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stopping point

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This commit is contained in:
John Dupuy
2023-11-03 13:57:11 -05:00
parent 654c07a68e
commit 8dbb49d032
46 changed files with 142 additions and 780 deletions
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6
OndselSolver/MBDynBody.cpp
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@@ -60,7 +60,7 @@ void MbD::MBDynBody::readInertiaMatrix(std::vector<std::string>& args)
{
auto parser = std::make_shared<SymbolicParser>();
parser->variables = mbdynVariables();
aJmat = std::make_shared<FullMatrix<double>>(3, 3);
aJmat = std::make_shared<FullMatrixDouble>(3, 3);
auto& str = args.at(0);
if (str.find("diag") != std::string::npos) {
args.erase(args.begin());
@@ -89,7 +89,7 @@ void MbD::MBDynBody::createASMT()
if (aJmat->isDiagonalToWithin(1.0e-6)) {
asmtMassMarker->setMomentOfInertias(aJmat->asDiagonalMatrix());
asmtMassMarker->setPosition3D(rPcmP);
asmtMassMarker->setRotationMatrix(FullMatrix<double>::identitysptr(3));
asmtMassMarker->setRotationMatrix(FullMatrixDouble::identitysptr(3));
auto asmtPart = asmtAssembly()->partPartialNamed(nodeName);
asmtPart->setPrincipalMassMarker(asmtMassMarker);
}
@@ -98,7 +98,7 @@ void MbD::MBDynBody::createASMT()
solver->setm(mass);
solver->setJPP(aJmat);
solver->setrPoP(rPcmP);
solver->setAPo(FullMatrix<double>::identitysptr(3));
solver->setAPo(FullMatrixDouble::identitysptr(3));
solver->setrPcmP(rPcmP);
solver->calc();
asmtMassMarker->setMomentOfInertias(solver->aJpp);