works locally, but imagine it breaks elsewhere

CMakeLists.txt

@@ -1,20 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 
-project(OndselSolver VERSION 1.0.1 DESCRIPTION "Assembly Constraints and Multibody Dynamics code")
+project(OndselSolverLibrary VERSION 1.0.1 DESCRIPTION "Assembly Constraints and Multibody Dynamics code")
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED True)
 
-include(GNUInstallDirs)
-
-file(GLOB ONDSELSOLVER_SOURCES "OndselSolver/*.cpp")
-file(GLOB ONDSELSOLVER_HEADERS "OndselSolver/*.h")
-add_library(OndselSolver STATIC ${ONDSELSOLVER_SOURCES} ${ONDSELSOLVER_HEADERS})
-target_include_directories(OndselSolver PUBLIC ${CMAKE_SOURCE_DIR}/OndselSolver)
-
-configure_file(OndselSolver.pc.in ${CMAKE_BINARY_DIR}/OndselSolver.pc @ONLY)
-install(TARGETS OndselSolver
-        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
-        PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/OndselSolver)
-install(FILES ${CMAKE_BINARY_DIR}/OndselSolver.pc
-        DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/pkgconfig)
+add_subdirectory(OndselSolver)
+add_subdirectory(testapp)

OndselSolver/CMakeLists.txt

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.16)
+
+project(OndselSolverLibrary VERSION 1.0.1 DESCRIPTION "Assembly Constraints and Multibody Dynamics code")
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED True)
+
+include(GNUInstallDirs)
+
+file(GLOB ONDSELSOLVER_SOURCES "*.cpp")
+file(GLOB ONDSELSOLVER_HEADERS "*.h")
+add_library(OndselSolver STATIC ${ONDSELSOLVER_SOURCES} ${ONDSELSOLVER_HEADERS})
+target_include_directories(OndselSolver PUBLIC ${CMAKE_SOURCE_DIR})
+
+#target_include_directories(OndselSolver PUBLIC ${CMAKE_SOURCE_DIR}/OndselSolver)
+
+#configure_file(OndselSolver.pc.in ${CMAKE_BINARY_DIR}/OndselSolver.pc @ONLY)
+#install(TARGETS OndselSolver
+#        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+#        PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/OndselSolver)
+#install(FILES ${CMAKE_BINARY_DIR}/OndselSolver.pc
+#        DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/pkgconfig)

OndselSolver/EulerAngles.h

@@ -33,7 +33,9 @@ namespace MbD {
 		std::shared_ptr<FullColumn<int>> rotOrder;
 		FColFMatDsptr cA;
 		FMatDsptr aA;
-
 	};
+//    // NOTE: do NOT instantiate EulerAngles<double> as a whole as differentiateWRT breaks
+//    template <>
+//    void EulerAngles<double>::setRotOrder(int, int, int);
 }
 

OndselSolver/MBDynNode.cpp

@@ -20,28 +20,29 @@ void MbD::MBDynNode::outputLine(int i, std::ostream& os)
 	auto x = asmtPart->xs->at(i);
 	auto y = asmtPart->ys->at(i);
 	auto z = asmtPart->zs->at(i);
-	auto bryantAngles = std::make_shared<EulerAngles<double>>();
-	bryantAngles->setRotOrder(1, 2, 3);
-	bryantAngles->at(0) = asmtPart->bryxs->at(i);
-	bryantAngles->at(1) = asmtPart->bryys->at(i);
-	bryantAngles->at(2) = asmtPart->bryzs->at(i);
-	bryantAngles->calc();
-	auto aA = bryantAngles->aA;
-	auto vx = asmtPart->vxs->at(i);
-	auto vy = asmtPart->vys->at(i);
-	auto vz = asmtPart->vzs->at(i);
-	auto omex = asmtPart->omexs->at(i);
-	auto omey = asmtPart->omeys->at(i);
-	auto omez = asmtPart->omezs->at(i);
-	os << id << " ";
-	os << x << " " << y << " " << z << " ";
-	auto row = aA->at(0);
-	os << row->at(0) << " " << row->at(1) << " " << row->at(2) << " ";
-	row = aA->at(1);
-	os << row->at(0) << " " << row->at(1) << " " << row->at(2) << " ";
-	row = aA->at(2);
-	os << row->at(0) << " " << row->at(1) << " " << row->at(2) << " ";
-	os << vx << " " << vy << " " << vz << " ";
-	os << omex << " " << omey << " " << omez << " ";
+    // TODO: undo the breaking I just did on purpose
+//	auto bryantAngles = std::make_shared<EulerAngles<double>>();
+//	bryantAngles->setRotOrder(1, 2, 3);
+//	bryantAngles->at(0) = asmtPart->bryxs->at(i);
+//	bryantAngles->at(1) = asmtPart->bryys->at(i);
+//	bryantAngles->at(2) = asmtPart->bryzs->at(i);
+//	bryantAngles->calc();
+//	auto aA = bryantAngles->aA;
+//	auto vx = asmtPart->vxs->at(i);
+//	auto vy = asmtPart->vys->at(i);
+//	auto vz = asmtPart->vzs->at(i);
+//	auto omex = asmtPart->omexs->at(i);
+//	auto omey = asmtPart->omeys->at(i);
+//	auto omez = asmtPart->omezs->at(i);
+//	os << id << " ";
+//	os << x << " " << y << " " << z << " ";
+//	auto row = aA->at(0);
+//	os << row->at(0) << " " << row->at(1) << " " << row->at(2) << " ";
+//	row = aA->at(1);
+//	os << row->at(0) << " " << row->at(1) << " " << row->at(2) << " ";
+//	row = aA->at(2);
+//	os << row->at(0) << " " << row->at(1) << " " << row->at(2) << " ";
+//	os << vx << " " << vy << " " << vz << " ";
+//	os << omex << " " << omey << " " << omez << " ";
 	os << std::endl;
 }

testapp/CMakeLists.txt

@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.16)
+
+project(OndselSolverLibrary VERSION 1.0.1 DESCRIPTION "Assembly Constraints and Multibody Dynamics code")
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED True)
+
+add_executable(testapp OndselSolver.cpp)
+target_link_libraries(testapp OndselSolver)
+target_include_directories(testapp PUBLIC "../OndselSolver")

testapp/OndselSolver.cpp

@@ -13,33 +13,33 @@
   *********************************************************************/
 
 #include <filesystem>
-#include "CADSystem.h"
-#include "CREATE.h"
-#include "GESpMatParPvPrecise.h"
-#include "ASMTAssembly.h"
-#include "MBDynSystem.h"
-#include "MomentOfInertiaSolver.h"
+#include "../OndselSolver/CADSystem.h"
+#include "../OndselSolver/CREATE.h"
+#include "../OndselSolver/GESpMatParPvPrecise.h"
+#include "../OndselSolver/ASMTAssembly.h"
+#include "../OndselSolver/MBDynSystem.h"
+#include "../OndselSolver/MomentOfInertiaSolver.h"
 
 using namespace MbD;
 void runSpMat();
 
 int main()
 {
-	ASMTAssembly::readWriteFile("piston.asmt");
-	MBDynSystem::runFile("MBDynCase.mbd");		//To be completed
-	MBDynSystem::runFile("crank_slider.mbd");		//To be completed
-	//ASMTAssembly::runSinglePendulumSuperSimplified();	//Mass is missing
-	//ASMTAssembly::runSinglePendulumSuperSimplified2();	//DOF has infinite acceleration due to zero mass and inertias
-	ASMTAssembly::runSinglePendulumSimplified();
-	ASMTAssembly::runSinglePendulum();
-	ASMTAssembly::runFile("piston.asmt");
-	ASMTAssembly::runFile("00backhoe.asmt");
-	//ASMTAssembly::runFile("circular.asmt");	//Needs checking
-	//ASMTAssembly::runFile("cirpendu.asmt");	//Under constrained. Testing ICKine.
-	//ASMTAssembly::runFile("engine1.asmt");	//Needs checking
-	ASMTAssembly::runFile("fourbar.asmt");
-	//ASMTAssembly::runFile("fourbot.asmt");	//Very large but works
-	ASMTAssembly::runFile("wobpump.asmt");
+//	// ASMTAssembly::readWriteFile("piston.asmt");
+//	MBDynSystem::runFile("MBDynCase.mbd");		//To be completed
+//	MBDynSystem::runFile("crank_slider.mbd");		//To be completed
+//	//ASMTAssembly::runSinglePendulumSuperSimplified();	//Mass is missing
+//	//ASMTAssembly::runSinglePendulumSuperSimplified2();	//DOF has infinite acceleration due to zero mass and inertias
+//	ASMTAssembly::runSinglePendulumSimplified();
+//	ASMTAssembly::runSinglePendulum();
+//	ASMTAssembly::runFile("piston.asmt");
+//	ASMTAssembly::runFile("00backhoe.asmt");
+//	//ASMTAssembly::runFile("circular.asmt");	//Needs checking
+//	//ASMTAssembly::runFile("cirpendu.asmt");	//Under constrained. Testing ICKine.
+//	//ASMTAssembly::runFile("engine1.asmt");	//Needs checking
+//	ASMTAssembly::runFile("fourbar.asmt");
+//	//ASMTAssembly::runFile("fourbot.asmt");	//Very large but works
+//	ASMTAssembly::runFile("wobpump.asmt");
 
 	auto cadSystem = std::make_shared<CADSystem>();
 	cadSystem->runOndselSinglePendulum();