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Templates working again

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This commit is contained in:
Aik-Siong Koh
2023-11-30 20:58:49 -07:00
parent ee1d97eb18
commit 9b1529f3ed
79 changed files with 2063 additions and 2222 deletions
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73
OndselSolver/EulerAngles.cpp
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@@ -7,76 +7,3 @@
***************************************************************************/
#include "EulerAngles.h"
namespace MbD {
template<typename T>
inline void EulerAngles<T>::initialize()
{
rotOrder = std::make_shared<FullColumn<int>>(3);
rotOrder->at(0) = 0;
rotOrder->at(1) = 1;
rotOrder->at(2) = 2;
}
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);
}
// type-specific helper functions
std::shared_ptr<EulerAnglesDot<std::shared_ptr<MbD::Symbolic>>> differentiateWRT(EulerAngles<std::shared_ptr<MbD::Symbolic>>& ref, std::shared_ptr<MbD::Symbolic> var)
{
auto derivatives = std::make_shared<EulerAnglesDot<std::shared_ptr<MbD::Symbolic>>>();
std::transform(ref.begin(), ref.end(), derivatives->begin(),
[var](std::shared_ptr<MbD::Symbolic> term) { return term->differentiateWRT(var); }
);
derivatives->aEulerAngles = &ref;
return derivatives;
}
}