaussElimination.cpp
+        MatrixLDU.cpp
+        MatrixSolver.cpp
+        MaximumIterationError.cpp
+        NewtonRaphson.cpp
+        NewtonRaphsonError.cpp
+        NoRotationJoint.cpp
+        NotKinematicError.cpp
+        Numeric.cpp
+        OrbitAnglezIecJec.cpp
+        OrbitAnglezIeqcJec.cpp
+        OrbitAnglezIeqcJeqc.cpp
+        Orientation.cpp
+        ParallelAxesJoint.cpp
+        Part.cpp
+        PartFrame.cpp
+        PerpendicularJoint.cpp
+        PlanarJoint.cpp
+        PointInLineJoint.cpp
+        PointInPlaneJoint.cpp
+        PosICKineNewtonRaphson.cpp
+        PosICNewtonRaphson.cpp
+        PosKineNewtonRaphson.cpp
+        PosNewtonRaphson.cpp
+        Power.cpp
+        PrescribedMotion.cpp
+        Product.cpp
+        QuasiIntegrator.cpp
+        RackPinConstraintIJ.cpp
+        RackPinConstraintIqcJc.cpp
+        RackPinConstraintIqcJqc.cpp
+        RackPinJoint.cpp
+        Reciprocal.cpp
+        RedundantConstraint.cpp
+        RevCylJoint.cpp
+        RevoluteJoint.cpp
+        RowTypeMatrix.cpp
+        ScalarNewtonRaphson.cpp
+        ScrewConstraintIJ.cpp
+        ScrewConstraintIqcJc.cpp
+        ScrewConstraintIqcJqc.cpp
+        ScrewJoint.cpp
+        SimulationStoppingError.cpp
+        Sine.cpp
+        SingularMatrixError.cpp
+        Solver.cpp
+        SparseColumn.cpp
+        SparseMatrix.cpp
+        SparseRow.cpp
+        SparseVector.cpp
+        SphericalJoint.cpp
+        SphSphJoint.cpp
+        StableBackwardDifference.cpp
+        LDUFullMat.cpp
+        StateData.cpp
+        Sum.cpp
+        Symbolic.cpp
+        SymbolicParser.cpp
+        SyntaxError.cpp
+        System.cpp
+        SystemNewtonRaphson.cpp
+        SystemSolver.cpp
+        Time.cpp
+        TooManyTriesError.cpp
+        TooSmallStepSizeError.cpp
+        Translation.cpp
+        TranslationalJoint.cpp
+        TranslationConstraintIJ.cpp
+        TranslationConstraintIqcJc.cpp
+        TranslationConstraintIqcJqc.cpp
+        TranslationConstraintIqctJqc.cpp
+        Units.cpp
+        UniversalJoint.cpp
+        UserFunction.cpp
+        Variable.cpp
+        FullVector.cpp
+        VectorNewtonRaphson.cpp
+        VelICKineSolver.cpp
+        VelICSolver.cpp
+        VelKineSolver.cpp
+        VelSolver.cpp
+        ZRotation.cpp
+        ZTranslation.cpp
+)
+
+
diff --git a/MbDCode/FullColumn.h b/MbDCode/FullColumn.h
index e9dcb36..34b0318 100644
--- a/MbDCode/FullColumn.h
+++ b/MbDCode/FullColumn.h
@@ -33,7 +33,7 @@ namespace MbD {
 		FullColumn(std::vector<T> vec) : FullVector<T>(vec) {}
 		FullColumn(int count) : FullVector<T>(count) {}
 		FullColumn(int count, const T& value) : FullVector<T>(count, value) {}
-		FullColumn(std::vector<T>::iterator begin, std::vector<T>::iterator end) : FullVector<T>(begin, end) {}
+		FullColumn(typename std::vector<T>::const_iterator begin, typename std::vector<T>::const_iterator end) : FullVector<T>(begin, end) {}
 		FullColumn(std::initializer_list<T> list) : FullVector<T>{ list } {}
 		FColsptr<T> plusFullColumn(FColsptr<T> fullCol);
 		FColsptr<T> minusFullColumn(FColsptr<T> fullCol);
diff --git a/MbDCode/FullMatrix.h b/MbDCode/FullMatrix.h
index fd792a7..0b2817e 100644
--- a/MbDCode/FullMatrix.h
+++ b/MbDCode/FullMatrix.h
@@ -8,7 +8,7 @@
  
 #pragma once
 
-#include <corecrt_math_defines.h>
+#include "corecrt_math_defines.h"
 #include <memory>
 
 #include "RowTypeMatrix.h"
@@ -296,6 +296,13 @@ namespace MbD {
 		row2->atiput(2, 0.0);
 		return rotMat;
 	}
+    template<>
+    inline void FullMatrix<double>::zeroSelf()
+    {
+        for (int i = 0; i < this->size(); i++) {
+            this->at(i)->zeroSelf();
+        }
+    }
 	template<>
 	inline void FullMatrix<double>::identity() {
 		this->zeroSelf();
@@ -452,13 +459,6 @@ namespace MbD {
 		assert(false);
 		return 0.0;
 	}
-	template<>
-	inline void FullMatrix<double>::zeroSelf()
-	{
-		for (int i = 0; i < this->size(); i++) {
-			this->at(i)->zeroSelf();
-		}
-	}
 	template<typename T>
 	inline void FullMatrix<T>::zeroSelf()
 	{
diff --git a/MbDCode/FullRow.h b/MbDCode/FullRow.h
index 8ea5619..b4df0bd 100644
--- a/MbDCode/FullRow.h
+++ b/MbDCode/FullRow.h
@@ -35,7 +35,7 @@ namespace MbD {
 		FullRow(std::vector<T> vec) : FullVector<T>(vec) {}
 		FullRow(int count) : FullVector<T>(count) {}
 		FullRow(int count, const T& value) : FullVector<T>(count, value) {}
-		FullRow(std::vector<T>::iterator begin, std::vector<T>::iterator end) : FullVector<T>(begin, end) {}
+		FullRow(typename std::vector<T>::const_iterator begin, typename std::vector<T>::const_iterator end) : FullVector<T>(begin, end) {}
 		FullRow(std::initializer_list<T> list) : FullVector<T>{ list } {}
 		FRowsptr<T> times(T a);
 		FRowsptr<T> negated();
diff --git a/MbDCode/FullVector.h b/MbDCode/FullVector.h
index c4193d0..1285c7a 100644
--- a/MbDCode/FullVector.h
+++ b/MbDCode/FullVector.h
@@ -9,6 +9,7 @@
 #pragma once
 
 #include <ostream>
+#include <limits>
 
 #include "Array.h"
 
@@ -21,7 +22,7 @@ namespace MbD {
 		FullVector(std::vector<T> vec) : Array<T>(vec) {}
 		FullVector(int count) : Array<T>(count) {}
 		FullVector(int count, const T& value) : Array<T>(count, value) {}
-		FullVector(std::vector<T>::iterator begin, std::vector<T>::iterator end) : Array<T>(begin, end) {}
+		FullVector(typename std::vector<T>::const_iterator begin, typename std::vector<T>::const_iterator end) : Array<T>(begin, end) {}
 		FullVector(std::initializer_list<T> list) : Array<T>{ list } {}
 		double dot(std::shared_ptr<FullVector<T>> vec);
 		void atiplusNumber(int i, T value);
diff --git a/MbDCode/GearConstraintIJ.h b/MbDCode/GearConstraintIJ.h
index 4092d59..7ffd8b7 100644
--- a/MbDCode/GearConstraintIJ.h
+++ b/MbDCode/GearConstraintIJ.h
@@ -9,7 +9,7 @@
 #pragma once
 
 #include "ConstraintIJ.h"
-#include "OrbitAngleZIecJec.h"
+#include "OrbitAnglezIecJec.h"
 
 namespace MbD {
 	class GearConstraintIJ : public ConstraintIJ
diff --git a/MbDCode/GearConstraintIqcJc.cpp b/MbDCode/GearConstraintIqcJc.cpp
index dd01774..cd348ff 100644
--- a/MbDCode/GearConstraintIqcJc.cpp
+++ b/MbDCode/GearConstraintIqcJc.cpp
@@ -9,7 +9,7 @@
 #include "GearConstraintIqcJc.h"
 #include "EndFrameqc.h"
 #include "CREATE.h"
-#include "OrbitAngleZIeqcJec.h"
+#include "OrbitAnglezIeqcJec.h"
 
 using namespace MbD;
 
diff --git a/MbDCode/GearConstraintIqcJqc.cpp b/MbDCode/GearConstraintIqcJqc.cpp
index 0793ed6..717c815 100644
--- a/MbDCode/GearConstraintIqcJqc.cpp
+++ b/MbDCode/GearConstraintIqcJqc.cpp
@@ -8,7 +8,7 @@
  
 #include "GearConstraintIqcJqc.h"
 #include "EndFrameqc.h"
-#include "OrbitAngleZIeqcJeqc.h"
+#include "OrbitAnglezIeqcJeqc.h"
 #include "CREATE.h"
 
 using namespace MbD;
diff --git a/MbDCode/Item.cpp b/MbDCode/Item.cpp
index e20f225..820b2e6 100644
--- a/MbDCode/Item.cpp
+++ b/MbDCode/Item.cpp
@@ -6,9 +6,9 @@
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
  
-#include <windows.h>
+//#include <windows.h>
 #include <assert.h>
-#include <debugapi.h>
+//#include <debugapi.h>
 #include <sstream> 
 
 #include "Item.h"
diff --git a/MbDCode/Numeric.cpp b/MbDCode/Numeric.cpp
index e78ee3c..b1fc9a2 100644
--- a/MbDCode/Numeric.cpp
+++ b/MbDCode/Numeric.cpp
@@ -7,7 +7,7 @@
  ***************************************************************************/
  
 #include <cmath>
-#include <corecrt_math_defines.h>
+#include "corecrt_math_defines.h"
 #include <stdexcept>
 
 #include "Numeric.h"
diff --git a/MbDCode/OrbitAnglezIecJec.cpp b/MbDCode/OrbitAnglezIecJec.cpp
index c53166e..3a1ec8b 100644
--- a/MbDCode/OrbitAnglezIecJec.cpp
+++ b/MbDCode/OrbitAnglezIecJec.cpp
@@ -6,9 +6,9 @@
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
  
-#include <corecrt_math_defines.h>
+#include "corecrt_math_defines.h"
 
-#include "OrbitAngleZIecJec.h"
+#include "OrbitAnglezIecJec.h"
 #include "Numeric.h"
 
 using namespace MbD;
diff --git a/MbDCode/OrbitAnglezIeqcJec.cpp b/MbDCode/OrbitAnglezIeqcJec.cpp
index 1dd5298..b9bb400 100644
--- a/MbDCode/OrbitAnglezIeqcJec.cpp
+++ b/MbDCode/OrbitAnglezIeqcJec.cpp
@@ -6,7 +6,7 @@
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
  
-#include "OrbitAngleZIeqcJec.h"
+#include "OrbitAnglezIeqcJec.h"
 #include "CREATE.h"
 #include "DispCompIeqcJecIe.h"
 
diff --git a/MbDCode/OrbitAnglezIeqcJec.h b/MbDCode/OrbitAnglezIeqcJec.h
index 65610f3..2788bad 100644
--- a/MbDCode/OrbitAnglezIeqcJec.h
+++ b/MbDCode/OrbitAnglezIeqcJec.h
@@ -8,7 +8,7 @@
  
 #pragma once
 
-#include "OrbitAngleZIecJec.h"
+#include "OrbitAnglezIecJec.h"
 
 namespace MbD {
 	class OrbitAngleZIeqcJec : public OrbitAngleZIecJec
diff --git a/MbDCode/OrbitAnglezIeqcJeqc.cpp b/MbDCode/OrbitAnglezIeqcJeqc.cpp
index 79709c6..b8e689c 100644
--- a/MbDCode/OrbitAnglezIeqcJeqc.cpp
+++ b/MbDCode/OrbitAnglezIeqcJeqc.cpp
@@ -6,7 +6,7 @@
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
  
-#include "OrbitAngleZIeqcJeqc.h"
+#include "OrbitAnglezIeqcJeqc.h"
 #include "CREATE.h"
 #include "DispCompIeqcJeqcIe.h"
 
diff --git a/MbDCode/OrbitAnglezIeqcJeqc.h b/MbDCode/OrbitAnglezIeqcJeqc.h
index ec0f843..8455372 100644
--- a/MbDCode/OrbitAnglezIeqcJeqc.h
+++ b/MbDCode/OrbitAnglezIeqcJeqc.h
@@ -8,7 +8,7 @@
  
 #pragma once
 
-#include "OrbitAngleZIeqcJec.h"
+#include "OrbitAnglezIeqcJec.h"
 
 namespace MbD {
 	class OrbitAngleZIeqcJeqc : public OrbitAngleZIeqcJec
diff --git a/MbDCode/ScrewConstraintIJ.cpp b/MbDCode/ScrewConstraintIJ.cpp
index c63e537..cbfd4e7 100644
--- a/MbDCode/ScrewConstraintIJ.cpp
+++ b/MbDCode/ScrewConstraintIJ.cpp
@@ -6,7 +6,7 @@
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
  
-#include <corecrt_math_defines.h>
+#include "corecrt_math_defines.h"
 
 #include "ScrewConstraintIJ.h"
 
diff --git a/MbDCode/ScrewConstraintIqcJc.cpp b/MbDCode/ScrewConstraintIqcJc.cpp
index 74cb241..463954f 100644
--- a/MbDCode/ScrewConstraintIqcJc.cpp
+++ b/MbDCode/ScrewConstraintIqcJc.cpp
@@ -6,7 +6,7 @@
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
  
-#include <corecrt_math_defines.h>
+#include "corecrt_math_defines.h"
 
 #include "ScrewConstraintIqcJc.h"
 #include "EndFrameqc.h"
diff --git a/MbDCode/ScrewConstraintIqcJqc.cpp b/MbDCode/ScrewConstraintIqcJqc.cpp
index 1ee6649..e02d7fe 100644
--- a/MbDCode/ScrewConstraintIqcJqc.cpp
+++ b/MbDCode/ScrewConstraintIqcJqc.cpp
@@ -6,7 +6,7 @@
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
  
-#include <corecrt_math_defines.h>
+#include "corecrt_math_defines.h"
 
 #include "ScrewConstraintIqcJqc.h"
 #include "EndFrameqc.h"
diff --git a/MbDCode/SymbolicParser.cpp b/MbDCode/SymbolicParser.cpp
index ed54b44..ca0c160 100644
--- a/MbDCode/SymbolicParser.cpp
+++ b/MbDCode/SymbolicParser.cpp
@@ -6,7 +6,7 @@
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
  
-#include <corecrt_math_defines.h>
+#include "corecrt_math_defines.h"
 #include <sstream>
 #include <iomanip>
 
diff --git a/MbDCode/corecrt_math_defines.h b/MbDCode/corecrt_math_defines.h
new file mode 100644
index 0000000..0d46d29
--- /dev/null
+++ b/MbDCode/corecrt_math_defines.h
@@ -0,0 +1,30 @@
+//
+// corecrt_math_defines.h
+//
+//      Copyright (c) Microsoft Corporation. All rights reserved.
+//
+// Definitions of useful mathematical constants
+//
+#pragma once
+
+#ifndef _MATH_DEFINES_DEFINED
+#define _MATH_DEFINES_DEFINED
+// Definitions of useful mathematical constants
+//
+// Define _USE_MATH_DEFINES before including <math.h> to expose these macro
+// definitions for common math constants.  These are placed under an #ifdef
+// since these commonly-defined names are not part of the C or C++ standards
+#define M_E        2.71828182845904523536   // e
+#define M_LOG2E    1.44269504088896340736   // log2(e)
+#define M_LOG10E   0.434294481903251827651  // log10(e)
+#define M_LN2      0.693147180559945309417  // ln(2)
+#define M_LN10     2.30258509299404568402   // ln(10)
+#define M_PI       3.14159265358979323846   // pi
+#define M_PI_2     1.57079632679489661923   // pi/2
+#define M_PI_4     0.785398163397448309616  // pi/4
+#define M_1_PI     0.318309886183790671538  // 1/pi
+#define M_2_PI     0.636619772367581343076  // 2/pi
+#define M_2_SQRTPI 1.12837916709551257390   // 2/sqrt(pi)
+#define M_SQRT2    1.41421356237309504880   // sqrt(2)
+#define M_SQRT1_2  0.707106781186547524401  // 1/sqrt(2)
+#endif
\ No newline at end of file

From fa2deac10f23afaeb0a9085295163a73d9b6fa7f Mon Sep 17 00:00:00 2001
From: John Dupuy <jdupuy98@gmail.com>
Date: Wed, 27 Sep 2023 15:13:22 -0500
Subject: [PATCH 2/4] changes to class detection

---
 MbDCode/ASMTAssembly.cpp        |  7 +++++--
 MbDCode/ASMTAssembly.h          |  2 +-
 MbDCode/CMakeLists.txt          |  1 +
 MbDCode/CREATE.h                |  8 ++++----
 MbDCode/GESpMatFullPv.cpp       |  6 ++++++
 MbDCode/MbDCode.cpp             | 18 +++++++++---------
 MbDCode/PosICNewtonRaphson.cpp  |  4 ++--
 MbDCode/SystemNewtonRaphson.cpp |  4 ++--
 MbDCode/VelSolver.cpp           |  4 ++--
 MbDCode/corecrt_math_defines.h  | 20 ++++++++++----------
 10 files changed, 42 insertions(+), 32 deletions(-)

diff --git a/MbDCode/ASMTAssembly.cpp b/MbDCode/ASMTAssembly.cpp
index af20a84..39418bc 100644
--- a/MbDCode/ASMTAssembly.cpp
+++ b/MbDCode/ASMTAssembly.cpp
@@ -30,9 +30,12 @@
 
 using namespace MbD;
 
-void MbD::ASMTAssembly::runFile(const char* chars)
+void MbD::ASMTAssembly::runFile(const char* fileName)
 {
-	std::ifstream stream(chars);
+	std::ifstream stream(fileName);
+    if(stream.fail()) {
+        throw std::invalid_argument("File not found.");
+    }
 	std::string line;
 	std::vector<std::string> lines;
 	while (std::getline(stream, line)) {
diff --git a/MbDCode/ASMTAssembly.h b/MbDCode/ASMTAssembly.h
index e7bba63..219d4ef 100644
--- a/MbDCode/ASMTAssembly.h
+++ b/MbDCode/ASMTAssembly.h
@@ -33,7 +33,7 @@ namespace MbD {
     {
         //
     public:
-        static void runFile(const char* chars);
+        static void runFile(const char* fileName);
         ASMTAssembly* root() override;
         void parseASMT(std::vector<std::string>& lines) override;
         void readNotes(std::vector<std::string>& lines);
diff --git a/MbDCode/CMakeLists.txt b/MbDCode/CMakeLists.txt
index 6387398..c6bb15f 100644
--- a/MbDCode/CMakeLists.txt
+++ b/MbDCode/CMakeLists.txt
@@ -268,6 +268,7 @@ add_executable(new_target
         VelSolver.cpp
         ZRotation.cpp
         ZTranslation.cpp
+        ASMTAssembly.cpp
 )
 
 
diff --git a/MbDCode/CREATE.h b/MbDCode/CREATE.h
index 8afb8a3..6d49f98 100644
--- a/MbDCode/CREATE.h
+++ b/MbDCode/CREATE.h
@@ -71,15 +71,15 @@ namespace MbD {
 		static std::shared_ptr<Constraint> ConstraintWith(std::shared_ptr<EndFramec> frmi, std::shared_ptr<EndFramec> frmj, int axis) {
 			std::shared_ptr<Constraint> inst;
 			std::string str = typeid(T(frmi, frmj, axis)).name();
-			if (str == "class MbD::AtPointConstraintIJ") {
+			if (str.find("AtPointConstraintIJ") >= 0) {
 				if (std::dynamic_pointer_cast<EndFrameqct>(frmi)) {
 					inst = std::make_shared<AtPointConstraintIqctJqc>(frmi, frmj, axis);
 				}
 				else {
 					inst = std::make_shared<AtPointConstraintIqcJqc>(frmi, frmj, axis);
 				}
-			}
-			else if(str == "class MbD::TranslationConstraintIJ") {
+			} // "class MbD::Tran
+			else if(str.find("TranslationConstraintIJ") >= 0) {
 				if (std::dynamic_pointer_cast<EndFrameqct>(frmi)) {
 					inst = std::make_shared<TranslationConstraintIqctJqc>(frmi, frmj, axis);
 				}
@@ -98,7 +98,7 @@ namespace MbD {
 		static std::shared_ptr<Constraint> ConstraintWith(std::shared_ptr<EndFramec> frmi, std::shared_ptr<EndFramec> frmj, int axisi, int axisj) {
 			std::shared_ptr<Constraint> inst;
 			std::string str = typeid(T(frmi, frmj, axisi, axisj)).name();
-			if (str == "class MbD::DirectionCosineConstraintIJ") {
+			if (str.find("DirectionCosineConstraintIJ") >= 0) {
 				if (std::dynamic_pointer_cast<EndFrameqct>(frmi)) {
 					inst = std::make_shared<DirectionCosineConstraintIqctJqc>(frmi, frmj, axisi, axisj);
 				}
diff --git a/MbDCode/GESpMatFullPv.cpp b/MbDCode/GESpMatFullPv.cpp
index dc81fda..ff30ba3 100644
--- a/MbDCode/GESpMatFullPv.cpp
+++ b/MbDCode/GESpMatFullPv.cpp
@@ -108,6 +108,12 @@ void GESpMatFullPv::backSubstituteIntoDU()
 	double sum, duij, duii;
 	//answerX = rightHandSideB->copyEmpty();
 	assert(m == n);
+
+    // TODO: temp
+//    assert(n > 0);
+//    auto localLen = colOrder->numberOfElements();
+//    assert(n < localLen);
+
 	answerX = std::make_shared<FullColumn<double>>(m);
 	auto jn = colOrder->at(n);
 	answerX->at(jn) = rightHandSideB->at(m) / matrixA->at(m)->at(jn);
diff --git a/MbDCode/MbDCode.cpp b/MbDCode/MbDCode.cpp
index 52212fe..3a3bd97 100644
--- a/MbDCode/MbDCode.cpp
+++ b/MbDCode/MbDCode.cpp
@@ -26,17 +26,17 @@ void runSpMat();
 
 int main()
 {
-	ASMTAssembly::runFile("piston.asmt");
-	ASMTAssembly::runFile("00backhoe.asmt");
-	ASMTAssembly::runFile("circular.asmt");
-	ASMTAssembly::runFile("cirpendu.asmt");	//Under constrained. Testing ICKine.
-	ASMTAssembly::runFile("engine1.asmt");
-	ASMTAssembly::runFile("fourbar.asmt");
-	ASMTAssembly::runFile("fourbot.asmt");
-	ASMTAssembly::runFile("wobpump.asmt");
+//	ASMTAssembly::runFile("piston.asmt");
+//	ASMTAssembly::runFile("00backhoe.asmt");
+//	ASMTAssembly::runFile("circular.asmt");
+//	ASMTAssembly::runFile("cirpendu.asmt");	//Under constrained. Testing ICKine.
+//	ASMTAssembly::runFile("engine1.asmt");
+//	ASMTAssembly::runFile("fourbar.asmt");
+//	ASMTAssembly::runFile("fourbot.asmt");
+//	ASMTAssembly::runFile("wobpump.asmt");
 
 	auto cadSystem = std::make_shared<CADSystem>();
-	cadSystem->runOndselPiston();
+	// cadSystem->runOndselPiston();
 	cadSystem->runPiston();
 	runSpMat();
 }
diff --git a/MbDCode/PosICNewtonRaphson.cpp b/MbDCode/PosICNewtonRaphson.cpp
index 1f84e4a..f8b86f6 100644
--- a/MbDCode/PosICNewtonRaphson.cpp
+++ b/MbDCode/PosICNewtonRaphson.cpp
@@ -103,13 +103,13 @@ void PosICNewtonRaphson::handleSingularMatrix()
 	}
 	else {
 		std::string str = typeid(*matrixSolver).name();
-		if (str == "class GESpMatParPvMarkoFast") {
+		if (str.find("GESpMatParPvMarkoFast") >= 0) {
 		matrixSolver = CREATE<GESpMatParPvPrecise>::With();
 		this->solveEquations();
 		}
 		else {
 			str = typeid(*matrixSolver).name();
-			if (str == "class GESpMatParPvPrecise") {
+			if (str.find("GESpMatParPvPrecise") >= 0) {
 				this->lookForRedundantConstraints();
 				matrixSolver = this->matrixSolverClassNew();
 			}
diff --git a/MbDCode/SystemNewtonRaphson.cpp b/MbDCode/SystemNewtonRaphson.cpp
index 47d813a..b05aa63 100644
--- a/MbDCode/SystemNewtonRaphson.cpp
+++ b/MbDCode/SystemNewtonRaphson.cpp
@@ -52,13 +52,13 @@ void SystemNewtonRaphson::basicSolveEquations()
 void SystemNewtonRaphson::handleSingularMatrix()
 {
 	std::string str = typeid(*matrixSolver).name();
-	if (str == "class GESpMatParPvMarkoFast") {
+	if (str.find("GESpMatParPvMarkoFast") >= 0) {
 		matrixSolver = CREATE<GESpMatParPvPrecise>::With();
 		this->solveEquations();
 	}
 	else {
 		str = typeid(*matrixSolver).name();
-		if (str == "class GESpMatParPvPrecise") {
+		if (str.find("GESpMatParPvPrecise") >= 0) {
 			str = "MbD: Singular Matrix Error. ";
 			system->logString(str);
 			matrixSolver = this->matrixSolverClassNew();
diff --git a/MbDCode/VelSolver.cpp b/MbDCode/VelSolver.cpp
index b4be203..d22fe6c 100644
--- a/MbDCode/VelSolver.cpp
+++ b/MbDCode/VelSolver.cpp
@@ -25,13 +25,13 @@ void VelSolver::basicSolveEquations()
 void VelSolver::handleSingularMatrix()
 {
 	std::string str = typeid(*matrixSolver).name();
-	if (str == "class GESpMatParPvMarkoFast") {
+	if (str.find("GESpMatParPvMarkoFast") >= 0) {
 		matrixSolver = CREATE<GESpMatParPvPrecise>::With();
 		this->solveEquations();
 	}
 	else {
 		str = typeid(*matrixSolver).name();
-		if (str == "class GESpMatParPvPrecise") {
+		if (str.find("GESpMatParPvPrecise") >= 0) {
 			this->logSingularMatrixMessage();
 			matrixSolver = this->matrixSolverClassNew();
 		}
diff --git a/MbDCode/corecrt_math_defines.h b/MbDCode/corecrt_math_defines.h
index 0d46d29..d8c0560 100644
--- a/MbDCode/corecrt_math_defines.h
+++ b/MbDCode/corecrt_math_defines.h
@@ -14,17 +14,17 @@
 // Define _USE_MATH_DEFINES before including <math.h> to expose these macro
 // definitions for common math constants.  These are placed under an #ifdef
 // since these commonly-defined names are not part of the C or C++ standards
-#define M_E        2.71828182845904523536   // e
-#define M_LOG2E    1.44269504088896340736   // log2(e)
-#define M_LOG10E   0.434294481903251827651  // log10(e)
-#define M_LN2      0.693147180559945309417  // ln(2)
-#define M_LN10     2.30258509299404568402   // ln(10)
+// #define M_E        2.71828182845904523536   // e
+// #define M_LOG2E    1.44269504088896340736   // log2(e)
+// #define M_LOG10E   0.434294481903251827651  // log10(e)
+// #define M_LN2      0.693147180559945309417  // ln(2)
+// #define M_LN10     2.30258509299404568402   // ln(10)
 #define M_PI       3.14159265358979323846   // pi
-#define M_PI_2     1.57079632679489661923   // pi/2
-#define M_PI_4     0.785398163397448309616  // pi/4
-#define M_1_PI     0.318309886183790671538  // 1/pi
-#define M_2_PI     0.636619772367581343076  // 2/pi
+// #define M_PI_2     1.57079632679489661923   // pi/2
+// #define M_PI_4     0.785398163397448309616  // pi/4
+// #define M_1_PI     0.318309886183790671538  // 1/pi
+// #define M_2_PI     0.636619772367581343076  // 2/pi
 #define M_2_SQRTPI 1.12837916709551257390   // 2/sqrt(pi)
 #define M_SQRT2    1.41421356237309504880   // sqrt(2)
-#define M_SQRT1_2  0.707106781186547524401  // 1/sqrt(2)
+// #define M_SQRT1_2  0.707106781186547524401  // 1/sqrt(2)
 #endif
\ No newline at end of file

From 1f32157513982903aa9ef33cd6af0079eeb32de1 Mon Sep 17 00:00:00 2001
From: John Dupuy <jdupuy98@gmail.com>
Date: Wed, 27 Sep 2023 16:06:39 -0500
Subject: [PATCH 3/4] merged with latest main

---
 MbDCode/ASMTSpatialContainer.cpp |   1 -
 MbDCode/Array.h                  |   4 +-
 MbDCode/CADSystem.cpp            | 175 +++++++++++++++++++++++++++++++
 MbDCode/CADSystem.h              |   1 +
 MbDCode/FullColumn.h             |   2 +-
 MbDCode/FullVector.h             |   2 +-
 MbDCode/GeneralSpline.cpp        |  36 +++----
 MbDCode/MarkerFrame.cpp          |   4 +-
 MbDCode/MarkerFrame.h            |   2 +-
 MbDCode/MbDCode.cpp              |  27 ++---
 MbDCode/MbDCode.vcxproj          |   6 ++
 MbDCode/Part.cpp                 |   4 +
 MbDCode/Part.h                   |   1 +
 MbDCode/PartFrame.cpp            |   5 +
 MbDCode/PartFrame.h              |   1 +
 15 files changed, 232 insertions(+), 39 deletions(-)

diff --git a/MbDCode/ASMTSpatialContainer.cpp b/MbDCode/ASMTSpatialContainer.cpp
index 0d3a382..4d8aac2 100644
--- a/MbDCode/ASMTSpatialContainer.cpp
+++ b/MbDCode/ASMTSpatialContainer.cpp
@@ -336,7 +336,6 @@ void MbD::ASMTSpatialContainer::compareResults(AnalysisType type)
 	auto i = xs->size() - 1;
 	//Pos
 	if (!Numeric::equaltol(xs->at(i), inxs->at(i), lengthTol)) {
-		std::cout << i << " xs " << xs->at(i) << ", " << i<< lengthTol << std::endl;
 		std::cout << i << " xs " << xs->at(i) << ", " << inxs->at(i) << ", " << lengthTol << std::endl;
 	}
 	if (!Numeric::equaltol(ys->at(i), inys->at(i), lengthTol)) {
diff --git a/MbDCode/Array.h b/MbDCode/Array.h
index db8e407..808e366 100644
--- a/MbDCode/Array.h
+++ b/MbDCode/Array.h
@@ -29,7 +29,7 @@ namespace MbD {
 		Array(std::vector<T> vec) : std::vector<T>(vec) {}
 		Array(int count) : std::vector<T>(count) {}
 		Array(int count, const T& value) : std::vector<T>(count, value) {}
-		Array(typename std::vector<T>::const_iterator begin, typename std::vector<T>::const_iterator end) : std::vector<T>(begin, end) {}
+		Array(typename std::vector<T>::iterator begin, typename std::vector<T>::iterator end) : std::vector<T>(begin, end) {}
 		Array(std::initializer_list<T> list) : std::vector<T>{ list } {}
 		virtual void initialize();
 		void copyFrom(std::shared_ptr<Array<T>> x);
@@ -180,4 +180,4 @@ namespace MbD {
 	{
 		this->at(i) *= factor;
 	}
-}
\ No newline at end of file
+}
diff --git a/MbDCode/CADSystem.cpp b/MbDCode/CADSystem.cpp
index 79b1190..c7c6d11 100644
--- a/MbDCode/CADSystem.cpp
+++ b/MbDCode/CADSystem.cpp
@@ -24,6 +24,7 @@
 #include "PartFrame.h"
 #include "Time.h"
 #include "StateData.h"
+#include "EulerParameters.h"
 
 using namespace MbD;
 
@@ -48,6 +49,180 @@ void CADSystem::logString(double value)
 {
 }
 
+void CADSystem::runOndselDoublePendulum()
+{
+	//Double pendulum with easy input numbers for exact port from Smalltalk
+	//GEOAssembly calcCharacteristicDimensions must set mbdUnits to unity.
+	std::cout << "runOndselDoublePendulum" << std::endl;
+	auto& TheSystem = mbdSystem;
+	TheSystem->clear();
+	std::string name = "TheSystem";
+	TheSystem->name = name;
+	std::cout << "TheSystem->name " << TheSystem->name << std::endl;
+	auto& systemSolver = TheSystem->systemSolver;
+	systemSolver->errorTolPosKine = 1.0e-6;
+	systemSolver->errorTolAccKine = 1.0e-6;
+	systemSolver->iterMaxPosKine = 25;
+	systemSolver->iterMaxAccKine = 25;
+	systemSolver->tstart = 0.0;
+	systemSolver->tend = 0.0;
+	systemSolver->hmin = 1.0e-9;
+	systemSolver->hmax = 1.0;
+	systemSolver->hout = 0.04;
+	systemSolver->corAbsTol = 1.0e-6;
+	systemSolver->corRelTol = 1.0e-6;
+	systemSolver->intAbsTol = 1.0e-6;
+	systemSolver->intRelTol = 1.0e-6;
+	systemSolver->iterMaxDyn = 4;
+	systemSolver->orderMax = 5;
+	systemSolver->translationLimit = 1.0e10;
+	systemSolver->rotationLimit = 0.5;
+
+	std::string str;
+	FColDsptr qX, qE, qXdot, omeOpO, qXddot, alpOpO;
+	FColDsptr rpmp;
+	FMatDsptr aAap, aApm;
+	FRowDsptr fullRow;
+	//
+	auto assembly1 = CREATE<Part>::With("/Assembly1");
+	std::cout << "assembly1->name " << assembly1->name << std::endl;
+	assembly1->m = 0.0;
+	assembly1->aJ = std::make_shared<DiagonalMatrix<double>>(ListD{ 0, 0, 0 });
+	qX = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
+	aAap = std::make_shared<FullMatrix<double>>(ListListD{
+		{ 1, 0, 0 },
+		{ 0, 1, 0 },
+		{ 0, 0, 1 }
+		});
+	assembly1->setqX(qX);
+	assembly1->setaAap(aAap);
+	qXdot = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
+	omeOpO = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
+	assembly1->setqXdot(qXdot);
+	assembly1->setomeOpO(omeOpO);
+	TheSystem->addPart(assembly1);
+	{
+		auto& partFrame = assembly1->partFrame;
+		auto marker2 = CREATE<MarkerFrame>::With("/Assembly1/Marker2");
+		rpmp = std::make_shared<FullColumn<double>>(ListD{ 0.0, 0.0, 0.0 });
+		marker2->setrpmp(rpmp);
+		aApm = std::make_shared<FullMatrix<double>>(ListListD{
+			{ 1, 0, 0 },
+			{ 0, 1, 0 },
+			{ 0, 0, 1 }
+			});
+		marker2->setaApm(aApm);
+		partFrame->addMarkerFrame(marker2);
+		//
+		auto marker1 = CREATE<MarkerFrame>::With("/Assembly1/Marker1");
+		rpmp = std::make_shared<FullColumn<double>>(ListD{ 0.0, 3.0, 0.0 });
+		marker1->setrpmp(rpmp);
+		aApm = std::make_shared<FullMatrix<double>>(ListListD{
+			{ 1, 0, 0 },
+			{ 0, 0, 1 },
+			{ 0, -1, 0 }
+			});
+		marker1->setaApm(aApm);
+		partFrame->addMarkerFrame(marker1);
+	}
+	assembly1->asFixed();
+	//
+	auto crankPart1 = CREATE<Part>::With("/Assembly1/Part1");
+	std::cout << "crankPart1->name " << crankPart1->name << std::endl;
+	crankPart1->m = 1.0;
+	crankPart1->aJ = std::make_shared<DiagonalMatrix<double>>(ListD{ 1, 1, 1 });
+	qX = std::make_shared<FullColumn<double>>(ListD{ 0.4, 0.0, -0.05 });
+	aAap = std::make_shared<FullMatrix<double>>(ListListD{
+		{ 1, 0, 0 },
+		{ 0, 1, 0 },
+		{ 0, 0, 1 }
+		});
+	crankPart1->setqX(qX);
+	crankPart1->setaAap(aAap);
+	qXdot = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
+	omeOpO = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
+	crankPart1->setqXdot(qXdot);
+	crankPart1->setomeOpO(omeOpO);
+	TheSystem->addPart(crankPart1);
+	{
+		auto& partFrame = crankPart1->partFrame;
+		auto marker1 = CREATE<MarkerFrame>::With("/Assembly1/Part1/Marker1");
+		rpmp = std::make_shared<FullColumn<double>>(ListD{ -0.4, 0.0, 0.05 });
+		marker1->setrpmp(rpmp);
+		aApm = std::make_shared<FullMatrix<double>>(ListListD{
+			{ 1, 0, 0 },
+			{ 0, 1, 0 },
+			{ 0, 0, 1 }
+			});
+		marker1->setaApm(aApm);
+		partFrame->addMarkerFrame(marker1);
+		//
+		auto marker2 = CREATE<MarkerFrame>::With("/Assembly1/Part1/Marker2");
+		rpmp = std::make_shared<FullColumn<double>>(ListD{ 0.4, 0.0, 0.05 });
+		marker2->setrpmp(rpmp);
+		aApm = std::make_shared<FullMatrix<double>>(ListListD{
+			{ 1, 0, 0 },
+			{ 0, 1, 0 },
+			{ 0, 0, 1 }
+			});
+		marker2->setaApm(aApm);
+		partFrame->addMarkerFrame(marker2);
+	}
+	//
+	auto conrodPart2 = CREATE<Part>::With("/Assembly1/Part2");
+	std::cout << "conrodPart2->name " << conrodPart2->name << std::endl;
+	conrodPart2->m = 1.0;
+	conrodPart2->aJ = std::make_shared<DiagonalMatrix<double>>(ListD{ 1, 1, 1 });
+	qX = std::make_shared<FullColumn<double>>(ListD{ 0.15, 0.1, 0.05 });
+	qE = std::make_shared<FullColumn<double>>(ListD{ 0.0, 0.0, 1.0, 0.0 });
+	auto eulerParameters = CREATE<EulerParameters<double>>::With(ListD{ 0.0, 0.0, 1.0, 0.0 });
+	eulerParameters->calcABC();
+	aAap = eulerParameters->aA;
+	conrodPart2->setqX(qX);
+	conrodPart2->setaAap(aAap);
+	qXdot = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
+	omeOpO = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
+	conrodPart2->setqXdot(qXdot);
+	conrodPart2->setomeOpO(omeOpO);
+	TheSystem->addPart(conrodPart2);
+	{
+		auto& partFrame = conrodPart2->partFrame;
+		auto marker1 = CREATE<MarkerFrame>::With("/Assembly1/Part2/Marker1");
+		rpmp = std::make_shared<FullColumn<double>>(ListD{ -0.65, 0.0, -0.05 });
+		marker1->setrpmp(rpmp);
+		aApm = std::make_shared<FullMatrix<double>>(ListListD{
+			{1.0, 0.0, 0.0},
+			{0.0, 1.0, 0.0},
+			{0.0, 0.0, 1.0}
+			});
+		marker1->setaApm(aApm);
+		partFrame->addMarkerFrame(marker1);
+		//
+		auto marker2 = CREATE<MarkerFrame>::With("/Assembly1/Part2/Marker2");
+		rpmp = std::make_shared<FullColumn<double>>(ListD{ 0.65, 0.0, -0.05 });
+		marker2->setrpmp(rpmp);
+		aApm = std::make_shared<FullMatrix<double>>(ListListD{
+			{1.0, 0.0, 0.0},
+			{0.0, 1.0, 0.0},
+			{0.0, 0.0, 1.0}
+			});
+		marker2->setaApm(aApm);
+		partFrame->addMarkerFrame(marker2);
+	}
+	//
+	auto revJoint1 = CREATE<RevoluteJoint>::With("/Assembly1/Joint1");
+	std::cout << "revJoint1->name " << revJoint1->name << std::endl;
+	revJoint1->connectsItoJ(assembly1->partFrame->endFrame("/Assembly1/Marker2"), crankPart1->partFrame->endFrame("/Assembly1/Part1/Marker1"));
+	TheSystem->addJoint(revJoint1);
+
+	auto revJoint2 = CREATE<RevoluteJoint>::With("/Assembly1/Joint2");
+	std::cout << "revJoint2->name " << revJoint2->name << std::endl;
+	revJoint2->connectsItoJ(crankPart1->partFrame->endFrame("/Assembly1/Part1/Marker2"), conrodPart2->partFrame->endFrame("/Assembly1/Part2/Marker1"));
+	TheSystem->addJoint(revJoint2);
+	//
+	TheSystem->runKINEMATIC(TheSystem);
+}
+
 void CADSystem::runOndselPiston()
 {
 	//Piston with easy input numbers for exact port from Smalltalk
diff --git a/MbDCode/CADSystem.h b/MbDCode/CADSystem.h
index 9cc0d7c..f2271d6 100644
--- a/MbDCode/CADSystem.h
+++ b/MbDCode/CADSystem.h
@@ -27,6 +27,7 @@ namespace MbD {
 		void outputFor(AnalysisType type);
 		void logString(std::string& str);
 		void logString(double value);
+		void runOndselDoublePendulum();
 		void runOndselPiston();
 		void runPiston();
 		void preMbDrun(std::shared_ptr<System> mbdSys);
diff --git a/MbDCode/FullColumn.h b/MbDCode/FullColumn.h
index 34b0318..b72b006 100644
--- a/MbDCode/FullColumn.h
+++ b/MbDCode/FullColumn.h
@@ -33,7 +33,7 @@ namespace MbD {
 		FullColumn(std::vector<T> vec) : FullVector<T>(vec) {}
 		FullColumn(int count) : FullVector<T>(count) {}
 		FullColumn(int count, const T& value) : FullVector<T>(count, value) {}
-		FullColumn(typename std::vector<T>::const_iterator begin, typename std::vector<T>::const_iterator end) : FullVector<T>(begin, end) {}
+		FullColumn(typename std::vector<T>::iterator begin, typename std::vector<T>::iterator end) : FullVector<T>(begin, end) {}
 		FullColumn(std::initializer_list<T> list) : FullVector<T>{ list } {}
 		FColsptr<T> plusFullColumn(FColsptr<T> fullCol);
 		FColsptr<T> minusFullColumn(FColsptr<T> fullCol);
diff --git a/MbDCode/FullVector.h b/MbDCode/FullVector.h
index 1285c7a..8959c2b 100644
--- a/MbDCode/FullVector.h
+++ b/MbDCode/FullVector.h
@@ -22,7 +22,7 @@ namespace MbD {
 		FullVector(std::vector<T> vec) : Array<T>(vec) {}
 		FullVector(int count) : Array<T>(count) {}
 		FullVector(int count, const T& value) : Array<T>(count, value) {}
-		FullVector(typename std::vector<T>::const_iterator begin, typename std::vector<T>::const_iterator end) : Array<T>(begin, end) {}
+		FullVector(typename std::vector<T>::iterator begin, typename std::vector<T>::iterator end) : Array<T>(begin, end) {}
 		FullVector(std::initializer_list<T> list) : Array<T>{ list } {}
 		double dot(std::shared_ptr<FullVector<T>> vec);
 		void atiplusNumber(int i, T value);
diff --git a/MbDCode/GeneralSpline.cpp b/MbDCode/GeneralSpline.cpp
index ba7721b..4f6c054 100644
--- a/MbDCode/GeneralSpline.cpp
+++ b/MbDCode/GeneralSpline.cpp
@@ -5,7 +5,7 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+
 #include <functional>
 
 #include "GeneralSpline.h"
@@ -27,7 +27,7 @@ double MbD::GeneralSpline::getValue()
 Symsptr MbD::GeneralSpline::differentiateWRTx()
 {
 	auto self = clonesptr();
-	auto arg = std::static_pointer_cast<GeneralSpline>(self)->xx;
+	auto& arg = std::static_pointer_cast<GeneralSpline>(self)->xx;
 	auto deriv = std::make_shared<DifferentiatedGeneralSpline>(arg, self, 1);
 	return deriv;
 }
@@ -35,14 +35,14 @@ Symsptr MbD::GeneralSpline::differentiateWRTx()
 void MbD::GeneralSpline::arguments(Symsptr args)
 {
 	auto array = args->getTerms();
-	auto arg = array->at(0);
+	auto& arg = array->at(0);
 	int order = (int)array->at(1)->getValue();
-	int n = (array->size() - 2) / 2;
+	int n = ((int)array->size() - 2) / 2;
 	auto xarray = std::make_shared<std::vector<double>>(n);
 	auto yarray = std::make_shared<std::vector<double>>(n);
 	for (int i = 0; i < n; i++)
 	{
-		size_t ii = 2 * (i + 1);
+		size_t ii = 2 * ((size_t)i + 1);
 		xarray->at(i) = array->at(ii)->getValue();
 		yarray->at(i) = array->at(ii + 1)->getValue();
 	}
@@ -63,7 +63,7 @@ void MbD::GeneralSpline::computeDerivatives()
 {
 	//"See derivation in MbDTheory 9spline.fodt."
 	if (degree == 0) throw std::runtime_error("ToDo: Use ZeroDegreeSpline");
-	auto n = xs->size();
+	auto n = (int)xs->size();
 	auto p = degree;
 	auto np = n * p;
 	auto matrix = std::make_shared<SparseMatrix<double>>(np, np);
@@ -72,7 +72,7 @@ void MbD::GeneralSpline::computeDerivatives()
 	auto hmax = 0.0;
 	for (int i = 0; i < n - 1; i++)
 	{
-		auto h = xs->at(i + 1) - xs->at(i);
+		auto h = xs->at((size_t)i + 1) - xs->at(i);
 		hmax = std::max(hmax, std::abs(h));
 		hs->atiput(i, h);
 	}
@@ -94,7 +94,7 @@ void MbD::GeneralSpline::computeDerivatives()
 				matrix->atijput(offset + k - j, offset + k, dum);
 			}
 		}
-		bvector->atiput(offset, ys->at(i + 1) - ys->at(i));
+		bvector->atiput(offset, ys->at((size_t)i + 1) - ys->at(i));
 	}
 	if (isCyclic()) {
 		for (int j = 1; j < p + 1; j++)
@@ -127,7 +127,7 @@ void MbD::GeneralSpline::computeDerivatives()
 	}
 	for (int i = 0; i < n; i++)
 	{
-		auto derivsi = derivs->at(i);
+		auto& derivsi = derivs->at(i);
 		derivsi->equalArrayAt(derivsVector, (i - 1) * p + 1);
 		for (int j = 0; j < p; j++)
 		{
@@ -147,13 +147,13 @@ double MbD::GeneralSpline::derivativeAt(int n, double xxx)
 	//"d2ydx2(x) := d2ydx2i + d3ydx3i*hi + d4ydx4i*hi^2/2! +"
 	if (n > degree) return 0.0;
 	calcIndexAndDeltaFor(xxx);
-	auto derivsi = derivs->at(index);
+	auto& derivsi = derivs->at(index);
 	auto sum = 0.0;
 	for (int j = degree; j >= n + 1; j--)
 	{
-		sum = (sum + derivsi->at(j - 1)) * delta / (j - n);
+		sum = (sum + derivsi->at((size_t)j - 1)) * delta / (j - n);
 	}
-	return derivsi->at(n - 1) + sum;
+	return derivsi->at((size_t)n - 1) + sum;
 }
 
 void MbD::GeneralSpline::calcIndexAndDeltaFor(double xxx)
@@ -185,7 +185,7 @@ void MbD::GeneralSpline::calcNonCyclicIndexAndDelta()
 	}
 	else {
 		if (xvalue >= xLast) {
-			index = xs->size() - 1;
+			index = (int)xs->size() - 1;
 			delta = xvalue - xLast;
 		}
 		else {
@@ -196,8 +196,8 @@ void MbD::GeneralSpline::calcNonCyclicIndexAndDelta()
 
 void MbD::GeneralSpline::calcIndexAndDelta()
 {
-	if (!(index < xs->size() - 1) || !(xs->at(index) <= xvalue) || !(xvalue < xs->at(index + 1))) {
-		searchIndexFromto(0, xs->size());	//Using range.
+	if (!(index < xs->size() - 1) || !(xs->at(index) <= xvalue) || !(xvalue < xs->at((size_t)index + 1))) {
+		searchIndexFromto(0, (int)xs->size());	//Using range.
 	}
 	delta = xvalue - xs->at(index);
 }
@@ -209,7 +209,7 @@ void MbD::GeneralSpline::searchIndexFromto(int first, int last)
 		index = first;
 	}
 	else {
-		auto middle = std::floor((first + last) / 2);
+		auto middle = (int)std::floor((first + last) / 2);
 		if (xvalue < xs->at(middle)) {
 			searchIndexFromto(first, middle);
 		}
@@ -229,11 +229,11 @@ double MbD::GeneralSpline::y(double xxx)
 	//"y(x) := yi + dydxi*hi + d2ydx2i*hi^2/2! + d3ydx3i*hi^3/3! +"
 
 	calcIndexAndDeltaFor(xxx);
-	auto derivsi = derivs->at(index);
+	auto& derivsi = derivs->at(index);
 	auto sum = 0.0;
 	for (int j = degree; j >= 1; j--)
 	{
-		sum = (sum + derivsi->at(j - 1)) * delta / j;
+		sum = (sum + derivsi->at((size_t)j - 1)) * delta / j;
 	}
 	return ys->at(index) + sum;
 }
diff --git a/MbDCode/MarkerFrame.cpp b/MbDCode/MarkerFrame.cpp
index 08eb95e..db8fd07 100644
--- a/MbDCode/MarkerFrame.cpp
+++ b/MbDCode/MarkerFrame.cpp
@@ -243,9 +243,9 @@ void MarkerFrame::setrpmp(FColDsptr x)
 	rpmp->copyFrom(x);
 }
 
-void MarkerFrame::setaApm(FMatDsptr x)
+void MarkerFrame::setaApm(FMatDsptr mat)
 {
-	aApm->copyFrom(x);
+	aApm->copyFrom(mat);
 }
 void MarkerFrame::addEndFrame(EndFrmsptr endFrm)
 {
diff --git a/MbDCode/MarkerFrame.h b/MbDCode/MarkerFrame.h
index 8b441fc..9942961 100644
--- a/MbDCode/MarkerFrame.h
+++ b/MbDCode/MarkerFrame.h
@@ -34,7 +34,7 @@ namespace MbD {
 		void setPartFrame(PartFrame* partFrm);
 		PartFrame* getPartFrame();
 		void setrpmp(FColDsptr x);
-		void setaApm(FMatDsptr x);
+		void setaApm(FMatDsptr mat);
 		void addEndFrame(EndFrmsptr x);
 		void initializeLocally() override;
 		void initializeGlobally() override;
diff --git a/MbDCode/MbDCode.cpp b/MbDCode/MbDCode.cpp
index 3a3bd97..1564d30 100644
--- a/MbDCode/MbDCode.cpp
+++ b/MbDCode/MbDCode.cpp
@@ -26,19 +26,20 @@ void runSpMat();
 
 int main()
 {
-//	ASMTAssembly::runFile("piston.asmt");
-//	ASMTAssembly::runFile("00backhoe.asmt");
-//	ASMTAssembly::runFile("circular.asmt");
-//	ASMTAssembly::runFile("cirpendu.asmt");	//Under constrained. Testing ICKine.
-//	ASMTAssembly::runFile("engine1.asmt");
-//	ASMTAssembly::runFile("fourbar.asmt");
-//	ASMTAssembly::runFile("fourbot.asmt");
-//	ASMTAssembly::runFile("wobpump.asmt");
+	ASMTAssembly::runFile("piston.asmt");
+	//ASMTAssembly::runFile("00backhoe.asmt");
+	//ASMTAssembly::runFile("circular.asmt");
+	//ASMTAssembly::runFile("cirpendu.asmt");	//Under constrained. Testing ICKine.
+	//ASMTAssembly::runFile("engine1.asmt");
+	//ASMTAssembly::runFile("fourbar.asmt");
+	//ASMTAssembly::runFile("fourbot.asmt");
+	//ASMTAssembly::runFile("wobpump.asmt");
 
-	auto cadSystem = std::make_shared<CADSystem>();
-	// cadSystem->runOndselPiston();
-	cadSystem->runPiston();
-	runSpMat();
+//	auto cadSystem = std::make_shared<CADSystem>();
+//	cadSystem->runOndselDoublePendulum();
+	////cadSystem->runOndselPiston();
+	//cadSystem->runPiston();
+	//runSpMat();
 }
 
 void runSpMat() {
@@ -57,4 +58,4 @@ void runSpMat() {
 	auto matSolver = CREATE<GESpMatParPvPrecise>::With();
 	auto answer = matSolver->solvewithsaveOriginal(spMat, fullCol, true);
 	auto aAx = spMat->timesFullColumn(answer);
-}
\ No newline at end of file
+}
diff --git a/MbDCode/MbDCode.vcxproj b/MbDCode/MbDCode.vcxproj
index aaace72..30fa987 100644
--- a/MbDCode/MbDCode.vcxproj
+++ b/MbDCode/MbDCode.vcxproj
@@ -76,6 +76,7 @@
       <SDLCheck>true</SDLCheck>
       <PreprocessorDefinitions>WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <ConformanceMode>true</ConformanceMode>
+      <MultiProcessorCompilation>true</MultiProcessorCompilation>
     </ClCompile>
     <Link>
       <SubSystem>Console</SubSystem>
@@ -90,6 +91,7 @@
       <SDLCheck>true</SDLCheck>
       <PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <ConformanceMode>true</ConformanceMode>
+      <MultiProcessorCompilation>true</MultiProcessorCompilation>
     </ClCompile>
     <Link>
       <SubSystem>Console</SubSystem>
@@ -104,6 +106,8 @@
       <SDLCheck>true</SDLCheck>
       <PreprocessorDefinitions>_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <ConformanceMode>true</ConformanceMode>
+      <LanguageStandard>stdcpp17</LanguageStandard>
+      <MultiProcessorCompilation>true</MultiProcessorCompilation>
     </ClCompile>
     <Link>
       <SubSystem>Console</SubSystem>
@@ -118,6 +122,8 @@
       <SDLCheck>true</SDLCheck>
       <PreprocessorDefinitions>NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <ConformanceMode>true</ConformanceMode>
+      <LanguageStandard>stdcpp17</LanguageStandard>
+      <MultiProcessorCompilation>true</MultiProcessorCompilation>
     </ClCompile>
     <Link>
       <SubSystem>Console</SubSystem>
diff --git a/MbDCode/Part.cpp b/MbDCode/Part.cpp
index 1c52f81..6186dbf 100644
--- a/MbDCode/Part.cpp
+++ b/MbDCode/Part.cpp
@@ -61,6 +61,10 @@ FColDsptr Part::getqX() {
 	return partFrame->getqX();
 }
 
+void Part::setaAap(FMatDsptr mat) {
+	partFrame->setaAap(mat);
+}
+
 void Part::setqE(FColDsptr x) {
 	partFrame->setqE(x);
 }
diff --git a/MbDCode/Part.h b/MbDCode/Part.h
index 65e2119..399f18f 100644
--- a/MbDCode/Part.h
+++ b/MbDCode/Part.h
@@ -32,6 +32,7 @@ namespace MbD {
 		void initializeGlobally() override;
 		void setqX(FColDsptr x);
 		FColDsptr getqX();
+		void setaAap(FMatDsptr mat);
 		void setqE(FColDsptr x);
 		FColDsptr getqE();
 		void setqXdot(FColDsptr x);
diff --git a/MbDCode/PartFrame.cpp b/MbDCode/PartFrame.cpp
index d432566..dafcf89 100644
--- a/MbDCode/PartFrame.cpp
+++ b/MbDCode/PartFrame.cpp
@@ -64,6 +64,11 @@ void PartFrame::setqE(FColDsptr x) {
 	qE->copyFrom(x);
 }
 
+void MbD::PartFrame::setaAap(FMatDsptr mat)
+{
+	qE = mat->asEulerParameters();
+}
+
 FColDsptr PartFrame::getqE() {
 	return qE;
 }
diff --git a/MbDCode/PartFrame.h b/MbDCode/PartFrame.h
index aa17c48..24bd58b 100644
--- a/MbDCode/PartFrame.h
+++ b/MbDCode/PartFrame.h
@@ -42,6 +42,7 @@ namespace MbD {
 		void setqX(FColDsptr x);
 		FColDsptr getqX();
 		void setqE(FColDsptr x);
+		void setaAap(FMatDsptr mat);
 		FColDsptr getqE();
 		void setqXdot(FColDsptr x);
 		FColDsptr getqXdot();

From 0a0a1ad547b7be29c15f69ee5c4261e2ae457430 Mon Sep 17 00:00:00 2001
From: John Dupuy <jdupuy98@gmail.com>
Date: Thu, 28 Sep 2023 13:30:50 -0500
Subject: [PATCH 4/4] fixes str.find bug and cmake files

---
 CMakeLists.txt                  | 12 +++++-------
 MbDCode/CMakeLists.txt          |  8 +-------
 MbDCode/CREATE.h                |  6 +++---
 MbDCode/MbDCode.cpp             | 10 +++++-----
 MbDCode/PosICNewtonRaphson.cpp  |  4 ++--
 MbDCode/SystemNewtonRaphson.cpp |  4 ++--
 MbDCode/VelSolver.cpp           |  4 ++--
 7 files changed, 20 insertions(+), 28 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index cec7723..74cf91f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,9 +1,7 @@
-cmake_minimum_required(VERSION 3.10)
-
-project(MbDCodeLib)
-
-add_executable(MbDCode MbDCode/MbDCode.cpp)
-add_subdirectory(MbDCode)
-
+cmake_minimum_required(VERSION 3.26)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED True)
+
+# add_library(some_target main.cpp)
+add_executable(ondsel-solver MbDCode/MbDCode.cpp)
+add_subdirectory(MbDCode)
diff --git a/MbDCode/CMakeLists.txt b/MbDCode/CMakeLists.txt
index c6bb15f..85c099a 100644
--- a/MbDCode/CMakeLists.txt
+++ b/MbDCode/CMakeLists.txt
@@ -1,8 +1,4 @@
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED True)
-
-add_executable(new_target
-        MbDCode.cpp 
+target_sources(ondsel-solver PUBLIC
         Abs.cpp
         AbsConstraint.cpp
         AccICKineNewtonRaphson.cpp
@@ -270,5 +266,3 @@ add_executable(new_target
         ZTranslation.cpp
         ASMTAssembly.cpp
 )
-
-
diff --git a/MbDCode/CREATE.h b/MbDCode/CREATE.h
index 6d49f98..67bdf9a 100644
--- a/MbDCode/CREATE.h
+++ b/MbDCode/CREATE.h
@@ -71,7 +71,7 @@ namespace MbD {
 		static std::shared_ptr<Constraint> ConstraintWith(std::shared_ptr<EndFramec> frmi, std::shared_ptr<EndFramec> frmj, int axis) {
 			std::shared_ptr<Constraint> inst;
 			std::string str = typeid(T(frmi, frmj, axis)).name();
-			if (str.find("AtPointConstraintIJ") >= 0) {
+			if (str.find("AtPointConstraintIJ") != std::string::npos) {
 				if (std::dynamic_pointer_cast<EndFrameqct>(frmi)) {
 					inst = std::make_shared<AtPointConstraintIqctJqc>(frmi, frmj, axis);
 				}
@@ -79,7 +79,7 @@ namespace MbD {
 					inst = std::make_shared<AtPointConstraintIqcJqc>(frmi, frmj, axis);
 				}
 			} // "class MbD::Tran
-			else if(str.find("TranslationConstraintIJ") >= 0) {
+			else if(str.find("TranslationConstraintIJ") != std::string::npos) {
 				if (std::dynamic_pointer_cast<EndFrameqct>(frmi)) {
 					inst = std::make_shared<TranslationConstraintIqctJqc>(frmi, frmj, axis);
 				}
@@ -98,7 +98,7 @@ namespace MbD {
 		static std::shared_ptr<Constraint> ConstraintWith(std::shared_ptr<EndFramec> frmi, std::shared_ptr<EndFramec> frmj, int axisi, int axisj) {
 			std::shared_ptr<Constraint> inst;
 			std::string str = typeid(T(frmi, frmj, axisi, axisj)).name();
-			if (str.find("DirectionCosineConstraintIJ") >= 0) {
+			if (str.find("DirectionCosineConstraintIJ") != std::string::npos) {
 				if (std::dynamic_pointer_cast<EndFrameqct>(frmi)) {
 					inst = std::make_shared<DirectionCosineConstraintIqctJqc>(frmi, frmj, axisi, axisj);
 				}
diff --git a/MbDCode/MbDCode.cpp b/MbDCode/MbDCode.cpp
index 1564d30..27d0df2 100644
--- a/MbDCode/MbDCode.cpp
+++ b/MbDCode/MbDCode.cpp
@@ -35,11 +35,11 @@ int main()
 	//ASMTAssembly::runFile("fourbot.asmt");
 	//ASMTAssembly::runFile("wobpump.asmt");
 
-//	auto cadSystem = std::make_shared<CADSystem>();
-//	cadSystem->runOndselDoublePendulum();
-	////cadSystem->runOndselPiston();
-	//cadSystem->runPiston();
-	//runSpMat();
+	auto cadSystem = std::make_shared<CADSystem>();
+	cadSystem->runOndselDoublePendulum();
+	cadSystem->runOndselPiston();
+	cadSystem->runPiston();
+	runSpMat();
 }
 
 void runSpMat() {
diff --git a/MbDCode/PosICNewtonRaphson.cpp b/MbDCode/PosICNewtonRaphson.cpp
index f8b86f6..b894656 100644
--- a/MbDCode/PosICNewtonRaphson.cpp
+++ b/MbDCode/PosICNewtonRaphson.cpp
@@ -103,13 +103,13 @@ void PosICNewtonRaphson::handleSingularMatrix()
 	}
 	else {
 		std::string str = typeid(*matrixSolver).name();
-		if (str.find("GESpMatParPvMarkoFast") >= 0) {
+		if (str.find("GESpMatParPvMarkoFast") != std::string::npos) {
 		matrixSolver = CREATE<GESpMatParPvPrecise>::With();
 		this->solveEquations();
 		}
 		else {
 			str = typeid(*matrixSolver).name();
-			if (str.find("GESpMatParPvPrecise") >= 0) {
+			if (str.find("GESpMatParPvPrecise") != std::string::npos) {
 				this->lookForRedundantConstraints();
 				matrixSolver = this->matrixSolverClassNew();
 			}
diff --git a/MbDCode/SystemNewtonRaphson.cpp b/MbDCode/SystemNewtonRaphson.cpp
index b05aa63..d569297 100644
--- a/MbDCode/SystemNewtonRaphson.cpp
+++ b/MbDCode/SystemNewtonRaphson.cpp
@@ -52,13 +52,13 @@ void SystemNewtonRaphson::basicSolveEquations()
 void SystemNewtonRaphson::handleSingularMatrix()
 {
 	std::string str = typeid(*matrixSolver).name();
-	if (str.find("GESpMatParPvMarkoFast") >= 0) {
+	if (str.find("GESpMatParPvMarkoFast") != std::string::npos) {
 		matrixSolver = CREATE<GESpMatParPvPrecise>::With();
 		this->solveEquations();
 	}
 	else {
 		str = typeid(*matrixSolver).name();
-		if (str.find("GESpMatParPvPrecise") >= 0) {
+		if (str.find("GESpMatParPvPrecise") != std::string::npos) {
 			str = "MbD: Singular Matrix Error. ";
 			system->logString(str);
 			matrixSolver = this->matrixSolverClassNew();
diff --git a/MbDCode/VelSolver.cpp b/MbDCode/VelSolver.cpp
index d22fe6c..e85d4db 100644
--- a/MbDCode/VelSolver.cpp
+++ b/MbDCode/VelSolver.cpp
@@ -25,13 +25,13 @@ void VelSolver::basicSolveEquations()
 void VelSolver::handleSingularMatrix()
 {
 	std::string str = typeid(*matrixSolver).name();
-	if (str.find("GESpMatParPvMarkoFast") >= 0) {
+	if (str.find("GESpMatParPvMarkoFast") != std::string::npos) {
 		matrixSolver = CREATE<GESpMatParPvPrecise>::With();
 		this->solveEquations();
 	}
 	else {
 		str = typeid(*matrixSolver).name();
-		if (str.find("GESpMatParPvPrecise") >= 0) {
+		if (str.find("GESpMatParPvPrecise") != std::string::npos) {
 			this->logSingularMatrixMessage();
 			matrixSolver = this->matrixSolverClassNew();
 		}