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new branch: working

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This commit is contained in:
Aik-Siong Koh
2023-05-09 12:50:36 -06:00
parent d5ac041906
commit 9ddca433a1
67 changed files with 865 additions and 190 deletions
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35
MbDCode/PrescribedMotion.cpp
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@@ -1,9 +1,11 @@
#include <iostream>
#include <memory>
#include <typeinfo>
#include <assert.h>
#include "PrescribedMotion.h"
#include "EndFrameqct.h"
#include "Constant.h"
using namespace MbD;
@@ -17,15 +19,36 @@ PrescribedMotion::PrescribedMotion(const char* str) : Joint(str) {
void PrescribedMotion::initialize()
{
xBlk = std::make_shared<Constant>(0.0);
yBlk = std::make_shared<Constant>(0.0);
zBlk = std::make_shared<Constant>(0.0);
phiBlk = std::make_shared<Constant>(0.0);
theBlk = std::make_shared<Constant>(0.0);
psiBlk = std::make_shared<Constant>(0.0);
}
void PrescribedMotion::connectsItoJ(std::shared_ptr<EndFramec> frmi, std::shared_ptr<EndFramec> frmj)
{
Joint::connectsItoJ(frmi, frmj);
if (typeid(frmI).name() != "EndFrameqct") {
std::shared_ptr<EndFramec> newFrmI;
newFrmI = std::make_shared<EndFrameqct>();
std::swap(frmI, newFrmI);
assert(typeid(frmI).name() != "EndFrameqct");
}
frmI->EndFrameqctFrom(frmI);
}
//void PrescribedMotion::connectsItoJ(std::shared_ptr<EndFramec> frmi, std::shared_ptr<EndFramec> frmj)
//{
// Joint::connectsItoJ(frmi, frmj);
// frmI->EndFrameqctFrom(frmI);
// decltype(frmi) dddd;
// std::cout << "typeid(dddd).name() " << typeid(dddd).name() << std::endl;
// std::cout << "typeid(frmI).name() " << typeid(frmI).name() << std::endl;
// if (typeid(frmI).name() != "EndFrameqct") {
// std::shared_ptr<EndFramec> newFrmI;
// newFrmI = std::make_shared<EndFrameqct>(frmI->getName().c_str());
// decltype(newFrmI) ffff;
// std::cout << "typeid(ffff).name() " << typeid(ffff).name() << std::endl;
// auto gggg = std::make_shared<EndFrameqct>(frmI->getName().c_str());
// std::cout << "typeid(gggg).name() " << typeid(gggg).name() << std::endl;
// std::cout << "typeid(newFrmI).name() " << typeid(newFrmI).name() << std::endl;
// std::swap(frmI, newFrmI);
// assert(typeid(frmI).name() != "EndFrameqct");
// }
//}