From 8ca8eb7122661448a5f03eae364d4d663090ab9e Mon Sep 17 00:00:00 2001
From: Aik-Siong Koh <askoh@askoh.com>
Date: Fri, 28 Apr 2023 16:29:43 -0600
Subject: [PATCH] Second commit

---
 MbDCode/Array.h                 | 10 +++-
 MbDCode/CartesianFrame.h        |  1 +
 MbDCode/EulerConstraint.h       |  6 +--
 MbDCode/FullColumn.cpp          | 15 ++++++
 MbDCode/FullColumn.h            |  3 ++
 MbDCode/MarkerFrame.cpp         | 31 ++++++++++++
 MbDCode/MarkerFrame.h           | 30 ++++++++++-
 MbDCode/MbDCode.cpp             | 90 ++++++++++++++++++++++++++++++---
 MbDCode/MbDCode.vcxproj         | 15 ++++++
 MbDCode/MbDCode.vcxproj.filters | 39 ++++++++++++++
 MbDCode/Part.cpp                | 29 +++++++++++
 MbDCode/Part.h                  | 20 ++++----
 MbDCode/PartFrame.cpp           | 39 +++++++++++---
 MbDCode/PartFrame.h             | 27 +++++-----
 MbDCode/System.cpp              | 12 +++++
 MbDCode/System.h                |  8 ++-
 MbDCode/Vector.cpp              |  4 ++
 MbDCode/Vector.h                |  1 +
 18 files changed, 329 insertions(+), 51 deletions(-)

diff --git a/MbDCode/Array.h b/MbDCode/Array.h
index eb1f4fd..b0277b8 100644
--- a/MbDCode/Array.h
+++ b/MbDCode/Array.h
@@ -9,6 +9,14 @@ 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);
+    };
+    template<typename T>
+    inline void Array<T>::copy(Array<T>* x)
+    {
+        for (int i = 0; i < x->size(); i++) {
+            this->at(i) = x->at(i);
+        }
+    }
 }
 
diff --git a/MbDCode/CartesianFrame.h b/MbDCode/CartesianFrame.h
index 98733d5..ef75b69 100644
--- a/MbDCode/CartesianFrame.h
+++ b/MbDCode/CartesianFrame.h
@@ -1,5 +1,6 @@
 #pragma once
 #include "Item.h"
+
 namespace MbD {
 	class CartesianFrame :
 		public Item
diff --git a/MbDCode/EulerConstraint.h b/MbDCode/EulerConstraint.h
index 5479e5b..04f65ab 100644
--- a/MbDCode/EulerConstraint.h
+++ b/MbDCode/EulerConstraint.h
@@ -6,17 +6,15 @@
 #include "FullRow.h"
 
 namespace MbD {
-	using FullRowDPtr = std::shared_ptr<FullRow<double>>;
 
 	class EulerConstraint : public Constraint
 	{
 	public:
 		EulerConstraint() : Constraint() {
-			pGpE = std::make_shared<FullRow<double>>(4);
 		}
 		//pGpE iqE 
-		FullRowDPtr pGpE;    //partial derivative of G wrt pE
-		int iqE;
+		FullRow<double> pGpE = FullRow<double>(4);    //partial derivative of G wrt pE
+		int iqE = -1;
 	};
 }
 
diff --git a/MbDCode/FullColumn.cpp b/MbDCode/FullColumn.cpp
index 36d7990..3a73cf2 100644
--- a/MbDCode/FullColumn.cpp
+++ b/MbDCode/FullColumn.cpp
@@ -1 +1,16 @@
+#include <sstream>
+
 #include "FullColumn.h"
+
+using namespace MbD;
+
+std::string FullColumn<double>::toString() {
+    std::stringstream ss;
+
+    ss << "FullColumn { ";
+    for (int i = 0; i < this->size() - 1; i++) {
+        ss << this->at(i) << ", ";
+    }
+    ss << this->back() << " }";
+    return ss.str();
+}
diff --git a/MbDCode/FullColumn.h b/MbDCode/FullColumn.h
index 6b809b6..70c13e3 100644
--- a/MbDCode/FullColumn.h
+++ b/MbDCode/FullColumn.h
@@ -1,11 +1,14 @@
 #pragma once
 #include "Vector.h"
+
 namespace MbD {
     template <typename T>
     class FullColumn : public Vector<T>
     {
     public:
+        FullColumn(int i) : Vector<T>(i) {}
         FullColumn(std::initializer_list<T> list) : Vector<T>{ list } {}
+        std::string toString();
     };
 }
 
diff --git a/MbDCode/MarkerFrame.cpp b/MbDCode/MarkerFrame.cpp
index 476f7c5..ed2b4c8 100644
--- a/MbDCode/MarkerFrame.cpp
+++ b/MbDCode/MarkerFrame.cpp
@@ -1 +1,32 @@
 #include "MarkerFrame.h"
+
+using namespace MbD;
+
+MarkerFrame::MarkerFrame()
+{
+	partFrame = nullptr;
+	auto endFrm = std::make_shared<EndFrameqc>();
+	std::string str = "EndFrame1";
+	endFrm->setName(str);
+	this->addEndFrame(endFrm);
+}
+
+void MarkerFrame::setPartFrame(PartFrame* partFrm)
+{
+	partFrame = partFrm;
+}
+
+void MarkerFrame::setrpmp(FullColumn<double>* x)
+{
+	rpmp->copy(x);
+}
+
+void MarkerFrame::setaApm(FullMatrix<double>* x)
+{
+	aApm->copy(x);
+}
+void MarkerFrame::addEndFrame(std::shared_ptr<EndFrameqc> endFrm)
+{
+	endFrm->setMarkerFrame(this);
+	endFrames.push_back(endFrm);
+}
diff --git a/MbDCode/MarkerFrame.h b/MbDCode/MarkerFrame.h
index 0d87ffe..d351576 100644
--- a/MbDCode/MarkerFrame.h
+++ b/MbDCode/MarkerFrame.h
@@ -1,9 +1,35 @@
 #pragma once
+#include <memory>
+
 #include "CartesianFrame.h"
+#include "PartFrame.h"
+#include "FullColumn.h"
+#include "FullMatrix.h"
+#include "EndFrameqc.h"
+
 namespace MbD {
-    class MarkerFrame :
-        public CartesianFrame
+    class PartFrame;
+    class EndFrameqc;
+
+    class MarkerFrame : public CartesianFrame
     {
+        //partFrame rpmp aApm rOmO aAOm prOmOpE pAOmpE pprOmOpEpE ppAOmpEpE endFrames 
+    public:
+        MarkerFrame();
+        void setPartFrame(PartFrame* partFrm);
+        void setrpmp(FullColumn<double>* x);
+        void setaApm(FullMatrix<double>* 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);
+        FullColumn<FullMatrix<double>>* pAOmpE = new FullColumn<FullMatrix<double>>(4);
+        std::vector<std::shared_ptr<EndFrameqc>> endFrames;
+
     };
 }
 
diff --git a/MbDCode/MbDCode.cpp b/MbDCode/MbDCode.cpp
index 23214b2..47534f3 100644
--- a/MbDCode/MbDCode.cpp
+++ b/MbDCode/MbDCode.cpp
@@ -1,17 +1,95 @@
 #include <iostream>
-#include "Item.h"
 #include "System.h"
+#include "FullColumn.h"
+#include "FullMatrix.h"
+#include "Part.h"
+#include "MbDCode.h"
 
 using namespace MbD;
 
 int main()
 {
 	std::cout << "Hello World!\n";
-	auto& TheSystem = System::getInstance();
+	System& TheSystem = System::getInstance();
 	std::string str = "TheSystem";
 	TheSystem.setName(str);
-	std::cout << TheSystem.getName();
-	//auto fixedPart = std::make_shared<Part>();
-	//str = "FixedPart";
-	//fixedPart->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);
+	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 };
+	assembly1->setqX(qX);
+	assembly1->setqE(qE);
+	std::cout << "assembly1->getqX() " << assembly1->getqX()->toString() << std::endl;
+	std::cout << "assembly1->getqE() " << assembly1->getqE()->toString() << std::endl;
+	TheSystem.addPart(assembly1);
+	{
+		auto marker1 = std::make_shared<MarkerFrame>();
+		str = "Marker1";
+		marker1->setName(str);
+		rpmp = new FullColumn<double>{ 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 };
+		marker1->setrpmp(rpmp);
+		aApm = new FullMatrix<double>();
+		fullRow = new FullRow<double>{ 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 };
+		aApm->push_back(fullRow);
+		fullRow = new FullRow<double>{ 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 };
+		aApm->push_back(fullRow);
+		fullRow = new FullRow<double>{ 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 };
+		aApm->push_back(fullRow);
+		marker1->setaApm(aApm);
+		assembly1->partFrame->addMarkerFrame(marker1);
+		//
+		auto marker2 = std::make_shared<MarkerFrame>();
+		str = "Marker2";
+		marker2->setName(str);
+		rpmp = new FullColumn<double>{ 0.0, 0.0, 0.0 };
+		marker2->setrpmp(rpmp);
+		aApm = new FullMatrix<double>();
+		fullRow = new FullRow<double>{ 1.0, 0.0, 0.0 };
+		aApm->push_back(fullRow);
+		fullRow = new FullRow<double>{ 0.0, 1.0, 0.0 };
+		aApm->push_back(fullRow);
+		fullRow = new FullRow<double>{ 0.0, 0.0, 1.0 };
+		aApm->push_back(fullRow);
+		marker2->setaApm(aApm);
+		assembly1->partFrame->addMarkerFrame(marker2);
+	}
+	//
+	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 };
+	part1->setqX(qX);
+	part1->setqE(qE);
+	TheSystem.parts.push_back(part1);
+	//
+	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 };
+	part2->setqX(qX);
+	part2->setqE(qE);
+	TheSystem.parts.push_back(part2);
+	//
+	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 };
+	part3->setqX(qX);
+	part3->setqE(qE);
+	TheSystem.parts.push_back(part3);
+	//
 }
\ No newline at end of file
diff --git a/MbDCode/MbDCode.vcxproj b/MbDCode/MbDCode.vcxproj
index c1ce89f..65349fe 100644
--- a/MbDCode/MbDCode.vcxproj
+++ b/MbDCode/MbDCode.vcxproj
@@ -131,8 +131,13 @@
     <ClCompile Include="Array.cpp" />
     <ClCompile Include="CartesianFrame.cpp" />
     <ClCompile Include="Constraint.cpp" />
+    <ClCompile Include="DiagonalMatrix.cpp" />
+    <ClCompile Include="EndFramec.cpp" />
+    <ClCompile Include="EndFrameqc.cpp" />
+    <ClCompile Include="EndFrameqct.cpp" />
     <ClCompile Include="EulerConstraint.cpp" />
     <ClCompile Include="FullColumn.cpp" />
+    <ClCompile Include="FullMatrix.cpp" />
     <ClCompile Include="FullRow.cpp" />
     <ClCompile Include="Item.cpp" />
     <ClCompile Include="Joint.cpp" />
@@ -141,27 +146,37 @@
     <ClCompile Include="NewtonRaphson.cpp" />
     <ClCompile Include="Part.cpp" />
     <ClCompile Include="PartFrame.cpp" />
+    <ClCompile Include="RowTypeMatrix.cpp" />
     <ClCompile Include="Solver.cpp" />
     <ClCompile Include="System.cpp" />
     <ClCompile Include="SystemSolver.cpp" />
+    <ClCompile Include="Vector.cpp" />
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="AbsConstraint.h" />
     <ClInclude Include="Array.h" />
     <ClInclude Include="CartesianFrame.h" />
     <ClInclude Include="Constraint.h" />
+    <ClInclude Include="DiagonalMatrix.h" />
+    <ClInclude Include="EndFramec.h" />
+    <ClInclude Include="EndFrameqc.h" />
+    <ClInclude Include="EndFrameqct.h" />
     <ClInclude Include="EulerConstraint.h" />
     <ClInclude Include="FullColumn.h" />
+    <ClInclude Include="FullMatrix.h" />
     <ClInclude Include="FullRow.h" />
     <ClInclude Include="Item.h" />
     <ClInclude Include="Joint.h" />
     <ClInclude Include="MarkerFrame.h" />
+    <ClInclude Include="MbDCode.h" />
     <ClInclude Include="NewtonRaphson.h" />
     <ClInclude Include="Part.h" />
     <ClInclude Include="PartFrame.h" />
+    <ClInclude Include="RowTypeMatrix.h" />
     <ClInclude Include="Solver.h" />
     <ClInclude Include="System.h" />
     <ClInclude Include="SystemSolver.h" />
+    <ClInclude Include="Vector.h" />
   </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
   <ImportGroup Label="ExtensionTargets">
diff --git a/MbDCode/MbDCode.vcxproj.filters b/MbDCode/MbDCode.vcxproj.filters
index d6dc645..63e0800 100644
--- a/MbDCode/MbDCode.vcxproj.filters
+++ b/MbDCode/MbDCode.vcxproj.filters
@@ -66,6 +66,24 @@
     <ClCompile Include="MarkerFrame.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="DiagonalMatrix.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="FullMatrix.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="RowTypeMatrix.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="EndFramec.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="EndFrameqc.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="EndFrameqct.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="Array.h">
@@ -116,5 +134,26 @@
     <ClInclude Include="MarkerFrame.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="DiagonalMatrix.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="FullMatrix.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="RowTypeMatrix.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="EndFramec.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="EndFrameqc.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="EndFrameqct.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="MbDCode.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
 </Project>
\ No newline at end of file
diff --git a/MbDCode/Part.cpp b/MbDCode/Part.cpp
index 9dbf298..c63f634 100644
--- a/MbDCode/Part.cpp
+++ b/MbDCode/Part.cpp
@@ -1 +1,30 @@
 #include "Part.h"
+#include "PartFrame.h"
+#include "FullColumn.h"
+
+using namespace MbD;
+
+Part::Part() {
+	partFrame = std::make_shared<PartFrame>();
+}
+
+void Part::setqX(FullColumn<double>* x) {
+	partFrame.get()->setqX(x);
+}
+
+FullColumn<double>* Part::getqX() {
+	return partFrame.get()->getqX();
+}
+
+void Part::setqE(FullColumn<double>* x) {
+	partFrame.get()->setqE(x);
+}
+
+FullColumn<double>* Part::getqE() {
+	return partFrame.get()->getqE();
+}
+
+void Part::setSystem(System& sys)
+{
+	//May be needed in the future
+}
diff --git a/MbDCode/Part.h b/MbDCode/Part.h
index 1aa7347..6bc8327 100644
--- a/MbDCode/Part.h
+++ b/MbDCode/Part.h
@@ -2,26 +2,24 @@
 #include <memory>
 
 #include "Item.h"
+#include "System.h"
 #include "PartFrame.h"
 #include "FullColumn.h"
 
-
 namespace MbD {
+	class System;
 	class PartFrame;
 
 	class Part : public Item
 	{
+		//ToDo: ipX ipE m aJ partFrame pX pXdot pE pEdot mX mE mEdot pTpE ppTpEpE ppTpEpEdot 
 	public:
-		Part() {
-			partFrame = std::make_shared<PartFrame>();
-		}
-		void setqX(FullColumn<double>* x) {
-			partFrame.get()->setqX(x);
-		}
-		FullColumn<double>* getqX() {
-			return partFrame.get()->getqX();
-		}
-		//ToDo: Needed members ipX ipE m aJ partFrame pX pXdot pE pEdot mX mE mEdot pTpE ppTpEpE ppTpEpEdot 
+		Part();
+		void setqX(FullColumn<double>* x);
+		FullColumn<double>* getqX();
+		void setqE(FullColumn<double>* x);
+		FullColumn<double>* getqE();
+		void setSystem(System& sys);
 		std::shared_ptr<PartFrame> partFrame;
 	};
 }
diff --git a/MbDCode/PartFrame.cpp b/MbDCode/PartFrame.cpp
index 3d043f1..d96501c 100644
--- a/MbDCode/PartFrame.cpp
+++ b/MbDCode/PartFrame.cpp
@@ -1,12 +1,37 @@
+#include "Part.h"
 #include "PartFrame.h"
 #include "AbsConstraint.h"
 #include "MarkerFrame.h"
 
-namespace MbD {
+using namespace MbD;
 
-	PartFrame::PartFrame()
-	{
-		aGabs = std::vector<std::shared_ptr<AbsConstraint>>();
-		markerFrames = std::vector<std::shared_ptr<MarkerFrame>>();
-	}
-}
\ No newline at end of file
+PartFrame::PartFrame()
+{
+	aGeu = std::make_shared<EulerConstraint>();
+	aGabs = std::vector<std::shared_ptr<AbsConstraint>>();
+	markerFrames = std::vector<std::shared_ptr<MarkerFrame>>();
+}
+void PartFrame::setqX(FullColumn<double>* x) {
+	qX->copy(x);
+}
+FullColumn<double>* PartFrame::getqX() {
+	return qX;
+}
+void PartFrame::setqE(FullColumn<double>* x) {
+	qE->copy(x);
+}
+FullColumn<double>* PartFrame::getqE() {
+	return qE;
+}
+void PartFrame::setPart(std::shared_ptr<Part> x) {
+	part = x;
+}
+std::shared_ptr<Part> PartFrame::getPart() {
+	return part.lock();
+}
+
+void MbD::PartFrame::addMarkerFrame(std::shared_ptr<MarkerFrame> markerFrame)
+{
+	markerFrame->setPartFrame(this);
+	markerFrames.push_back(markerFrame);
+}
diff --git a/MbDCode/PartFrame.h b/MbDCode/PartFrame.h
index 481fd62..0c30ab4 100644
--- a/MbDCode/PartFrame.h
+++ b/MbDCode/PartFrame.h
@@ -15,25 +15,22 @@ namespace MbD {
 
 	class PartFrame : public CartesianFrame
 	{
+		//ToDo: part iqX iqE qX qE qXdot qEdot qXddot qEddot aGeu aGabs markerFrames 
 	public:
 		PartFrame();
-		void setqX(FullColumn<double>* x) {
-			qX = x;
-		}
-		FullColumn<double>* getqX() {
-			return qX;
-		}
-		void setPart(std::shared_ptr<Part> x) {
-			part = x;
-		}
-		std::shared_ptr<Part> getPart() {
-			return part.lock();
-		}
-		//part iqX iqE qX qE qXdot qEdot qXddot qEddot aGeu aGabs markerFrames 
+
+		void setqX(FullColumn<double>* x);
+		FullColumn<double>* getqX();
+		void setqE(FullColumn<double>* x);
+		FullColumn<double>* 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;
-		FullColumn<double>* qE;
+		FullColumn<double>* qX = new FullColumn<double>(3);
+		FullColumn<double>* qE = new FullColumn<double>(4);
 		std::shared_ptr<EulerConstraint> aGeu;
 		std::vector<std::shared_ptr<AbsConstraint>> aGabs;
 		std::vector<std::shared_ptr<MarkerFrame>> markerFrames;
diff --git a/MbDCode/System.cpp b/MbDCode/System.cpp
index 183b648..67d096b 100644
--- a/MbDCode/System.cpp
+++ b/MbDCode/System.cpp
@@ -1 +1,13 @@
 #include "System.h"
+
+void MbD::System::addPart(std::shared_ptr<Part> part)
+{
+	part->setSystem(*this);
+	parts.push_back(part);
+}
+
+MbD::System::System() {
+	parts = std::vector<std::shared_ptr<Part>>();
+	jointsMotions = std::vector<std::shared_ptr<Joint>>();
+	systemSolver = std::make_shared<SystemSolver>(*this);
+}
diff --git a/MbDCode/System.h b/MbDCode/System.h
index 872ad42..cbc3cca 100644
--- a/MbDCode/System.h
+++ b/MbDCode/System.h
@@ -8,6 +8,7 @@
 #include "SystemSolver.h"
 
 namespace MbD {
+	class Part;
 	class SystemSolver;
 	class System : public Item
 	{
@@ -22,12 +23,9 @@ namespace MbD {
 		std::vector<std::shared_ptr<Joint>> jointsMotions;
 		bool hasChanged = false;
 		std::shared_ptr<SystemSolver> systemSolver;
+		void addPart(std::shared_ptr<Part> part);
 	private:
-		System() {
-			parts = std::vector<std::shared_ptr<Part>>();
-			jointsMotions = std::vector<std::shared_ptr<Joint>>();
-			systemSolver = std::make_shared<SystemSolver>(*this);
-		}
+		System();
 		//System() = default; // Private constructor
 		System(const System&) = delete;
 		System& operator=(const System&) = delete; // Deleted copy assignment
diff --git a/MbDCode/Vector.cpp b/MbDCode/Vector.cpp
index 1a0d306..356c3b4 100644
--- a/MbDCode/Vector.cpp
+++ b/MbDCode/Vector.cpp
@@ -1 +1,5 @@
 #include "Vector.h"
+
+using namespace MbD;
+
+
diff --git a/MbDCode/Vector.h b/MbDCode/Vector.h
index 100516c..302ca66 100644
--- a/MbDCode/Vector.h
+++ b/MbDCode/Vector.h
@@ -1,5 +1,6 @@
 #pragma once
 #include "Array.h"
+
 namespace MbD {
     template <typename T>
     class Vector : public Array<T>