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(broken) gettin' some sleep

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This commit is contained in:
John Dupuy
2023-11-04 00:04:07 -05:00
parent 67bef75bab
commit 8408c2245e
29 changed files with 1117 additions and 946 deletions
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78
OndselSolver/EulerAngles.cpp
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@@ -7,3 +7,81 @@
***************************************************************************/
#include "EulerAngles.h"
namespace MbD {
template<typename T>
inline void EulerAngles<T>::initialize()
{
assert(false);
}
template<>
inline void EulerAngles<Symsptr>::calc()
{
cA = std::make_shared<FullColumn<FMatDsptr>>(3);
for (int i = 0; i < 3; i++)
{
auto axis = rotOrder->at(i);
auto angle = this->at(i)->getValue();
if (axis == 1) {
cA->atiput(i, FullMatrixDouble::rotatex(angle));
}
else if (axis == 2) {
cA->atiput(i, FullMatrixDouble::rotatey(angle));
}
else if (axis == 3) {
cA->atiput(i, FullMatrixDouble::rotatez(angle));
}
else {
throw std::runtime_error("Euler angle rotation order must be any permutation of 1,2,3 without consecutive repeats.");
}
}
aA = cA->at(0)->timesFullMatrix(cA->at(1)->timesFullMatrix(cA->at(2)));
}
template<>
inline void EulerAngles<double>::calc()
{
cA = std::make_shared<FullColumn<FMatDsptr>>(3);
for (int i = 0; i < 3; i++)
{
auto axis = rotOrder->at(i);
auto angle = this->at(i);
if (axis == 1) {
cA->atiput(i, FullMatrixDouble::rotatex(angle));
}
else if (axis == 2) {
cA->atiput(i, FullMatrixDouble::rotatey(angle));
}
else if (axis == 3) {
cA->atiput(i, FullMatrixDouble::rotatez(angle));
}
else {
throw std::runtime_error("Euler angle rotation order must be any permutation of 1,2,3 without consecutive repeats.");
}
}
aA = cA->at(0)->timesFullMatrix(cA->at(1)->timesFullMatrix(cA->at(2)));
}
template<typename T>
inline void EulerAngles<T>::calc()
{
assert(false);
}
template<typename T>
inline std::shared_ptr<EulerAnglesDot<T>> EulerAngles<T>::differentiateWRT(T var)
{
auto derivatives = std::make_shared<EulerAnglesDot<T>>();
std::transform(this->begin(), this->end(), derivatives->begin(),
[var](T term) { return term->differentiateWRT(var); }
);
derivatives->aEulerAngles = this;
return derivatives;
}
template<typename T>
inline void EulerAngles<T>::setRotOrder(int i, int j, int k)
{
rotOrder = std::make_shared<FullColumn<int>>(3);
rotOrder->at(0) = i;
rotOrder->at(1) = j;
rotOrder->at(2) = k;
}
}