constraintSpecs and constraintSpec and clean up.

OndselSolver/AbsConstraint.cpp

@@ -35,6 +35,11 @@ void AbsConstraint::useEquationNumbers()
     iqXminusOnePlusAxis = static_cast<PartFrame*>(owner)->iqX + axis;
 }
 
+std::string MbD::AbsConstraint::constraintSpec()
+{
+    return "AbsConstraint" + MbDMath::XYZFromInt(axis);
+}
+
 void AbsConstraint::fillPosICJacob(SpMatDsptr mat)
 {
     mat->atijplusNumber(iG, iqXminusOnePlusAxis, 1.0);

OndselSolver/AbsConstraint.h

@@ -27,6 +27,7 @@ namespace MbD {
 		void fillPosKineJacob(SpMatDsptr mat) override;
 		void fillVelICJacob(SpMatDsptr mat) override;
 		void useEquationNumbers() override;
+		std::string constraintSpec() override;
 
 		size_t axis = SIZE_MAX;
 		size_t iqXminusOnePlusAxis = SIZE_MAX;

OndselSolver/AllowZRotationConstraintIqctJqc.cpp

@@ -52,3 +52,8 @@ void MbD::AllowZRotationConstraintIqctJqc::postPosIC()
 	//self becomeRedundantConstraint
 	assert(false);
 }
+
+std::string MbD::AllowZRotationConstraintIqctJqc::constraintSpec()
+{
+	return "AllowZRotationConstraintIJ";
+}

OndselSolver/AllowZRotationConstraintIqctJqc.h

@@ -20,6 +20,7 @@ namespace MbD {
 
         void postInput() override;
         void postPosIC() override;
+        std::string constraintSpec() override;
 
     };
 }

OndselSolver/AngleJoint.cpp

@@ -25,7 +25,7 @@ void MbD::AngleJoint::initializeGlobally()
 {
 	if (constraints->empty())
 	{
-		auto dirCosIzJz = CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 2);
+		auto dirCosIzJz = CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 2);
 		dirCosIzJz->setConstant(std::cos(theIzJz));
 		addConstraint(dirCosIzJz);
 		this->root()->hasChanged = true;

OndselSolver/AngleZConstraintIJ.cpp

@@ -92,3 +92,8 @@ ConstraintType MbD::AngleZConstraintIJ::type()
 {
 	return essential;
 }
+
+std::string MbD::AngleZConstraintIJ::constraintSpec()
+{
+	return "AngleZConstraintIJ";
+}

OndselSolver/AngleZConstraintIJ.h

@@ -32,6 +32,7 @@ namespace MbD {
         void preVelIC() override;
         void simUpdateAll() override;
         ConstraintType type() override;
+        std::string constraintSpec() override;
 
         std::shared_ptr<AngleZIecJec> thezIeJe;
     };

OndselSolver/AngleZConstraintIqcJqc.cpp

@@ -91,3 +91,8 @@ void MbD::AngleZConstraintIqcJqc::useEquationNumbers()
 	auto frmJeqc = std::static_pointer_cast<EndFrameqc>(frmJ);
 	iqEJ = frmJeqc->iqE();
 }
+
+std::string MbD::AngleZConstraintIqcJqc::constraintSpec()
+{
+	return "AngleZConstraintIJ";
+}

OndselSolver/AngleZConstraintIqcJqc.h

@@ -30,6 +30,7 @@ namespace MbD {
 		void fillPosKineJacob(SpMatDsptr mat) override;
 		void fillVelICJacob(SpMatDsptr mat) override;
 		void useEquationNumbers() override;
+		std::string constraintSpec() override;
 
 		FRowDsptr pGpEJ;
 		FMatDsptr ppGpEIpEJ, ppGpEJpEJ;

OndselSolver/AtPointConstraintIJ.h

@@ -30,7 +30,6 @@ namespace MbD {
         void prePosIC() override;
         void preVelIC() override;
         ConstraintType type() override;
-        
 
         size_t axis;
         std::shared_ptr<DispCompIecJecO> riIeJeO;

OndselSolver/AtPointConstraintIqcJqc.cpp

@@ -43,6 +43,11 @@ void AtPointConstraintIqcJqc::useEquationNumbers()
 	iqEJ = frmJeqc->iqE();
 }
 
+std::string MbD::AtPointConstraintIqcJqc::constraintSpec()
+{
+	return "AtPointConstraintIJ" + MbDMath::XYZFromInt(axis);
+}
+
 void AtPointConstraintIqcJqc::fillPosICError(FColDsptr col)
 {
 	AtPointConstraintIqcJc::fillPosICError(col);

OndselSolver/AtPointConstraintIqcJqc.h

@@ -28,6 +28,7 @@ namespace MbD {
         void fillPosKineJacob(SpMatDsptr mat) override;
         void fillVelICJacob(SpMatDsptr mat) override;
         void useEquationNumbers() override;
+        std::string constraintSpec() override;
 
         FRowDsptr pGpEJ;
         FMatDsptr ppGpEJpEJ;

OndselSolver/AtPointConstraintIqctJqc.cpp

@@ -41,6 +41,11 @@ ConstraintType AtPointConstraintIqctJqc::type()
 	return essential;
 }
 
+std::string MbD::AtPointConstraintIqctJqc::constraintSpec()
+{
+	return AtPointConstraintIqcJqc::constraintSpec();
+}
+
 void AtPointConstraintIqctJqc::preVelIC()
 {
 	AtPointConstraintIqcJqc::preVelIC();

OndselSolver/AtPointConstraintIqctJqc.h

@@ -25,6 +25,7 @@ namespace MbD {
         void preAccIC() override;
         void preVelIC() override;
         ConstraintType type() override;
+        std::string constraintSpec() override;
 
         double pGpt;
         FRowDsptr ppGpEIpt;

OndselSolver/AtPointJoint.cpp

@@ -20,9 +20,23 @@ MbD::AtPointJoint::AtPointJoint(const std::string& str) : Joint(str)
 {
 }
 
+std::shared_ptr<AtPointJoint> MbD::AtPointJoint::With()
+{
+	auto inst = std::make_shared<AtPointJoint>();
+	inst->initialize();
+	return inst;
+}
+
+std::shared_ptr<AtPointJoint> MbD::AtPointJoint::With(const char* str)
+{
+	auto inst = std::make_shared<AtPointJoint>(str);
+	inst->initialize();
+	return inst;
+}
+
 void MbD::AtPointJoint::createAtPointConstraints()
 {
-	addConstraint(CREATE<AtPointConstraintIJ>::ConstraintWith(frmI, frmJ, 0));
-	addConstraint(CREATE<AtPointConstraintIJ>::ConstraintWith(frmI, frmJ, 1));
-	addConstraint(CREATE<AtPointConstraintIJ>::ConstraintWith(frmI, frmJ, 2));
+	addConstraint(CREATE<AtPointConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 0));
+	addConstraint(CREATE<AtPointConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 1));
+	addConstraint(CREATE<AtPointConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2));
 }

OndselSolver/AtPointJoint.h

@@ -17,6 +17,8 @@ namespace MbD {
     public:
         AtPointJoint();
         AtPointJoint(const std::string& str);
+        static std::shared_ptr<AtPointJoint> With();
+        static std::shared_ptr<AtPointJoint> With(const char* str);
 
         void createAtPointConstraints();
 

OndselSolver/CADSystem.cpp

@@ -5,7 +5,7 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+
 #include <string>
 #include <iostream>
 
@@ -595,6 +595,18 @@ void CADSystem::runOndselPiston()
 	TheSystem->addJoint(rotMotion1);
 	//
 	TheSystem->runKINEMATIC(TheSystem);
+	str = "";
+	TheSystem->jointsMotionsDo([&](std::shared_ptr<Joint> jm) {
+		str += jm->constraintSpecs();
+		});
+	str = "";
+	TheSystem->jointsMotionsDo([&](std::shared_ptr<Joint> jm) {
+		str += jm->name + " constraints\n";
+		jm->constraintsDo([&](std::shared_ptr<Constraint> con) {
+			str += "    " + con->constraintSpec() + "\n";
+			});
+		});
+	std::cout << str << std::endl;
 }
 
 void CADSystem::runPiston()

OndselSolver/CREATE.h

@@ -70,8 +70,8 @@ namespace MbD {
 		}
 		static std::shared_ptr<Constraint> ConstraintWith(std::shared_ptr<EndFramec> frmi, std::shared_ptr<EndFramec> frmj, size_t axis) {
 			std::shared_ptr<Constraint> inst;
-			std::string str = typeid(T(frmi, frmj, axis)).name();
-			if (str.find("AtPointConstraintIJ") != std::string::npos) {
+			std::string str = typeid(T).name();
+			if (str.find("AtPointConstraintIqcJqc") != std::string::npos) {
 				if (std::dynamic_pointer_cast<EndFrameqct>(frmi)) {
 					inst = std::make_shared<AtPointConstraintIqctJqc>(frmi, frmj, axis);
 				}
@@ -79,7 +79,7 @@ namespace MbD {
 					inst = std::make_shared<AtPointConstraintIqcJqc>(frmi, frmj, axis);
 				}
 			}
-			else if(str.find("TranslationConstraintIJ") != std::string::npos) {
+			else if(str.find("TranslationConstraintIqcJqc") != std::string::npos) {
 				if (std::dynamic_pointer_cast<EndFrameqct>(frmi)) {
 					inst = std::make_shared<TranslationConstraintIqctJqc>(frmi, frmj, axis);
 				}
@@ -97,8 +97,8 @@ namespace MbD {
 		}
 		static std::shared_ptr<Constraint> ConstraintWith(std::shared_ptr<EndFramec> frmi, std::shared_ptr<EndFramec> frmj, size_t axisi, size_t axisj) {
 			std::shared_ptr<Constraint> inst;
-			std::string str = typeid(T(frmi, frmj, axisi, axisj)).name();
-			if (str.find("DirectionCosineConstraintIJ") != std::string::npos) {
+			std::string str = typeid(T).name();
+			if (str.find("DirectionCosineConstraintIqcJqc") != std::string::npos) {
 				if (std::dynamic_pointer_cast<EndFrameqct>(frmi)) {
 					inst = std::make_shared<DirectionCosineConstraintIqctJqc>(frmi, frmj, axisi, axisj);
 				}

OndselSolver/ConstVelConstraintIqcJqc.cpp

@@ -130,3 +130,8 @@ void MbD::ConstVelConstraintIqcJqc::useEquationNumbers()
 	ConstVelConstraintIqcJc::useEquationNumbers();
 	iqEJ = std::static_pointer_cast<EndFrameqc>(frmJ)->iqE();
 }
+
+std::string MbD::ConstVelConstraintIqcJqc::constraintSpec()
+{
+	return "ConstVelConstraintIJ";
+}

OndselSolver/ConstVelConstraintIqcJqc.h

@@ -29,6 +29,7 @@ namespace MbD {
         void initA10IeJe() override;
         void initialize() override;
         void useEquationNumbers() override;
+        std::string constraintSpec() override;
 
         FRowDsptr pGpEJ;
         FMatDsptr ppGpEIpEJ;

OndselSolver/Constraint.h

@@ -53,6 +53,7 @@ namespace MbD {
 		void setqsuddotlam(FColDsptr col) override;
 		void setqsulam(FColDsptr col) override;
 		virtual ConstraintType type();
+		virtual std::string constraintSpec() = 0;
 		
 		size_t iG = SIZE_MAX;
 		double aG = 0.0;		//Constraint function

OndselSolver/ConstraintSet.cpp

@@ -94,6 +94,15 @@ void MbD::ConstraintSet::useEquationNumbers()
 	constraintsDo([](std::shared_ptr<Constraint> constraint) { constraint->useEquationNumbers(); });
 }
 
+std::string MbD::ConstraintSet::constraintSpecs()
+{
+	std::stringstream ss;
+	constraintsDo([&](std::shared_ptr<Constraint> con) {
+		ss << con->constraintSpec() << std::endl;
+		});
+	return ss.str();
+}
+
 void MbD::ConstraintSet::setqsulam(FColDsptr col)
 {
 	constraintsDo([&](std::shared_ptr<Constraint> con) { con->setqsulam(col); });

OndselSolver/ConstraintSet.h

@@ -53,7 +53,7 @@ namespace MbD {
 		void setqsudotlam(FColDsptr col) override;
 		void setqsulam(FColDsptr col) override;
 		void useEquationNumbers() override;
-
+		std::string constraintSpecs();
 
 		std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> constraints;
 

OndselSolver/CylindricalJoint.cpp

@@ -27,8 +27,8 @@ void CylindricalJoint::initializeGlobally()
 	if (constraints->empty())
 	{
 		createInLineConstraints();
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 0));
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 1));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 0));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 1));
 		this->root()->hasChanged = true;
 	}
 	else {

OndselSolver/DirectionCosineConstraintIqcJqc.cpp

@@ -38,6 +38,11 @@ void DirectionCosineConstraintIqcJqc::useEquationNumbers()
 	iqEJ = std::static_pointer_cast<EndFrameqc>(frmJ)->iqE();
 }
 
+std::string MbD::DirectionCosineConstraintIqcJqc::constraintSpec()
+{
+	return "DirectionCosineConstraintI" + MbDMath::xyzFromInt(axisI) + "J" + MbDMath::xyzFromInt(axisJ);
+}
+
 void DirectionCosineConstraintIqcJqc::fillPosICError(FColDsptr col)
 {
 	DirectionCosineConstraintIqcJc::fillPosICError(col);

OndselSolver/DirectionCosineConstraintIqcJqc.h

@@ -27,6 +27,7 @@ namespace MbD {
         void fillVelICJacob(SpMatDsptr mat) override;
         void initaAijIeJe() override;
         void useEquationNumbers() override;
+        std::string constraintSpec() override;
 
         FRowDsptr pGpEJ;
         FMatDsptr ppGpEIpEJ;

OndselSolver/DirectionCosineConstraintIqctJqc.cpp

@@ -27,6 +27,11 @@ ConstraintType DirectionCosineConstraintIqctJqc::type()
 	return essential;
 }
 
+std::string MbD::DirectionCosineConstraintIqctJqc::constraintSpec()
+{
+	return DirectionCosineConstraintIqcJqc::constraintSpec();
+}
+
 void DirectionCosineConstraintIqctJqc::preVelIC()
 {
 	DirectionCosineConstraintIJ::preVelIC();

OndselSolver/DirectionCosineConstraintIqctJqc.h

@@ -23,6 +23,7 @@ namespace MbD {
 		void preAccIC() override;
 		void preVelIC() override;
 		ConstraintType type() override;
+		std::string constraintSpec() override;
 
 		double pGpt = std::numeric_limits<double>::min();
 		FRowDsptr ppGpEIpt;

OndselSolver/DistanceConstraintIqcJc.h

@@ -30,7 +30,8 @@ namespace MbD {
 
         FRowDsptr pGpXI, pGpEI;
         FMatDsptr ppGpXIpXI, ppGpXIpEI, ppGpEIpEI;
-        size_t iqXI, iqEI;
+        size_t iqXI = SIZE_MAX, iqEI = SIZE_MAX;
+
     };
 }
 

OndselSolver/DistanceConstraintIqcJqc.cpp

@@ -116,3 +116,8 @@ void MbD::DistanceConstraintIqcJqc::useEquationNumbers()
 	iqXJ = frmJeqc->iqX();
 	iqEJ = frmJeqc->iqE();
 }
+
+std::string MbD::DistanceConstraintIqcJqc::constraintSpec()
+{
+	return "DistanceConstraintIJ";
+}

OndselSolver/DistanceConstraintIqcJqc.h

@@ -25,10 +25,11 @@ namespace MbD {
         void fillVelICJacob(SpMatDsptr mat) override;
         void init_distIeJe() override;
         void useEquationNumbers() override;
+        std::string constraintSpec() override;
 
         FRowDsptr pGpXJ, pGpEJ;
         FMatDsptr ppGpXIpXJ, ppGpEIpXJ, ppGpXJpXJ, ppGpXIpEJ, ppGpEIpEJ, ppGpXJpEJ, ppGpEJpEJ;
-        size_t iqXJ, iqEJ;
+        size_t iqXJ = SIZE_MAX, iqEJ = SIZE_MAX;
     };
 }
 

OndselSolver/DistanceConstraintIqctJqc.cpp

@@ -19,3 +19,8 @@ ConstraintType MbD::DistanceConstraintIqctJqc::type()
 {
 	return essential;
 }
+
+std::string MbD::DistanceConstraintIqctJqc::constraintSpec()
+{
+	return DistanceConstraintIqcJqc::constraintSpec();
+}

OndselSolver/DistanceConstraintIqctJqc.h

@@ -17,6 +17,7 @@ namespace MbD {
     public:
         DistanceConstraintIqctJqc(EndFrmsptr frmi, EndFrmsptr frmj);
         ConstraintType type() override;
+        std::string constraintSpec() override;
 
         double pGpt, ppGptpt;
         FRowDsptr ppGpXIpt, ppGpEIpt, ppGpXJpt, ppGpEJpt;

OndselSolver/DistancexyConstraintIqcJc.h

@@ -36,7 +36,7 @@ namespace MbD {
 
 		FRowDsptr pGpXI, pGpEI;
 		FMatDsptr ppGpXIpXI, ppGpXIpEI, ppGpEIpEI;
-		size_t iqXI, iqEI;
+		size_t iqXI = SIZE_MAX, iqEI = SIZE_MAX;
 	};
 }
 

OndselSolver/DistancexyConstraintIqcJqc.cpp

@@ -192,3 +192,8 @@ void MbD::DistancexyConstraintIqcJqc::useEquationNumbers()
 	iqXJ = frmJeqc->iqX();
 	iqEJ = frmJeqc->iqE();
 }
+
+std::string MbD::DistancexyConstraintIqcJqc::constraintSpec()
+{
+	return "DistancexyConstraintIJ";
+}

OndselSolver/DistancexyConstraintIqcJqc.h

@@ -34,10 +34,11 @@ namespace MbD {
 		void fillVelICJacob(SpMatDsptr mat) override;
 		void init_xyIeJeIe() override;
 		void useEquationNumbers() override;
+		std::string constraintSpec() override;
 
 		FRowDsptr pGpXJ, pGpEJ;
 		FMatDsptr ppGpXIpXJ, ppGpEIpXJ, ppGpXJpXJ, ppGpXIpEJ, ppGpEIpEJ, ppGpXJpEJ, ppGpEJpEJ;
-		size_t iqXJ, iqEJ;
+		size_t iqXJ = SIZE_MAX, iqEJ = SIZE_MAX;
 	};
 }
 

OndselSolver/EulerConstraint.cpp

@@ -83,3 +83,8 @@ void EulerConstraint::fillAccICIterError(FColDsptr col)
 	sum += 2.0 * partFrame->qEdot->sumOfSquares();
 	col->atiplusNumber(iG, sum);
 }
+
+std::string MbD::EulerConstraint::constraintSpec()
+{
+	return "EulerConstraint";
+}

OndselSolver/EulerConstraint.h

@@ -30,6 +30,7 @@ namespace MbD {
 		void fillPosKineJacob(SpMatDsptr mat) override;
 		void fillVelICJacob(SpMatDsptr mat) override;
 		void fillAccICIterError(FColDsptr col) override;
+		std::string constraintSpec() override;
 
 		FRowDsptr pGpE;		//partial derivative of G wrt pE
 		size_t iqE = SIZE_MAX;

OndselSolver/FixedJoint.cpp

@@ -25,9 +25,9 @@ void MbD::FixedJoint::initializeGlobally()
 	if (constraints->empty())
 	{
 		createAtPointConstraints();
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 1, 0));
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 0));
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 1));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 1, 0));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 0));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 1));
 		this->root()->hasChanged = true;
 	}
 	else {

OndselSolver/FullMotion.cpp

@@ -16,7 +16,7 @@ MbD::FullMotion::FullMotion()
 {
 }
 
-MbD::FullMotion::FullMotion(const std::string&)
+MbD::FullMotion::FullMotion(const std::string& str) : PrescribedMotion(str)
 {
 }
 
@@ -30,12 +30,12 @@ void MbD::FullMotion::initializeGlobally()
 {
 	if (constraints->empty()) {
 		initMotions();
-		addConstraint(CREATE<TranslationConstraintIJ>::ConstraintWith(frmI, frmJ, 0));
-		addConstraint(CREATE<TranslationConstraintIJ>::ConstraintWith(frmI, frmJ, 1));
-		addConstraint(CREATE<TranslationConstraintIJ>::ConstraintWith(frmI, frmJ, 2));
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 1, 0));
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 0));
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 1));
+		addConstraint(CREATE<TranslationConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 0));
+		addConstraint(CREATE<TranslationConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 1));
+		addConstraint(CREATE<TranslationConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 1, 0));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 0));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 1));
 		this->root()->hasChanged = true;
 	}
 	else {

OndselSolver/GearConstraintIqcJqc.cpp

@@ -162,3 +162,8 @@ void MbD::GearConstraintIqcJqc::useEquationNumbers()
 	iqXJ = frmJeqc->iqX();
 	iqEJ = frmJeqc->iqE();
 }
+
+std::string MbD::GearConstraintIqcJqc::constraintSpec()
+{
+	return "GearConstraintIJ";
+}

OndselSolver/GearConstraintIqcJqc.h

@@ -34,6 +34,7 @@ namespace MbD {
 		void fillVelICJacob(SpMatDsptr mat) override;
 		void initorbitsIJ() override;
 		void useEquationNumbers() override;
+		std::string constraintSpec() override;
 
 		FRowDsptr pGpXJ, pGpEJ;
 		FMatDsptr ppGpXIpXJ, ppGpXIpEJ, ppGpEIpXJ, ppGpEIpEJ, ppGpXJpXJ, ppGpXJpEJ, ppGpEJpEJ;

OndselSolver/GearJoint.cpp

@@ -17,7 +17,7 @@ MbD::GearJoint::GearJoint()
 {
 }
 
-MbD::GearJoint::GearJoint(const std::string&)
+MbD::GearJoint::GearJoint(const std::string& str) : Joint(str)
 {
 }
 //

OndselSolver/InLineJoint.cpp

@@ -13,12 +13,12 @@ MbD::InLineJoint::InLineJoint()
 {
 }
 
-MbD::InLineJoint::InLineJoint(const std::string&)
+MbD::InLineJoint::InLineJoint(const std::string& str) : Joint(str)
 {
 }
 
 void MbD::InLineJoint::createInLineConstraints()
 {
-	addConstraint(CREATE<TranslationConstraintIJ>::ConstraintWith(frmI, frmJ, 0));
-	addConstraint(CREATE<TranslationConstraintIJ>::ConstraintWith(frmI, frmJ, 1));
+	addConstraint(CREATE<TranslationConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 0));
+	addConstraint(CREATE<TranslationConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 1));
 }

OndselSolver/InPlaneJoint.cpp

@@ -13,13 +13,13 @@ MbD::InPlaneJoint::InPlaneJoint()
 {
 }
 
-MbD::InPlaneJoint::InPlaneJoint(const std::string&)
+MbD::InPlaneJoint::InPlaneJoint(const std::string& str) : Joint(str)
 {
 }
 
 void MbD::InPlaneJoint::createInPlaneConstraint()
 {
-	auto tranCon = CREATE<TranslationConstraintIJ>::ConstraintWith(frmI, frmJ, 2);
+	auto tranCon = CREATE<TranslationConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2);
 	tranCon->setConstant(offset);
 	addConstraint(tranCon);
 }

OndselSolver/Joint.cpp

@@ -97,7 +97,7 @@ void Joint::constraintsReport()
 		std::string str = "MbD: " + this->classname() + std::string(" ") + this->name + " has the following constraint(s) removed: ";
 		this->logString(str);
 		std::for_each(redunCons->begin(), redunCons->end(), [&](auto& con) {
-			str = "MbD: " + std::string("    ") + con->classname();
+			str = "MbD: " + std::string("    ") + con->constraintSpec();
 			this->logString(str);
 			});
 	}

OndselSolver/LineInPlaneJoint.cpp

@@ -16,7 +16,7 @@ MbD::LineInPlaneJoint::LineInPlaneJoint()
 {
 }
 
-MbD::LineInPlaneJoint::LineInPlaneJoint(const std::string&)
+MbD::LineInPlaneJoint::LineInPlaneJoint(const std::string& str) : InPlaneJoint(str)
 {
 }
 
@@ -25,7 +25,7 @@ void MbD::LineInPlaneJoint::initializeGlobally()
 	if (constraints->empty())
 	{
 		this->createInPlaneConstraint();
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 2));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 2));
 		this->root()->hasChanged = true;
 	}
 	else {

OndselSolver/MbDMath.cpp

@@ -12,3 +12,31 @@ void MbD::MbDMath::noop()
 {
 	//No Operations
 }
+
+std::string MbD::MbDMath::xyzFromInt(int i)
+{
+	switch (i) {
+		case 0:
+			return "x";	
+		case 1:
+			return "y";
+		case 2:
+			return "z";
+		default:
+			return std::to_string(i);
+	}
+}
+
+std::string MbD::MbDMath::XYZFromInt(int i)
+{
+	switch (i) {
+	case 0:
+		return "X";
+	case 1:
+		return "Y";
+	case 2:
+		return "Z";
+	default:
+		return std::to_string(i);
+	}
+}

OndselSolver/MbDMath.h

@@ -7,13 +7,15 @@
  ***************************************************************************/
  
 #pragma once
+#include <string>
 
 namespace MbD {
 	class MbDMath
 	{
 	public:
 		void noop();
-
+		static std::string xyzFromInt(int i);
+		static std::string XYZFromInt(int i);
 	};
 }
 

OndselSolver/NoRotationJoint.cpp

@@ -17,7 +17,7 @@ MbD::NoRotationJoint::NoRotationJoint()
 {
 }
 
-MbD::NoRotationJoint::NoRotationJoint(const std::string&)
+MbD::NoRotationJoint::NoRotationJoint(const std::string& str) : Joint(str)
 {
 }
 
@@ -25,9 +25,9 @@ void MbD::NoRotationJoint::initializeGlobally()
 {
 	if (constraints->empty())
 	{
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 1, 0));
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 0));
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 1));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 1, 0));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 0));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 1));
 		this->root()->hasChanged = true;
 	}
 	else {

OndselSolver/Orientation.cpp

@@ -16,7 +16,7 @@ MbD::Orientation::Orientation()
 {
 }
 
-MbD::Orientation::Orientation(const std::string&)
+MbD::Orientation::Orientation(const std::string& str) : PrescribedMotion(str)
 {
 }
 
@@ -24,9 +24,9 @@ void MbD::Orientation::initializeGlobally()
 {
 	if (constraints->empty()) {
 		initMotions();
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 1, 0));
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 0));
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 1));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 1, 0));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 0));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 1));
 		this->root()->hasChanged = true;
 	}
 	else {

OndselSolver/ParallelAxesJoint.cpp

@@ -16,7 +16,7 @@ MbD::ParallelAxesJoint::ParallelAxesJoint()
 {
 }
 
-MbD::ParallelAxesJoint::ParallelAxesJoint(const std::string&)
+MbD::ParallelAxesJoint::ParallelAxesJoint(const std::string& str) : Joint(str)
 {
 }
 
@@ -24,8 +24,8 @@ void MbD::ParallelAxesJoint::initializeGlobally()
 {
 	if (constraints->empty())
 	{
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 0));
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 1));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 0));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 1));
 		this->root()->hasChanged = true;
 	}
 	else {

OndselSolver/PerpendicularJoint.cpp

@@ -16,7 +16,7 @@ MbD::PerpendicularJoint::PerpendicularJoint()
 {
 }
 
-MbD::PerpendicularJoint::PerpendicularJoint(const std::string&)
+MbD::PerpendicularJoint::PerpendicularJoint(const std::string& str) : Joint(str)
 {
 }
 
@@ -24,7 +24,7 @@ void MbD::PerpendicularJoint::initializeGlobally()
 {
 	if (constraints->empty())
 	{
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 2));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 2));
 		this->root()->hasChanged = true;
 	}
 	else {

OndselSolver/PlanarJoint.cpp

@@ -16,7 +16,7 @@ MbD::PlanarJoint::PlanarJoint()
 {
 }
 
-MbD::PlanarJoint::PlanarJoint(const std::string&)
+MbD::PlanarJoint::PlanarJoint(const std::string& str) : InPlaneJoint(str)
 {
 }
 
@@ -25,8 +25,8 @@ void MbD::PlanarJoint::initializeGlobally()
 	if (constraints->empty())
 	{
 		this->createInPlaneConstraint();
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 0));
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 1));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 0));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 1));
 		this->root()->hasChanged = true;
 	}
 	else {

OndselSolver/PointInPlaneJoint.cpp

@@ -15,7 +15,7 @@ MbD::PointInPlaneJoint::PointInPlaneJoint()
 {
 }
 
-MbD::PointInPlaneJoint::PointInPlaneJoint(const std::string&)
+MbD::PointInPlaneJoint::PointInPlaneJoint(const std::string& str) : InPlaneJoint(str)
 {
 }
 

OndselSolver/RackPinConstraintIqcJqc.cpp

@@ -141,3 +141,8 @@ void MbD::RackPinConstraintIqcJqc::useEquationNumbers()
 	iqXJ = frmJeqc->iqX();
 	iqEJ = frmJeqc->iqE();
 }
+
+std::string MbD::RackPinConstraintIqcJqc::constraintSpec()
+{
+	return "RackPinConstraintIJ";
+}

OndselSolver/RackPinConstraintIqcJqc.h

@@ -34,6 +34,7 @@ namespace MbD {
 		void fillVelICJacob(SpMatDsptr mat) override;
 		void init_xthez() override;
 		void useEquationNumbers() override;
+		std::string constraintSpec() override;
 
         FRowDsptr pGpXJ, pGpEJ;
         FMatDsptr ppGpEIpXJ, ppGpEIpEJ, ppGpEJpEJ;

OndselSolver/RedundantConstraint.cpp

@@ -5,7 +5,7 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+
 #include "RedundantConstraint.h"
 
 using namespace MbD;
@@ -112,3 +112,8 @@ void RedundantConstraint::discontinuityAtaddTypeTo(double, std::shared_ptr<std::
 	//newSelf discontinuityAt : tstartNew addTypeTo : collection.
 	//self become : newSelf
 }
+
+std::string MbD::RedundantConstraint::constraintSpec()
+{
+	return "RedundantConstraint" + constraint->constraintSpec();
+}

OndselSolver/RedundantConstraint.h

@@ -38,6 +38,7 @@ namespace MbD {
 		void fillAccICIterError(FColDsptr col) override;
 		void setqsuddotlam(FColDsptr col) override;
 		void discontinuityAtaddTypeTo(double t, std::shared_ptr<std::vector<DiscontinuityType>> disconTypes) override;
+		std::string constraintSpec() override;
 
 		std::shared_ptr<Constraint> constraint;
 	};

OndselSolver/RevCylJoint.cpp

@@ -28,8 +28,8 @@ void MbD::RevCylJoint::initializeGlobally()
 		auto distxyIJ = DistancexyConstraintIJ::With(frmI, frmJ);
 		distxyIJ->setConstant(distanceIJ);
 		addConstraint(distxyIJ);
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 0));
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 1));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 0));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 1));
 		this->root()->hasChanged = true;
 	}
 	else {

OndselSolver/RevRevJoint.cpp

@@ -28,9 +28,9 @@ void MbD::RevRevJoint::initializeGlobally()
 		auto distxyIJ = DistancexyConstraintIJ::With(frmI, frmJ);
 		distxyIJ->setConstant(distanceIJ);
 		addConstraint(distxyIJ);
-		addConstraint(CREATE<TranslationConstraintIJ>::ConstraintWith(frmI, frmJ, 2));
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 0));
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 1));
+		addConstraint(CREATE<TranslationConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 0));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 1));
 		this->root()->hasChanged = true;
 	}
 	else {

OndselSolver/RevoluteJoint.cpp

@@ -27,8 +27,8 @@ void RevoluteJoint::initializeGlobally()
 	if (constraints->empty())
 	{
 		createAtPointConstraints();
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 0));
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 1));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 0));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 1));
 		this->root()->hasChanged = true;
 	}
 	else {

OndselSolver/ScrewConstraintIqcJqc.cpp

@@ -143,3 +143,8 @@ void MbD::ScrewConstraintIqcJqc::useEquationNumbers()
 	iqXJ = frmJeqc->iqX();
 	iqEJ = frmJeqc->iqE();
 }
+
+std::string MbD::ScrewConstraintIqcJqc::constraintSpec()
+{
+	return "ScrewConstraintIJ";
+}

OndselSolver/ScrewConstraintIqcJqc.h

@@ -34,6 +34,7 @@ namespace MbD {
 		void fillVelICJacob(SpMatDsptr mat) override;
 		void init_zthez() override;
 		void useEquationNumbers() override;
+		std::string constraintSpec() override;
 
 		FRowDsptr pGpXJ, pGpEJ;
 		FMatDsptr ppGpEIpXJ, ppGpEIpEJ, ppGpEJpEJ;

OndselSolver/Translation.cpp

@@ -16,7 +16,7 @@ MbD::Translation::Translation()
 {
 }
 
-MbD::Translation::Translation(const std::string&)
+MbD::Translation::Translation(const std::string& str) : PrescribedMotion(str)
 {
 }
 
@@ -24,9 +24,9 @@ void MbD::Translation::initializeGlobally()
 {
 	if (constraints->empty()) {
 		initMotions();
-		addConstraint(CREATE<TranslationConstraintIJ>::ConstraintWith(frmI, frmJ, 0));
-		addConstraint(CREATE<TranslationConstraintIJ>::ConstraintWith(frmI, frmJ, 1));
-		addConstraint(CREATE<TranslationConstraintIJ>::ConstraintWith(frmI, frmJ, 2));
+		addConstraint(CREATE<TranslationConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 0));
+		addConstraint(CREATE<TranslationConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 1));
+		addConstraint(CREATE<TranslationConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2));
 		this->root()->hasChanged = true;
 	}
 	else {

OndselSolver/TranslationConstraintIqcJqc.cpp

@@ -41,6 +41,11 @@ void TranslationConstraintIqcJqc::useEquationNumbers()
 	iqEJ = frmJeqc->iqE();
 }
 
+std::string MbD::TranslationConstraintIqcJqc::constraintSpec()
+{
+	return "TranslationConstraintI" + MbDMath::xyzFromInt(axisI) + "J";
+}
+
 void TranslationConstraintIqcJqc::fillPosICError(FColDsptr col)
 {
 	TranslationConstraintIqcJc::fillPosICError(col);

OndselSolver/TranslationConstraintIqcJqc.h

@@ -27,6 +27,7 @@ namespace MbD {
         void fillPosKineJacob(SpMatDsptr mat) override;
         void fillVelICJacob(SpMatDsptr mat) override;
         void useEquationNumbers() override;
+        std::string constraintSpec() override;
 
         FRowDsptr pGpXJ, pGpEJ;
         FMatDsptr ppGpEIpXJ, ppGpEIpEJ, ppGpEJpEJ;

OndselSolver/TranslationConstraintIqctJqc.cpp

@@ -27,6 +27,11 @@ ConstraintType TranslationConstraintIqctJqc::type()
 	return essential;
 }
 
+std::string MbD::TranslationConstraintIqctJqc::constraintSpec()
+{
+	return TranslationConstraintIqcJqc::constraintSpec();
+}
+
 void TranslationConstraintIqctJqc::preVelIC()
 {
 	TranslationConstraintIJ::preVelIC();

OndselSolver/TranslationConstraintIqctJqc.h

@@ -23,6 +23,7 @@ namespace MbD {
         void preAccIC() override;
         void preVelIC() override;
         ConstraintType type() override;
+        std::string constraintSpec() override;
 
         double pGpt;
         FRowDsptr ppGpXIpt;

OndselSolver/TranslationalJoint.cpp

@@ -27,9 +27,9 @@ void MbD::TranslationalJoint::initializeGlobally()
 	if (constraints->empty())
 	{
 		createInLineConstraints();
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 1, 0));
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 0));
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 1));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 1, 0));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 0));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 1));
 		this->root()->hasChanged = true;
 	}
 	else {

OndselSolver/UniversalJoint.cpp

@@ -25,7 +25,7 @@ void MbD::UniversalJoint::initializeGlobally()
 	if (constraints->empty())
 	{
 		createAtPointConstraints();
-		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 2));
+		addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 2));
 		this->root()->hasChanged = true;
 	}
 	else {

OndselSolver/ZRotation.cpp

@@ -28,7 +28,7 @@ void ZRotation::initializeGlobally()
 {
 	if (constraints->empty()) {
 		initMotions();
-		auto dirCosCon = CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 1, 0);	//Use Iy and Jx to make sin(theta).
+		auto dirCosCon = CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 1, 0);	//Use Iy and Jx to make sin(theta).
 		addConstraint(dirCosCon);
 		this->root()->hasChanged = true;
 	}

OndselSolver/ZTranslation.cpp

@@ -16,7 +16,7 @@ MbD::ZTranslation::ZTranslation()
 {
 }
 
-MbD::ZTranslation::ZTranslation(const std::string&)
+MbD::ZTranslation::ZTranslation(const std::string& str) : PrescribedMotion(str)
 {
 }
 
@@ -24,7 +24,7 @@ void MbD::ZTranslation::initializeGlobally()
 {
 	if (constraints->empty()) {
 		initMotions();
-		auto tranCon = CREATE<TranslationConstraintIJ>::ConstraintWith(frmI, frmJ, 2);
+		auto tranCon = CREATE<TranslationConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2);
 		addConstraint(tranCon);
 		this->root()->hasChanged = true;
 	}