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runPosIC, initializeGlobally

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This commit is contained in:
Aik-Siong Koh
2023-05-27 21:43:09 -06:00
parent 6a577c052c
commit 9ddbdca742
139 changed files with 2401 additions and 431 deletions
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94
MbDCode/EndFrameqc.cpp
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@@ -4,16 +4,10 @@
#include "EndFrameqct.h"
#include "Variable.h"
#include "MarkerFrame.h"
#include "CREATE.h"
using namespace MbD;
std::shared_ptr<EndFrameqc> MbD::EndFrameqc::Create(const char* name)
{
auto item = std::make_shared<EndFrameqc>(name);
item->initialize();
return item;
}
EndFrameqc::EndFrameqc() {
}
@@ -28,46 +22,28 @@ void EndFrameqc::initialize()
ppAOepEpE = std::make_shared<FullMatrix<std::shared_ptr<FullMatrix<double>>>>(4, 4);
}
void EndFrameqc::initializeLocally()
{
if (endFrameqct) {
endFrameqct->initializeLocally();
}
}
void EndFrameqc::initializeGlobally()
{
if (endFrameqct) {
endFrameqct->initializeGlobally();
}
else {
pprOeOpEpE = markerFrame->pprOmOpEpE;
ppAOepEpE = markerFrame->ppAOmpEpE;
}
pprOeOpEpE = markerFrame->pprOmOpEpE;
ppAOepEpE = markerFrame->ppAOmpEpE;
}
void EndFrameqc::initEndFrameqct()
{
endFrameqct = EndFrameqct::Create(this->getName().data());
}
void EndFrameqc::setrmemBlks(std::shared_ptr<FullColumn<std::shared_ptr<Symbolic>>> xyzBlks)
{
std::static_pointer_cast<EndFrameqct>(endFrameqct)->rmemBlks = xyzBlks;
}
void EndFrameqc::setphiThePsiBlks(std::shared_ptr<FullColumn<std::shared_ptr<Symbolic>>> xyzRotBlks)
{
std::static_pointer_cast<EndFrameqct>(endFrameqct)->phiThePsiBlks = xyzRotBlks;
endFrameqct = CREATE<EndFrameqct>::With(this->getName().data());
endFrameqct->prOeOpE = prOeOpE;
endFrameqct->pprOeOpEpE = pprOeOpEpE;
endFrameqct->pAOepE = pAOepE;
endFrameqct->ppAOepEpE = ppAOepEpE;
}
FMatFColDsptr MbD::EndFrameqc::ppAjOepEpE(int jj)
{
auto answer = std::make_shared<FullMatrix<std::shared_ptr<FullColumn<double>>>>(4, 4);
for (int i = 0; i < 4; i++) {
auto answeri = answer->at(i);
auto ppAOepEipE = ppAOepEpE->at(i);
for (int j = i; j < 4; j++) {
for (size_t i = 0; i < 4; i++) {
auto& answeri = answer->at(i);
auto& ppAOepEipE = ppAOepEpE->at(i);
for (size_t j = i; j < 4; j++) {
answeri->at(j) = ppAOepEipE->at(j)->column(jj);
}
}
@@ -77,4 +53,50 @@ FMatFColDsptr MbD::EndFrameqc::ppAjOepEpE(int jj)
void MbD::EndFrameqc::calcPostDynCorrectorIteration()
{
EndFramec::calcPostDynCorrectorIteration();
prOeOpE = markerFrame->prOmOpE;
pAOepE = markerFrame->pAOmpE;
}
FMatDsptr MbD::EndFrameqc::pAjOepET(int axis)
{
auto answer = std::make_shared<FullMatrix<double>>(4, 3);
for (size_t i = 0; i < 4; i++) {
auto& answeri = answer->at(i);
auto& pAOepEi = pAOepE->at(i);
for (size_t j = 0; j < 3; j++) {
auto& answerij = pAOepEi->at(j)->at(axis);
answeri->at(j) = answerij;
}
}
return answer;
}
FMatDsptr MbD::EndFrameqc::ppriOeOpEpE(int ii)
{
auto answer = std::make_shared<FullMatrix<double>>(4, 4);
for (size_t i = 0; i < 4; i++) {
auto& answeri = answer->at(i);
auto& pprOeOpEipE = pprOeOpEpE->at(i);
for (size_t j = 0; j < 4; j++) {
auto& answerij = pprOeOpEipE->at(j)->at(ii);
answeri->at(j) = answerij;
}
}
return answer;
}
int MbD::EndFrameqc::iqX()
{
return markerFrame->iqX();
}
int MbD::EndFrameqc::iqE()
{
return markerFrame->iqE();
}
FRowDsptr MbD::EndFrameqc::priOeOpE(int i)
{
return prOeOpE->at(i);
}