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DiagonalMatrix is now double only also.

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This commit is contained in:
John Dupuy
2023-11-06 19:44:07 -06:00
parent 87bd168b50
commit c406ad8b00
23 changed files with 421 additions and 487 deletions
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26
OndselSolver/CADSystem.cpp
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@@ -87,7 +87,7 @@ void CADSystem::runOndselSinglePendulum()
auto assembly1 = CREATE<Part>::With("/Assembly1");
std::cout << "assembly1->name " << assembly1->name << std::endl;
assembly1->m = 0.0;
assembly1->aJ = std::make_shared<DiagonalMatrix<double>>(ListD{ 0, 0, 0 });
assembly1->aJ = std::make_shared<DiagonalMatrix>(ListD{ 0, 0, 0 });
qX = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
aAap = std::make_shared<FullMatrixDouble>(ListListD{
{ 1, 0, 0 },
@@ -130,7 +130,7 @@ void CADSystem::runOndselSinglePendulum()
auto crankPart1 = CREATE<Part>::With("/Assembly1/Part1");
std::cout << "crankPart1->name " << crankPart1->name << std::endl;
crankPart1->m = 1.0;
crankPart1->aJ = std::make_shared<DiagonalMatrix<double>>(ListD{ 1, 1, 1 });
crankPart1->aJ = std::make_shared<DiagonalMatrix>(ListD{ 1, 1, 1 });
qX = std::make_shared<FullColumn<double>>(ListD{ 0.4, 0.0, -0.05 });
aAap = std::make_shared<FullMatrixDouble>(ListListD{
{ 1, 0, 0 },
@@ -222,7 +222,7 @@ void CADSystem::runOndselDoublePendulum()
auto assembly1 = CREATE<Part>::With("/Assembly1");
std::cout << "assembly1->name " << assembly1->name << std::endl;
assembly1->m = 0.0;
assembly1->aJ = std::make_shared<DiagonalMatrix<double>>(ListD{ 0, 0, 0 });
assembly1->aJ = std::make_shared<DiagonalMatrix>(ListD{ 0, 0, 0 });
qX = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
aAap = std::make_shared<FullMatrixDouble>(ListListD{
{ 1, 0, 0 },
@@ -265,7 +265,7 @@ void CADSystem::runOndselDoublePendulum()
auto crankPart1 = CREATE<Part>::With("/Assembly1/Part1");
std::cout << "crankPart1->name " << crankPart1->name << std::endl;
crankPart1->m = 1.0;
crankPart1->aJ = std::make_shared<DiagonalMatrix<double>>(ListD{ 1, 1, 1 });
crankPart1->aJ = std::make_shared<DiagonalMatrix>(ListD{ 1, 1, 1 });
qX = std::make_shared<FullColumn<double>>(ListD{ 0.4, 0.0, -0.05 });
aAap = std::make_shared<FullMatrixDouble>(ListListD{
{ 1, 0, 0 },
@@ -307,7 +307,7 @@ void CADSystem::runOndselDoublePendulum()
auto conrodPart2 = CREATE<Part>::With("/Assembly1/Part2");
std::cout << "conrodPart2->name " << conrodPart2->name << std::endl;
conrodPart2->m = 1.0;
conrodPart2->aJ = std::make_shared<DiagonalMatrix<double>>(ListD{ 1, 1, 1 });
conrodPart2->aJ = std::make_shared<DiagonalMatrix>(ListD{ 1, 1, 1 });
qX = std::make_shared<FullColumn<double>>(ListD{ 0.15, 0.1, 0.05 });
qE = std::make_shared<FullColumn<double>>(ListD{ 0.0, 0.0, 1.0, 0.0 });
auto eulerParameters = CREATE<EulerParameters<double>>::With(ListD{ 0.0, 0.0, 1.0, 0.0 });
@@ -396,7 +396,7 @@ void CADSystem::runOndselPiston()
auto assembly1 = CREATE<Part>::With("/Assembly1");
std::cout << "assembly1->name " << assembly1->name << std::endl;
assembly1->m = 0.0;
assembly1->aJ = std::make_shared<DiagonalMatrix<double>>(ListD{ 0, 0, 0 });
assembly1->aJ = std::make_shared<DiagonalMatrix>(ListD{ 0, 0, 0 });
qX = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
qE = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0, 1 });
assembly1->setqX(qX);
@@ -441,7 +441,7 @@ void CADSystem::runOndselPiston()
auto crankPart1 = CREATE<Part>::With("/Assembly1/Part1");
std::cout << "crankPart1->name " << crankPart1->name << std::endl;
crankPart1->m = 1.0;
crankPart1->aJ = std::make_shared<DiagonalMatrix<double>>(ListD{ 1, 1, 1 });
crankPart1->aJ = std::make_shared<DiagonalMatrix>(ListD{ 1, 1, 1 });
qX = std::make_shared<FullColumn<double>>(ListD{ 0.4, 0.0, -0.05 });
qE = std::make_shared<FullColumn<double>>(ListD{ 0.0, 0.0, 0.0, 1.0 });
crankPart1->setqX(qX);
@@ -483,7 +483,7 @@ void CADSystem::runOndselPiston()
auto conrodPart2 = CREATE<Part>::With("/Assembly1/Part2");
std::cout << "conrodPart2->name " << conrodPart2->name << std::endl;
conrodPart2->m = 1.0;
conrodPart2->aJ = std::make_shared<DiagonalMatrix<double>>(ListD{ 1, 1, 1 });
conrodPart2->aJ = std::make_shared<DiagonalMatrix>(ListD{ 1, 1, 1 });
qX = std::make_shared<FullColumn<double>>(ListD{ 0.15, 0.1, 0.05 });
qE = std::make_shared<FullColumn<double>>(ListD{ 0.0, 0.0, 1.0, 0.0 });
conrodPart2->setqX(qX);
@@ -525,7 +525,7 @@ void CADSystem::runOndselPiston()
auto pistonPart3 = CREATE<Part>::With("/Assembly1/Part3");
std::cout << "pistonPart3->name " << pistonPart3->name << std::endl;
pistonPart3->m = 1.0;
pistonPart3->aJ = std::make_shared<DiagonalMatrix<double>>(ListD{ 1, 1, 1 });
pistonPart3->aJ = std::make_shared<DiagonalMatrix>(ListD{ 1, 1, 1 });
qX = std::make_shared<FullColumn<double>>(ListD{ -0.0, 1.5, 0.0 });
qE = std::make_shared<FullColumn<double>>(ListD{ 0.70710678118655, 0.70710678118655, 0.0, 0.0 });
pistonPart3->setqX(qX);
@@ -633,7 +633,7 @@ void CADSystem::runPiston()
auto assembly1 = CREATE<Part>::With("/Assembly1");
std::cout << "assembly1->name " << assembly1->name << std::endl;
assembly1->m = 0.0;
assembly1->aJ = std::make_shared<DiagonalMatrix<double>>(ListD{ 0, 0, 0 });
assembly1->aJ = std::make_shared<DiagonalMatrix>(ListD{ 0, 0, 0 });
qX = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
qE = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0, 1 });
assembly1->setqX(qX);
@@ -678,7 +678,7 @@ void CADSystem::runPiston()
auto crankPart1 = CREATE<Part>::With("/Assembly1/Part1");
std::cout << "crankPart1->name " << crankPart1->name << std::endl;
crankPart1->m = 0.045210530089461;
crankPart1->aJ = std::make_shared<DiagonalMatrix<double>>(ListD{ 1.7381980042084e-4, 0.003511159968501, 0.0036154518487535 });
crankPart1->aJ = std::make_shared<DiagonalMatrix>(ListD{ 1.7381980042084e-4, 0.003511159968501, 0.0036154518487535 });
qX = std::make_shared<FullColumn<double>>(ListD{ 0.38423368514246, 2.6661567755108e-17, -0.048029210642807 });
qE = std::make_shared<FullColumn<double>>(ListD{ 0.0, 0.0, 0.0, 1.0 });
crankPart1->setqX(qX);
@@ -720,7 +720,7 @@ void CADSystem::runPiston()
auto conrodPart2 = CREATE<Part>::With("/Assembly1/Part2");
std::cout << "conrodPart2->name " << conrodPart2->name << std::endl;
conrodPart2->m = 0.067815795134192;
conrodPart2->aJ = std::make_shared<DiagonalMatrix<double>>(ListD{ 2.6072970063126e-4, 0.011784982468533, 0.011941420288912 });
conrodPart2->aJ = std::make_shared<DiagonalMatrix>(ListD{ 2.6072970063126e-4, 0.011784982468533, 0.011941420288912 });
qX = std::make_shared<FullColumn<double>>(ListD{ 0.38423368514246, 0.49215295678475, 0.048029210642807 });
qE = std::make_shared<FullColumn<double>>(ListD{ 0.0, 0.0, 0.89871703427292, 0.43852900965351 });
conrodPart2->setqX(qX);
@@ -762,7 +762,7 @@ void CADSystem::runPiston()
auto pistonPart3 = CREATE<Part>::With("/Assembly1/Part3");
std::cout << "pistonPart3->name " << pistonPart3->name << std::endl;
pistonPart3->m = 1.730132083368;
pistonPart3->aJ = std::make_shared<DiagonalMatrix<double>>(ListD{ 0.19449049546716, 0.23028116340971, 0.23028116340971 });
pistonPart3->aJ = std::make_shared<DiagonalMatrix>(ListD{ 0.19449049546716, 0.23028116340971, 0.23028116340971 });
qX = std::make_shared<FullColumn<double>>(ListD{ -1.283972762056e-18, 1.4645980199976, -4.7652385308244e-17 });
qE = std::make_shared<FullColumn<double>>(ListD{ 0.70710678118655, 0.70710678118655, 0.0, 0.0 });
pistonPart3->setqX(qX);