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runPosIC, VelIC, AccIC numerically correct

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This commit is contained in:
Aik-Siong Koh
2023-06-24 23:08:29 -06:00
parent 371b13a9e0
commit c30ee64b89
110 changed files with 2171 additions and 129 deletions
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22
MbDCode/AtPointConstraintIqcJqc.cpp
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@@ -57,3 +57,25 @@ void MbD::AtPointConstraintIqcJqc::fillPosKineJacob(SpMatDsptr mat)
mat->atijplusNumber(iG, iqXJminusOnePlusAxis, 1.0);
mat->atijplusFullRow(iG, iqEJ, pGpEJ);
}
void MbD::AtPointConstraintIqcJqc::fillVelICJacob(SpMatDsptr mat)
{
AtPointConstraintIqcJc::fillVelICJacob(mat);
mat->atijplusNumber(iG, iqXJminusOnePlusAxis, 1.0);
mat->atijplusNumber(iqXJminusOnePlusAxis, iG, 1.0);
mat->atijplusFullRow(iG, iqEJ, pGpEJ);
mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose());
}
void MbD::AtPointConstraintIqcJqc::fillAccICIterError(FColDsptr col)
{
AtPointConstraintIqcJc::fillAccICIterError(col);
col->atiplusNumber(iqXJminusOnePlusAxis, lam);
col->atiplusFullVectortimes(iqEJ, pGpEJ, lam);
auto efrmJqc = std::static_pointer_cast<EndFrameqc>(frmJ);
auto qEdotJ = efrmJqc->qEdot();
auto sum = efrmJqc->qXddot()->at(axis);
sum += pGpEJ->timesFullColumn(efrmJqc->qEddot());
sum += qEdotJ->transposeTimesFullColumn(ppGpEJpEJ->timesFullColumn(qEdotJ));
col->atiplusNumber(iG, sum);
}