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MatrixSolver::solvewithsaveOriginal

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This commit is contained in:
Aik-Siong Koh
2023-06-03 13:51:16 -06:00
parent 8c3f9e58c6
commit d848450907
168 changed files with 1730 additions and 329 deletions
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76
MbDCode/PartFrame.cpp
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@@ -27,16 +27,16 @@ void PartFrame::initialize()
void PartFrame::initializeLocally()
{
std::for_each(markerFrames->begin(), markerFrames->end(), [](const auto& markerFrame) { markerFrame->initializeLocally(); });
markerFramesDo([](std::shared_ptr<MarkerFrame> markerFrame) { markerFrame->initializeLocally(); });
aGeu->initializeLocally();
aGabsDo([](const auto& aGab) { aGab->initializeLocally(); });
aGabsDo([](std::shared_ptr<Constraint> aGab) { aGab->initializeLocally(); });
}
void PartFrame::initializeGlobally()
{
std::for_each(markerFrames->begin(), markerFrames->end(), [](const auto& markerFrame) { markerFrame->initializeGlobally(); });
markerFramesDo([](std::shared_ptr<MarkerFrame> markerFrame) { markerFrame->initializeGlobally(); });
aGeu->initializeGlobally();
aGabsDo([](const auto& aGab) { aGab->initializeGlobally(); });
aGabsDo([](std::shared_ptr<Constraint> aGab) { aGab->initializeGlobally(); });
}
void PartFrame::setqX(FColDsptr x) {
qX->copyFrom(x);
@@ -95,14 +95,19 @@ void MbD::PartFrame::aGabsDo(const std::function<void(std::shared_ptr<AbsConstra
std::for_each(aGabs->begin(), aGabs->end(), f);
}
void MbD::PartFrame::markerFramesDo(const std::function<void(std::shared_ptr<MarkerFrame>)>& f)
{
std::for_each(markerFrames->begin(), markerFrames->end(), f);
}
void MbD::PartFrame::prePosIC()
{
//iqX = -1;
//iqE = -1;
//super prePosIC.
//markerFrames do : [:mkr | mkr prePosIC] .
//aGeu prePosIC.
//aGabs do : [:con | con prePosIC]
iqX = -1;
iqE = -1;
Item::prePosIC();
markerFramesDo([](std::shared_ptr<MarkerFrame> markerFrm) { markerFrm->prePosIC(); });
aGeu->prePosIC();
aGabsDo([](std::shared_ptr<Constraint> aGab) { aGab->prePosIC(); });
}
FColDsptr MbD::PartFrame::rOpO()
@@ -123,7 +128,52 @@ FColFMatDsptr MbD::PartFrame::pAOppE()
void MbD::PartFrame::fillEssenConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essenConstraints)
{
aGeu->fillEssenConstraints(aGeu, essenConstraints);
aGabsDo([&](const auto& con) { con->fillEssenConstraints(con, essenConstraints); });
aGabsDo([&](std::shared_ptr<Constraint> con) { con->fillEssenConstraints(con, essenConstraints); });
}
void MbD::PartFrame::fillqsu(FColDsptr col)
{
col->atiputFullColumn(iqX, qX);
col->atiputFullColumn(iqE, qE);
markerFramesDo([&](std::shared_ptr<MarkerFrame> markerFrame) { markerFrame->fillqsu(col); });
}
void MbD::PartFrame::fillqsuWeights(std::shared_ptr<DiagonalMatrix<double>> diagMat)
{
markerFramesDo([&](std::shared_ptr<MarkerFrame> markerFrame) { markerFrame->fillqsuWeights(diagMat); });
}
void MbD::PartFrame::fillqsulam(FColDsptr col)
{
col->atiputFullColumn(iqX, qX);
col->atiputFullColumn(iqE, qE);
markerFramesDo([&](std::shared_ptr<MarkerFrame> markerFrame) { markerFrame->fillqsulam(col); });
aGeu->fillqsulam(col);
aGabsDo([&](std::shared_ptr<Constraint> con) { con->fillqsulam(col); });
}
void MbD::PartFrame::useEquationNumbers()
{
markerFramesDo([](std::shared_ptr<MarkerFrame> markerFrame) { markerFrame->useEquationNumbers(); });
aGeu->useEquationNumbers();
aGabsDo([](std::shared_ptr<Constraint> con) { con->useEquationNumbers(); });
}
void MbD::PartFrame::setqsulam(FColDsptr col)
{
qX->equalFullColumnAt(col, iqX);
qE->equalFullColumnAt(col, iqE);
markerFramesDo([&](std::shared_ptr<MarkerFrame> markerFrame) { markerFrame->setqsulam(col); });
aGeu->setqsulam(col);
aGabsDo([&](std::shared_ptr<Constraint> con) { con->setqsulam(col); });
}
void MbD::PartFrame::postPosICIteration()
{
Item::postPosICIteration();
markerFramesDo([](std::shared_ptr<MarkerFrame> markerFrame) { markerFrame->postPosICIteration(); });
aGeu->postPosICIteration();
aGabsDo([](std::shared_ptr<Constraint> con) { con->postPosICIteration(); });
}
void PartFrame::asFixed()
@@ -140,9 +190,9 @@ void MbD::PartFrame::postInput()
//qXddot = std::make_shared<FullColumn<double>>(3, 0.0);
//qEddot = std::make_shared<FullColumn<double>>(4, 0.0);
Item::postInput();
std::for_each(markerFrames->begin(), markerFrames->end(), [](const auto& markerFrame) { markerFrame->postInput(); });
markerFramesDo([](std::shared_ptr<MarkerFrame> markerFrame) { markerFrame->postInput(); });
aGeu->postInput();
aGabsDo([](const auto& aGab) { aGab->postInput(); });
aGabsDo([](std::shared_ptr<Constraint> aGab) { aGab->postInput(); });
}
void MbD::PartFrame::calcPostDynCorrectorIteration()