new branch: working

MbDCode/MarkerFrame.cpp

@@ -1,7 +1,10 @@
+#include<algorithm>
+
 #include "PartFrame.h"
 #include "MarkerFrame.h"
 #include "EndFramec.h"
 #include "EndFrameqc.h"
+#include "EulerParameters.h"
 
 using namespace MbD;
 
@@ -10,13 +13,17 @@ MarkerFrame::MarkerFrame()
 	initialize();
 }
 
-MbD::MarkerFrame::MarkerFrame(const char* str) : CartesianFrame(str) {
+MarkerFrame::MarkerFrame(const char* str) : CartesianFrame(str) {
 	initialize();
 }
 
-void MbD::MarkerFrame::initialize()
+void MarkerFrame::initialize()
 {
-	partFrame = nullptr;
+	//prOmOpE: = StMFullMatrix new : 3 by : 4.
+	//pAOmpE : = StMFullColumn new : 4.
+	//endFrames : = OrderedCollection new
+	prOmOpE = std::make_shared<FullMatrix<double>>(3, 4);
+	pAOmpE = std::make_unique<FullColumn<FullMatrix<double>>>(4);
 	endFrames = std::make_unique<std::vector<std::shared_ptr<EndFramec>>>();
 	auto endFrm = std::make_shared<EndFrameqc>("EndFrame1");
 	this->addEndFrame(endFrm);
@@ -31,12 +38,12 @@ PartFrame* MarkerFrame::getPartFrame() {
 	return partFrame;
 }
 
-void MarkerFrame::setrpmp(FullColDptr x)
+void MarkerFrame::setrpmp(FColDsptr x)
 {
 	rpmp->copy(x);
 }
 
-void MarkerFrame::setaApm(FullMatDptr x)
+void MarkerFrame::setaApm(FMatDsptr x)
 {
 	aApm->copy(x);
 }
@@ -45,3 +52,14 @@ void MarkerFrame::addEndFrame(std::shared_ptr<EndFramec> endFrm)
 	endFrm->setMarkerFrame(this);
 	endFrames->push_back(endFrm);
 }
+
+void MarkerFrame::initializeLocally()
+{
+	pprOmOpEpE = EulerParameters::ppApEpEtimesColumn(rpmp);
+	ppAOmpEpE = EulerParameters::ppApEpEtimesMatrix(aApm);
+	std::for_each(endFrames->begin(), endFrames->end(), [](const auto& endFrame) { endFrame->initializeLocally(); });
+}
+
+void MarkerFrame::initializeGlobally()
+{
+}