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Mb dyn half sine and cosine (#42)

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* (int) added

* size_t count

* add files

* MBDyn new joints, sine, cosine

* CompoundJoints debugged
This commit is contained in:
aiksiongkoh
2023-12-13 07:52:16 -07:00
committed by GitHub
parent 87ed8700e2
commit de8759384c
101 changed files with 7993 additions and 625 deletions
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4
OndselSolver/ASMTSpatialContainer.cpp
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@@ -333,7 +333,7 @@ void MbD::ASMTSpatialContainer::updateFromMbD()
auto mbdPart = std::static_pointer_cast<Part>(mbdObject);
auto rOcmO = mbdPart->qX()->times(mbdUnts->length);
auto aAOp = mbdPart->aAOp();
std::cout << "aAOp" << *aAOp << std::endl;
//std::cout << "aAOp" << *aAOp << std::endl;
auto vOcmO = mbdPart->qXdot()->times(mbdUnts->velocity);
auto omeOPO = mbdPart->omeOpO()->times(mbdUnts->omega);
omega3D = omeOPO;
@@ -356,7 +356,7 @@ void MbD::ASMTSpatialContainer::updateFromMbD()
bryxs->push_back(bryantAngles->at(0));
bryys->push_back(bryantAngles->at(1));
bryzs->push_back(bryantAngles->at(2));
std::cout << "bry " << *bryantAngles << std::endl;
//std::cout << "bry " << *bryantAngles << std::endl;
vxs->push_back(vOPO->at(0));
vys->push_back(vOPO->at(1));
vzs->push_back(vOPO->at(2));