second good build. Joints

MbDCode/PartFrame.cpp.bak

@@ -0,0 +1,52 @@
+#include "Part.h"
+#include "PartFrame.h"
+#include "EulerConstraint.h"
+#include "AbsConstraint.h"
+#include "MarkerFrame.h"
+
+using namespace MbD;
+
+PartFrame::PartFrame()
+{
+	aGeu = std::make_shared<EulerConstraint>("EulerCon");
+	aGeu->setOwner(this);
+	aGabs = std::make_unique<std::vector<std::shared_ptr<AbsConstraint>>>();
+	markerFrames = std::make_unique<std::vector<std::shared_ptr<MarkerFrame>>>();
+}
+MbD::PartFrame::PartFrame(const char* str) : CartesianFrame(str)
+{
+}
+void MbD::PartFrame::initialize()
+{
+}
+void PartFrame::setqX(FullColDptr x) {
+	qX->copy(x);
+}
+FullColDptr PartFrame::getqX() {
+	return qX;
+}
+void PartFrame::setqE(FullColDptr x) {
+	qE->copy(x);
+}
+FullColDptr PartFrame::getqE() {
+	return qE;
+}
+void PartFrame::setPart(Part* x) {
+	part = x;
+}
+Part* PartFrame::getPart() {
+	return part;
+}
+
+void PartFrame::addMarkerFrame(std::shared_ptr<MarkerFrame> markerFrame)
+{
+	markerFrames->push_back(markerFrame);
+}
+
+std::shared_ptr<EndFramec> PartFrame::endFrame(std::string name)
+{
+	auto match = std::find_if(markerFrames->begin(), markerFrames->end(), [&](std::shared_ptr<MarkerFrame> mkr) {return mkr->endFrames->at(0)->getName() == name; });
+	//auto match = std::find_if(markerFrames->begin(), markerFrames->end(), [&](std::shared_ptr<MarkerFrame> mkr) {return mkr->getName() == name; });
+
+	return (*match)->endFrames->at(0);
+}