kindred/solver
1
0
Fork 0
Code Issues 10 Pull Requests 1 Actions Packages Projects Releases Wiki Activity

Simplify syntax.

Browse Source
This commit is contained in:
Paddle
2023-09-29 16:50:10 +02:00
parent b53cdac5ca
commit cd3e4e0095
14 changed files with 158 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files

96
MbDCode/ASMTAssembly.cpp
View File

@@ -43,6 +43,100 @@
using namespace MbD;
void MbD::ASMTAssembly::runSinglePendulumSimplified()
{
auto assembly = CREATE<ASMTAssembly>::With();
assembly->setNotes("");
assembly->setName("Assembly1");
assembly->setPosition3D(0, 0, 0);
assembly->setRotationMatrix(
1, 0, 0,
0, 1, 0,
0, 0, 1);
assembly->setVelocity3D(0, 0, 0);
assembly->setOmega3D(0, 0, 0);
auto massMarker = CREATE<ASMTPrincipalMassMarker>::With();
massMarker->setMass(0.0);
massMarker->setDensity(0.0);
massMarker->setMomentOfInertias(0, 0, 0);
massMarker->setPosition3D(0, 0, 0);
massMarker->setRotationMatrix(
1, 0, 0,
0, 1, 0,
0, 0, 1);
assembly->setPrincipalMassMarker(massMarker);
auto mkr = CREATE<ASMTMarker>::With();
mkr->setName("Marker1");
mkr->setPosition3D(0, 0, 0);
massMarker->setRotationMatrix(
1, 0, 0,
0, 1, 0,
0, 0, 1);
assembly->addMarker(mkr);
auto part = CREATE<ASMTPart>::With();
part->setName("Part1");
part->setPosition3D(-0.1, -0.1, -0.1);
part->setRotationMatrix(
1, 0, 0,
0, 1, 0,
0, 0, 1);
part->setVelocity3D(0, 0, 0);
part->setOmega3D(0, 0, 0);
assembly->addPart(part);
massMarker = CREATE<ASMTPrincipalMassMarker>::With();
massMarker->setMass(0.2);
massMarker->setDensity(10.0);
massMarker->setMomentOfInertias(8.3333333333333e-4, 0.016833333333333, 0.017333333333333);
massMarker->setPosition3D(0.5, 0.1, 0.05);
massMarker->setRotationMatrix(
1, 0, 0,
0, 1, 0,
0, 0, 1);
part->setPrincipalMassMarker(massMarker);
mkr = CREATE<ASMTMarker>::With();
mkr->setName("Marker1");
mkr->setPosition3D(0.1, 0.1, 0.1);
mkr->setRotationMatrix(
1, 0, 0,
0, 1, 0,
0, 0, 1);
part->addMarker(mkr);
auto joint = CREATE<ASMTRevoluteJoint>::With();
joint->setName("Joint1");
joint->setMarkerI("/Assembly1/Marker1");
joint->setMarkerJ("/Assembly1/Part1/Marker1");
assembly->addJoint(joint);
auto motion = CREATE<ASMTRotationalMotion>::With();
motion->setName("Motion1");
motion->setMotionJoint("/Assembly1/Joint1");
motion->setRotationZ("0.0");
assembly->addMotion(motion);
auto constantGravity = CREATE<ASMTConstantGravity>::With();
constantGravity->setg(0.0, 0.0, 0.0);
assembly->setConstantGravity(constantGravity);
auto simulationParameters = CREATE<ASMTSimulationParameters>::With();
simulationParameters->settstart(0.0);
simulationParameters->settend(0.0); //tstart == tend Initial Conditions only.
simulationParameters->sethmin(1.0e-9);
simulationParameters->sethmax(1.0);
simulationParameters->sethout(0.04);
simulationParameters->seterrorTol(1.0e-6);
assembly->setSimulationParameters(simulationParameters);
assembly->runKINEMATIC();
}
void MbD::ASMTAssembly::runSinglePendulum()
{
auto assembly = CREATE<ASMTAssembly>::With();
@@ -205,7 +299,7 @@ ASMTAssembly* MbD::ASMTAssembly::root()
return this;
}
void MbD::ASMTAssembly::setNotes(std::string& str)
void MbD::ASMTAssembly::setNotes(std::string str)
{
notes = str;
}

3
MbDCode/ASMTAssembly.h
View File

@@ -35,11 +35,12 @@ namespace MbD {
{
//
public:
static void runSinglePendulumSimplified();
static void runSinglePendulum();
static void runFile(const char* chars);
void initialize() override;
ASMTAssembly* root() override;
void setNotes(std::string& str);
void setNotes(std::string str);
void parseASMT(std::vector<std::string>& lines) override;
void readNotes(std::vector<std::string>& lines);
void readParts(std::vector<std::string>& lines);

5
MbDCode/ASMTConstantGravity.cpp
View File

@@ -33,3 +33,8 @@ void MbD::ASMTConstantGravity::setg(FColDsptr gravity)
{
g = gravity;
}
void MbD::ASMTConstantGravity::setg(double a, double b, double c)
{
g = std::make_shared<FullColumn<double>>(ListD{ a, b, c });
}

2
MbDCode/ASMTConstantGravity.h
View File

@@ -23,6 +23,8 @@ namespace MbD {
void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
void setg(FColDsptr g);
void setg(double a, double b, double c);
FColDsptr g;
};
}

2
MbDCode/ASMTItem.cpp
View File

@@ -28,7 +28,7 @@ void MbD::ASMTItem::initialize()
{
}
void MbD::ASMTItem::setName(std::string& str)
void MbD::ASMTItem::setName(std::string str)
{
name = str;
}

2
MbDCode/ASMTItem.h
View File

@@ -22,7 +22,7 @@ namespace MbD {
virtual std::shared_ptr<ASMTSpatialContainer> part();
virtual void initialize();
void setName(std::string& str);
void setName(std::string str);
virtual void parseASMT(std::vector<std::string>& lines);
FRowDsptr readRowOfDoubles(std::string& line);
FColDsptr readColumnOfDoubles(std::string& line);

4
MbDCode/ASMTItemIJ.cpp
View File

@@ -18,12 +18,12 @@ void MbD::ASMTItemIJ::initialize()
tzs = std::make_shared<FullRow<double>>();
}
void MbD::ASMTItemIJ::setMarkerI(std::string& mkrI)
void MbD::ASMTItemIJ::setMarkerI(std::string mkrI)
{
markerI = mkrI;
}
void MbD::ASMTItemIJ::setMarkerJ(std::string& mkrJ)
void MbD::ASMTItemIJ::setMarkerJ(std::string mkrJ)
{
markerJ = mkrJ;
}

4
MbDCode/ASMTItemIJ.h
View File

@@ -16,8 +16,8 @@ namespace MbD {
//
public:
void initialize() override;
void setMarkerI(std::string& mkrI);
void setMarkerJ(std::string& mkrJ);
void setMarkerI(std::string mkrI);
void setMarkerJ(std::string mkrJ);
void readMarkerI(std::vector<std::string>& lines);
void readMarkerJ(std::vector<std::string>& lines);
void readFXonIs(std::vector<std::string>& lines);

6
MbDCode/ASMTPrincipalMassMarker.cpp
View File

@@ -66,3 +66,9 @@ void MbD::ASMTPrincipalMassMarker::setMomentOfInertias(DiagMatDsptr mat)
{
momentOfInertias = mat;
}
// Overloads to simplify syntax.
void MbD::ASMTPrincipalMassMarker::setMomentOfInertias(double a, double b, double c)
{
momentOfInertias = std::make_shared<DiagonalMatrix<double>>(ListD{ a, b, c });
}

3
MbDCode/ASMTPrincipalMassMarker.h
View File

@@ -20,6 +20,9 @@ namespace MbD {
void setDensity(double density);
void setMomentOfInertias(DiagMatDsptr momentOfInertias);
// Overloads to simplify syntax.
void setMomentOfInertias(double a, double b, double c);
double mass, density;
DiagMatDsptr momentOfInertias;

4
MbDCode/ASMTRotationalMotion.cpp
View File

@@ -67,12 +67,12 @@ std::shared_ptr<Joint> MbD::ASMTRotationalMotion::mbdClassNew()
return CREATE<ZRotation>::With();
}
void MbD::ASMTRotationalMotion::setMotionJoint(std::string& str)
void MbD::ASMTRotationalMotion::setMotionJoint(std::string str)
{
motionJoint = str;
}
void MbD::ASMTRotationalMotion::setRotationZ(std::string& rotZ)
void MbD::ASMTRotationalMotion::setRotationZ(std::string rotZ)
{
rotationZ = rotZ;
}

4
MbDCode/ASMTRotationalMotion.h
View File

@@ -22,8 +22,8 @@ namespace MbD {
void initMarkers() override;
void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
std::shared_ptr<Joint> mbdClassNew() override;
void setMotionJoint(std::string& motionJoint);
void setRotationZ(std::string& rotZ);
void setMotionJoint(std::string motionJoint);
void setRotationZ(std::string rotZ);
std::string motionJoint, rotationZ;
};

28
MbDCode/ASMTSpatialItem.cpp
View File

@@ -85,3 +85,31 @@ void MbD::ASMTSpatialItem::readOmega3D(std::vector<std::string>& lines)
}
lines.erase(lines.begin());
}
// Overloads to simplify syntax.
void MbD::ASMTSpatialItem::setPosition3D(double a, double b, double c)
{
position3D = std::make_shared<FullColumn<double>>(ListD{ a, b, c });
}
void MbD::ASMTSpatialItem::setVelocity3D(double a, double b, double c)
{
velocity3D = std::make_shared<FullColumn<double>>(ListD{ a, b, c });
}
void MbD::ASMTSpatialItem::setOmega3D(double a, double b, double c)
{
omega3D = std::make_shared<FullColumn<double>>(ListD{ a, b, c });
}
void MbD::ASMTSpatialItem::setRotationMatrix(double v11, double v12, double v13,
double v21, double v22, double v23,
double v31, double v32, double v33)
{
rotationMatrix = std::make_shared<FullMatrix<double>>(ListListD{
{ v11, v12, v13 },
{ v21, v22, v23 },
{ v31, v32, v33 }
});
}

7
MbDCode/ASMTSpatialItem.h
View File

@@ -33,6 +33,13 @@ namespace MbD {
{ 0, 0, 1 }
});
// Overloads to simplify syntax.
void setPosition3D(double a, double b, double c);
void setVelocity3D(double a, double b, double c);
void setOmega3D(double a, double b, double c);
void setRotationMatrix(double v11, double v12, double v13,
double v21, double v22, double v23,
double v31, double v32, double v33);
};
}