FullMatrix version are now all visible in lib. Now need FullColumn etc to work.
This commit is contained in:
John Dupuy
627
CMakeLists.txt
627
CMakeLists.txt
@@ -5,19 +5,301 @@ project(OndselSolver VERSION 1.0.1 DESCRIPTION "Assembly Constraints and Multibo
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED True)
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include(GNUInstallDirs)
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set(ONDSELSOLVER_HEADERS
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OndselSolver/AbsConstraint.h
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OndselSolver/Abs.h
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OndselSolver/AccICKineNewtonRaphson.h
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OndselSolver/AccICNewtonRaphson.h
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OndselSolver/AccKineNewtonRaphson.h
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OndselSolver/AccNewtonRaphson.h
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OndselSolver/AngleJoint.h
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OndselSolver/AngleZIecJec.h
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OndselSolver/AngleZIeqcJec.h
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OndselSolver/AngleZIeqcJeqc.h
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OndselSolver/AnyGeneralSpline.h
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OndselSolver/AnyPosICNewtonRaphson.h
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OndselSolver/APIExport.h
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OndselSolver/ArcSine.h
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OndselSolver/ArcTan2.h
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OndselSolver/ArcTan.h
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OndselSolver/Array.h
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OndselSolver/ASMTAnimationParameters.h
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OndselSolver/ASMTAssembly.h
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OndselSolver/ASMTConstantGravity.h
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OndselSolver/ASMTConstraintSet.h
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OndselSolver/ASMTCylindricalJoint.h
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OndselSolver/ASMTExtrusion.h
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OndselSolver/ASMTFixedJoint.h
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OndselSolver/ASMTForceTorque.h
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OndselSolver/ASMTGeneralMotion.h
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OndselSolver/ASMTItem.h
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OndselSolver/ASMTItemIJ.h
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OndselSolver/ASMTJoint.h
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OndselSolver/ASMTKinematicIJ.h
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OndselSolver/ASMTMarker.h
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OndselSolver/ASMTMotion.h
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OndselSolver/ASMTNoRotationJoint.h
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OndselSolver/ASMTPart.h
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OndselSolver/ASMTPointInLineJoint.h
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OndselSolver/ASMTPointInPlaneJoint.h
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OndselSolver/ASMTPrincipalMassMarker.h
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OndselSolver/ASMTRefCurve.h
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OndselSolver/ASMTRefItem.h
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OndselSolver/ASMTRefPoint.h
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OndselSolver/ASMTRefSurface.h
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OndselSolver/ASMTRevoluteJoint.h
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OndselSolver/ASMTRotationalMotion.h
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OndselSolver/ASMTSimulationParameters.h
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OndselSolver/ASMTSpatialContainer.h
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OndselSolver/ASMTSpatialItem.h
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OndselSolver/ASMTSphericalJoint.h
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OndselSolver/ASMTTime.h
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OndselSolver/ASMTTranslationalJoint.h
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OndselSolver/ASMTTranslationalMotion.h
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OndselSolver/ASMTUniversalJoint.h
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OndselSolver/AtPointConstraintIJ.h
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OndselSolver/AtPointConstraintIqcJc.h
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OndselSolver/AtPointConstraintIqcJqc.h
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OndselSolver/AtPointConstraintIqctJqc.h
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OndselSolver/AtPointJoint.h
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OndselSolver/BasicIntegrator.h
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OndselSolver/BasicQuasiIntegrator.h
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OndselSolver/BasicUserFunction.h
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OndselSolver/CADSystem.h
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OndselSolver/CartesianFrame.h
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OndselSolver/CompoundJoint.h
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OndselSolver/ConstantGravity.h
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OndselSolver/Constant.h
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OndselSolver/ConstantVelocityJoint.h
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OndselSolver/Constraint.h
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OndselSolver/ConstraintIJ.h
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OndselSolver/ConstVelConstraintIJ.h
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OndselSolver/ConstVelConstraintIqcJc.h
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OndselSolver/ConstVelConstraintIqcJqc.h
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OndselSolver/corecrt_math_defines.h
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OndselSolver/Cosine.h
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OndselSolver/CREATE.h
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OndselSolver/CylindricalJoint.h
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OndselSolver/CylSphJoint.h
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OndselSolver/DiagonalMatrix.h
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OndselSolver/DifferenceOperator.h
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OndselSolver/DifferentiatedGeneralSpline.h
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OndselSolver/DirectionCosineConstraintIJ.h
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OndselSolver/DirectionCosineConstraintIqcJc.h
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OndselSolver/DirectionCosineConstraintIqcJqc.h
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OndselSolver/DirectionCosineConstraintIqctJqc.h
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OndselSolver/DirectionCosineIecJec.h
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OndselSolver/DirectionCosineIeqcJec.h
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OndselSolver/DirectionCosineIeqcJeqc.h
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OndselSolver/DirectionCosineIeqctJeqc.h
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OndselSolver/DiscontinuityError.h
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OndselSolver/DispCompIecJecIe.h
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OndselSolver/DispCompIecJecKec.h
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OndselSolver/DispCompIecJecKeqc.h
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OndselSolver/DispCompIecJecO.h
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OndselSolver/DispCompIeqcJecIe.h
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OndselSolver/DispCompIeqcJecKeqc.h
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OndselSolver/DispCompIeqcJecO.h
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OndselSolver/DispCompIeqcJeqcIe.h
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OndselSolver/DispCompIeqcJeqcKeqc.h
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OndselSolver/DispCompIeqcJeqcKeqct.h
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OndselSolver/DispCompIeqcJeqcO.h
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OndselSolver/DispCompIeqctJeqcIe.h
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OndselSolver/DispCompIeqctJeqcKeqct.h
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OndselSolver/DispCompIeqctJeqcO.h
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OndselSolver/DistanceConstraintIJ.h
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OndselSolver/DistanceConstraintIqcJc.h
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OndselSolver/DistanceConstraintIqcJqc.h
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OndselSolver/DistanceConstraintIqctJqc.h
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OndselSolver/DistancexyConstraintIJ.h
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OndselSolver/DistancexyConstraintIqcJc.h
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OndselSolver/DistancexyConstraintIqcJqc.h
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OndselSolver/DistIecJec.h
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OndselSolver/DistIeqcJec.h
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OndselSolver/DistIeqcJeqc.h
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OndselSolver/DistIeqctJeqc.h
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OndselSolver/DistxyIecJec.h
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OndselSolver/DistxyIeqcJec.h
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OndselSolver/DistxyIeqcJeqc.h
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OndselSolver/DistxyIeqctJeqc.h
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OndselSolver/EigenDecomposition.h
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OndselSolver/EndFramec.h
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OndselSolver/EndFrameqc.h
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OndselSolver/EndFrameqct2.h
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OndselSolver/EndFrameqct.h
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OndselSolver/enum.h
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OndselSolver/EulerAnglesDDot.h
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OndselSolver/EulerAnglesDot.h
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OndselSolver/EulerAngles.h
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OndselSolver/EulerAngleszxzDDot.h
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OndselSolver/EulerAngleszxzDot.h
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OndselSolver/EulerAngleszxz.h
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OndselSolver/EulerArray.h
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OndselSolver/EulerConstraint.h
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OndselSolver/EulerParametersDDot.h
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OndselSolver/EulerParametersDot.h
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OndselSolver/EulerParameters.h
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OndselSolver/Exponential.h
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OndselSolver/ExpressionX.h
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OndselSolver/ExternalSystem.h
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OndselSolver/FixedJoint.h
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OndselSolver/ForceTorqueData.h
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OndselSolver/ForceTorqueItem.h
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OndselSolver/FullColumn.h
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OndselSolver/FullMatrix.h
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OndselSolver/FullMotion.h
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OndselSolver/FullRow.h
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OndselSolver/FullVector.h
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OndselSolver/FunctionFromData.h
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OndselSolver/Function.h
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OndselSolver/FunctionWithManyArgs.h
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OndselSolver/FunctionXcParameter.h
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OndselSolver/FunctionX.h
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OndselSolver/FunctionXY.h
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OndselSolver/GearConstraintIJ.h
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OndselSolver/GearConstraintIqcJc.h
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OndselSolver/GearConstraintIqcJqc.h
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OndselSolver/GearJoint.h
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OndselSolver/GEFullMatFullPv.h
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OndselSolver/GEFullMat.h
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OndselSolver/GEFullMatParPv.h
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OndselSolver/GeneralSpline.h
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OndselSolver/GESpMatFullPv.h
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OndselSolver/GESpMatFullPvPosIC.h
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OndselSolver/GESpMat.h
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OndselSolver/GESpMatParPv.h
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OndselSolver/GESpMatParPvMarkoFast.h
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OndselSolver/GESpMatParPvMarko.h
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OndselSolver/GESpMatParPvPrecise.h
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OndselSolver/ICKineIntegrator.h
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OndselSolver/IndependentVariable.h
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OndselSolver/InLineJoint.h
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OndselSolver/InPlaneJoint.h
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OndselSolver/Integrator.h
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OndselSolver/IntegratorInterface.h
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OndselSolver/Item.h
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OndselSolver/Joint.h
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OndselSolver/KineIntegrator.h
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OndselSolver/KinematicIeJe.h
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OndselSolver/LDUFullMat.h
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OndselSolver/LDUFullMatParPv.h
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OndselSolver/LDUSpMat.h
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OndselSolver/LDUSpMatParPv.h
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OndselSolver/LDUSpMatParPvMarko.h
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OndselSolver/LDUSpMatParPvPrecise.h
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OndselSolver/LinearMultiStepMethod.h
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OndselSolver/LineInPlaneJoint.h
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OndselSolver/Ln.h
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OndselSolver/Log10.h
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OndselSolver/LogN.h
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OndselSolver/MarkerFrame.h
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OndselSolver/MatrixDecomposition.h
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OndselSolver/MatrixGaussElimination.h
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OndselSolver/MatrixLDU.h
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OndselSolver/MatrixSolver.h
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OndselSolver/MaximumIterationError.h
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OndselSolver/MbdMath.h
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OndselSolver/MBDynBlock.h
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OndselSolver/MBDynBody.h
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OndselSolver/MBDynControlData.h
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OndselSolver/MBDynData.h
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OndselSolver/MBDynElement.h
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OndselSolver/MBDynInitialValue.h
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OndselSolver/MBDynItem.h
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OndselSolver/MBDynJoint.h
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OndselSolver/MBDynMarker.h
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OndselSolver/MBDynNode.h
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OndselSolver/MBDynReference.h
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OndselSolver/MBDynStructural.h
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OndselSolver/MBDynSystem.h
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OndselSolver/MomentOfInertiaSolver.h
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OndselSolver/Negative.h
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OndselSolver/NewtonRaphsonError.h
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OndselSolver/NewtonRaphson.h
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OndselSolver/NoRotationJoint.h
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OndselSolver/NotKinematicError.h
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OndselSolver/Numeric.h
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OndselSolver/OndselSolver.h
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OndselSolver/OrbitAnglezIecJec.h
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OndselSolver/OrbitAnglezIeqcJec.h
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OndselSolver/OrbitAnglezIeqcJeqc.h
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OndselSolver/Orientation.h
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OndselSolver/ParallelAxesJoint.h
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OndselSolver/PartFrame.h
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OndselSolver/Part.h
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OndselSolver/PerpendicularJoint.h
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OndselSolver/PlanarJoint.h
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OndselSolver/PointInLineJoint.h
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OndselSolver/PointInPlaneJoint.h
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OndselSolver/PosICKineNewtonRaphson.h
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OndselSolver/PosICNewtonRaphson.h
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OndselSolver/PosKineNewtonRaphson.h
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OndselSolver/PosNewtonRaphson.h
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OndselSolver/PosVelAccData.h
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OndselSolver/Power.h
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OndselSolver/PrescribedMotion.h
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OndselSolver/Product.h
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OndselSolver/QuasiIntegrator.h
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OndselSolver/RackPinConstraintIJ.h
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OndselSolver/RackPinConstraintIqcJc.h
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OndselSolver/RackPinConstraintIqcJqc.h
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OndselSolver/RackPinJoint.h
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OndselSolver/Reciprocal.h
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OndselSolver/RedundantConstraint.h
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OndselSolver/resource.h
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OndselSolver/RevCylJoint.h
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OndselSolver/RevoluteJoint.h
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OndselSolver/RowTypeMatrix.h
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OndselSolver/ScalarNewtonRaphson.h
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OndselSolver/ScrewConstraintIJ.h
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OndselSolver/ScrewConstraintIqcJc.h
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OndselSolver/ScrewConstraintIqcJqc.h
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OndselSolver/ScrewJoint.h
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OndselSolver/SimulationStoppingError.h
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OndselSolver/Sine.h
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OndselSolver/SingularMatrixError.h
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OndselSolver/Solver.h
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OndselSolver/SparseColumn.h
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OndselSolver/SparseMatrix.h
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OndselSolver/SparseRow.h
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OndselSolver/SparseVector.h
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OndselSolver/SphericalJoint.h
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OndselSolver/SphSphJoint.h
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OndselSolver/StableBackwardDifference.h
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OndselSolver/StateData.h
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OndselSolver/Sum.h
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OndselSolver/Symbolic.h
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OndselSolver/SymbolicParser.h
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OndselSolver/SyntaxError.h
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OndselSolver/System.h
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OndselSolver/SystemNewtonRaphson.h
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OndselSolver/SystemSolver.h
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OndselSolver/Time.h
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OndselSolver/TooManyTriesError.h
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OndselSolver/TooSmallStepSizeError.h
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OndselSolver/TranslationalJoint.h
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OndselSolver/TranslationConstraintIJ.h
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OndselSolver/TranslationConstraintIqcJc.h
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OndselSolver/TranslationConstraintIqcJqc.h
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OndselSolver/TranslationConstraintIqctJqc.h
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OndselSolver/Translation.h
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OndselSolver/Units.h
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OndselSolver/UniversalJoint.h
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OndselSolver/UserFunction.h
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OndselSolver/Variable.h
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OndselSolver/VectorNewtonRaphson.h
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OndselSolver/VelICKineSolver.h
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OndselSolver/VelICSolver.h
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OndselSolver/VelKineSolver.h
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OndselSolver/VelSolver.h
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OndselSolver/ZRotation.h
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OndselSolver/ZTranslation.h
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)
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add_library(OndselSolver STATIC)
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set(ONDSELSOLVER_SRC
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OndselSolver/Array.cpp
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OndselSolver/FullVector.cpp
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OndselSolver/RowTypeMatrix.cpp
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OndselSolver/FullColumn.cpp
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set(ONDSELSOLVER_EXPORT
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OndselSolver/FullMatrix.cpp
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OndselSolver/FullRow.cpp
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OndselSolver/Abs.cpp
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OndselSolver/AbsConstraint.cpp
|
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OndselSolver/Abs.cpp
|
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OndselSolver/AccICKineNewtonRaphson.cpp
|
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OndselSolver/AccICNewtonRaphson.cpp
|
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OndselSolver/AccKineNewtonRaphson.cpp
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@@ -29,8 +311,9 @@ set(ONDSELSOLVER_SRC
|
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OndselSolver/AnyGeneralSpline.cpp
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OndselSolver/AnyPosICNewtonRaphson.cpp
|
||||
OndselSolver/ArcSine.cpp
|
||||
OndselSolver/ArcTan.cpp
|
||||
OndselSolver/ArcTan2.cpp
|
||||
OndselSolver/ArcTan.cpp
|
||||
OndselSolver/Array.cpp
|
||||
OndselSolver/ASMTAnimationParameters.cpp
|
||||
OndselSolver/ASMTAssembly.cpp
|
||||
OndselSolver/ASMTConstantGravity.cpp
|
||||
@@ -132,8 +415,8 @@ set(ONDSELSOLVER_SRC
|
||||
OndselSolver/EigenDecomposition.cpp
|
||||
OndselSolver/EndFramec.cpp
|
||||
OndselSolver/EndFrameqc.cpp
|
||||
OndselSolver/EndFrameqct.cpp
|
||||
OndselSolver/EndFrameqct2.cpp
|
||||
OndselSolver/EndFrameqct.cpp
|
||||
OndselSolver/EulerAngles.cpp
|
||||
OndselSolver/EulerAnglesDDot.cpp
|
||||
OndselSolver/EulerAnglesDot.cpp
|
||||
@@ -151,12 +434,15 @@ set(ONDSELSOLVER_SRC
|
||||
OndselSolver/FixedJoint.cpp
|
||||
OndselSolver/ForceTorqueData.cpp
|
||||
OndselSolver/ForceTorqueItem.cpp
|
||||
OndselSolver/FullColumn.cpp
|
||||
OndselSolver/FullMotion.cpp
|
||||
OndselSolver/FullRow.cpp
|
||||
OndselSolver/FullVector.cpp
|
||||
OndselSolver/Function.cpp
|
||||
OndselSolver/FunctionFromData.cpp
|
||||
OndselSolver/FunctionWithManyArgs.cpp
|
||||
OndselSolver/FunctionX.cpp
|
||||
OndselSolver/FunctionXcParameter.cpp
|
||||
OndselSolver/FunctionX.cpp
|
||||
OndselSolver/FunctionXY.cpp
|
||||
OndselSolver/GearConstraintIJ.cpp
|
||||
OndselSolver/GearConstraintIqcJc.cpp
|
||||
@@ -221,6 +507,7 @@ set(ONDSELSOLVER_SRC
|
||||
OndselSolver/NoRotationJoint.cpp
|
||||
OndselSolver/NotKinematicError.cpp
|
||||
OndselSolver/Numeric.cpp
|
||||
OndselSolver/OndselSolver.cpp
|
||||
OndselSolver/OrbitAnglezIecJec.cpp
|
||||
OndselSolver/OrbitAnglezIeqcJec.cpp
|
||||
OndselSolver/OrbitAnglezIeqcJeqc.cpp
|
||||
@@ -249,6 +536,7 @@ set(ONDSELSOLVER_SRC
|
||||
OndselSolver/RedundantConstraint.cpp
|
||||
OndselSolver/RevCylJoint.cpp
|
||||
OndselSolver/RevoluteJoint.cpp
|
||||
OndselSolver/RowTypeMatrix.cpp
|
||||
OndselSolver/ScalarNewtonRaphson.cpp
|
||||
OndselSolver/ScrewConstraintIJ.cpp
|
||||
OndselSolver/ScrewConstraintIqcJc.cpp
|
||||
@@ -276,12 +564,12 @@ set(ONDSELSOLVER_SRC
|
||||
OndselSolver/Time.cpp
|
||||
OndselSolver/TooManyTriesError.cpp
|
||||
OndselSolver/TooSmallStepSizeError.cpp
|
||||
OndselSolver/Translation.cpp
|
||||
OndselSolver/TranslationalJoint.cpp
|
||||
OndselSolver/TranslationConstraintIJ.cpp
|
||||
OndselSolver/TranslationConstraintIqcJc.cpp
|
||||
OndselSolver/TranslationConstraintIqcJqc.cpp
|
||||
OndselSolver/TranslationConstraintIqctJqc.cpp
|
||||
OndselSolver/Translation.cpp
|
||||
OndselSolver/Units.cpp
|
||||
OndselSolver/UniversalJoint.cpp
|
||||
OndselSolver/UserFunction.cpp
|
||||
@@ -295,310 +583,25 @@ set(ONDSELSOLVER_SRC
|
||||
OndselSolver/ZTranslation.cpp
|
||||
)
|
||||
|
||||
set(ONDSELSOLVER_HEADERS
|
||||
OndselSolver/Array.h
|
||||
OndselSolver/FullVector.h
|
||||
OndselSolver/RowTypeMatrix.h
|
||||
OndselSolver/FullRow.h
|
||||
OndselSolver/FullColumn.h
|
||||
OndselSolver/FullMatrix.h
|
||||
OndselSolver/Abs.h
|
||||
OndselSolver/AbsConstraint.h
|
||||
OndselSolver/AccICKineNewtonRaphson.h
|
||||
OndselSolver/AccICNewtonRaphson.h
|
||||
OndselSolver/AccKineNewtonRaphson.h
|
||||
OndselSolver/AccNewtonRaphson.h
|
||||
OndselSolver/AngleJoint.h
|
||||
OndselSolver/AngleZIecJec.h
|
||||
OndselSolver/AngleZIeqcJec.h
|
||||
OndselSolver/AngleZIeqcJeqc.h
|
||||
OndselSolver/AnyGeneralSpline.h
|
||||
OndselSolver/AnyPosICNewtonRaphson.h
|
||||
OndselSolver/APIExport.h
|
||||
OndselSolver/ArcSine.h
|
||||
OndselSolver/ArcTan.h
|
||||
OndselSolver/ArcTan2.h
|
||||
OndselSolver/ASMTAnimationParameters.h
|
||||
OndselSolver/ASMTAssembly.h
|
||||
OndselSolver/ASMTConstantGravity.h
|
||||
OndselSolver/ASMTConstraintSet.h
|
||||
OndselSolver/ASMTCylindricalJoint.h
|
||||
OndselSolver/ASMTExtrusion.h
|
||||
OndselSolver/ASMTFixedJoint.h
|
||||
OndselSolver/ASMTForceTorque.h
|
||||
OndselSolver/ASMTGeneralMotion.h
|
||||
OndselSolver/ASMTItem.h
|
||||
OndselSolver/ASMTItemIJ.h
|
||||
OndselSolver/ASMTJoint.h
|
||||
OndselSolver/ASMTKinematicIJ.h
|
||||
OndselSolver/ASMTMarker.h
|
||||
OndselSolver/ASMTMotion.h
|
||||
OndselSolver/ASMTNoRotationJoint.h
|
||||
OndselSolver/ASMTPart.h
|
||||
OndselSolver/ASMTPointInLineJoint.h
|
||||
OndselSolver/ASMTPointInPlaneJoint.h
|
||||
OndselSolver/ASMTPrincipalMassMarker.h
|
||||
OndselSolver/ASMTRefCurve.h
|
||||
OndselSolver/ASMTRefItem.h
|
||||
OndselSolver/ASMTRefPoint.h
|
||||
OndselSolver/ASMTRefSurface.h
|
||||
OndselSolver/ASMTRevoluteJoint.h
|
||||
OndselSolver/ASMTRotationalMotion.h
|
||||
OndselSolver/ASMTSimulationParameters.h
|
||||
OndselSolver/ASMTSpatialContainer.h
|
||||
OndselSolver/ASMTSpatialItem.h
|
||||
OndselSolver/ASMTSphericalJoint.h
|
||||
OndselSolver/ASMTTime.h
|
||||
OndselSolver/ASMTTranslationalJoint.h
|
||||
OndselSolver/ASMTTranslationalMotion.h
|
||||
OndselSolver/ASMTUniversalJoint.h
|
||||
OndselSolver/AtPointConstraintIJ.h
|
||||
OndselSolver/AtPointConstraintIqcJc.h
|
||||
OndselSolver/AtPointConstraintIqcJqc.h
|
||||
OndselSolver/AtPointConstraintIqctJqc.h
|
||||
OndselSolver/AtPointJoint.h
|
||||
OndselSolver/BasicIntegrator.h
|
||||
OndselSolver/BasicQuasiIntegrator.h
|
||||
OndselSolver/BasicUserFunction.h
|
||||
OndselSolver/CADSystem.h
|
||||
OndselSolver/CartesianFrame.h
|
||||
OndselSolver/CompoundJoint.h
|
||||
OndselSolver/Constant.h
|
||||
OndselSolver/ConstantGravity.h
|
||||
OndselSolver/ConstantVelocityJoint.h
|
||||
OndselSolver/Constraint.h
|
||||
OndselSolver/ConstraintIJ.h
|
||||
OndselSolver/ConstVelConstraintIJ.h
|
||||
OndselSolver/ConstVelConstraintIqcJc.h
|
||||
OndselSolver/ConstVelConstraintIqcJqc.h
|
||||
OndselSolver/corecrt_math_defines.h
|
||||
OndselSolver/Cosine.h
|
||||
OndselSolver/CREATE.h
|
||||
OndselSolver/CylindricalJoint.h
|
||||
OndselSolver/CylSphJoint.h
|
||||
OndselSolver/DiagonalMatrix.h
|
||||
OndselSolver/DifferenceOperator.h
|
||||
OndselSolver/DifferentiatedGeneralSpline.h
|
||||
OndselSolver/DirectionCosineConstraintIJ.h
|
||||
OndselSolver/DirectionCosineConstraintIqcJc.h
|
||||
OndselSolver/DirectionCosineConstraintIqcJqc.h
|
||||
OndselSolver/DirectionCosineConstraintIqctJqc.h
|
||||
OndselSolver/DirectionCosineIecJec.h
|
||||
OndselSolver/DirectionCosineIeqcJec.h
|
||||
OndselSolver/DirectionCosineIeqcJeqc.h
|
||||
OndselSolver/DirectionCosineIeqctJeqc.h
|
||||
OndselSolver/DiscontinuityError.h
|
||||
OndselSolver/DispCompIecJecIe.h
|
||||
OndselSolver/DispCompIecJecKec.h
|
||||
OndselSolver/DispCompIecJecKeqc.h
|
||||
OndselSolver/DispCompIecJecO.h
|
||||
OndselSolver/DispCompIeqcJecIe.h
|
||||
OndselSolver/DispCompIeqcJecKeqc.h
|
||||
OndselSolver/DispCompIeqcJecO.h
|
||||
OndselSolver/DispCompIeqcJeqcIe.h
|
||||
OndselSolver/DispCompIeqcJeqcKeqc.h
|
||||
OndselSolver/DispCompIeqcJeqcKeqct.h
|
||||
OndselSolver/DispCompIeqcJeqcO.h
|
||||
OndselSolver/DispCompIeqctJeqcIe.h
|
||||
OndselSolver/DispCompIeqctJeqcKeqct.h
|
||||
OndselSolver/DispCompIeqctJeqcO.h
|
||||
OndselSolver/DistanceConstraintIJ.h
|
||||
OndselSolver/DistanceConstraintIqcJc.h
|
||||
OndselSolver/DistanceConstraintIqcJqc.h
|
||||
OndselSolver/DistanceConstraintIqctJqc.h
|
||||
OndselSolver/DistancexyConstraintIJ.h
|
||||
OndselSolver/DistancexyConstraintIqcJc.h
|
||||
OndselSolver/DistancexyConstraintIqcJqc.h
|
||||
OndselSolver/DistIecJec.h
|
||||
OndselSolver/DistIeqcJec.h
|
||||
OndselSolver/DistIeqcJeqc.h
|
||||
OndselSolver/DistIeqctJeqc.h
|
||||
OndselSolver/DistxyIecJec.h
|
||||
OndselSolver/DistxyIeqcJec.h
|
||||
OndselSolver/DistxyIeqcJeqc.h
|
||||
OndselSolver/DistxyIeqctJeqc.h
|
||||
OndselSolver/EigenDecomposition.h
|
||||
OndselSolver/EndFramec.h
|
||||
OndselSolver/EndFrameqc.h
|
||||
OndselSolver/EndFrameqct.h
|
||||
OndselSolver/EndFrameqct2.h
|
||||
OndselSolver/enum.h
|
||||
OndselSolver/EulerAngles.h
|
||||
OndselSolver/EulerAnglesDDot.h
|
||||
OndselSolver/EulerAnglesDot.h
|
||||
OndselSolver/EulerAngleszxz.h
|
||||
OndselSolver/EulerAngleszxzDDot.h
|
||||
OndselSolver/EulerAngleszxzDot.h
|
||||
OndselSolver/EulerArray.h
|
||||
OndselSolver/EulerConstraint.h
|
||||
OndselSolver/EulerParameters.h
|
||||
OndselSolver/EulerParametersDDot.h
|
||||
OndselSolver/EulerParametersDot.h
|
||||
OndselSolver/Exponential.h
|
||||
OndselSolver/ExpressionX.h
|
||||
OndselSolver/ExternalSystem.h
|
||||
OndselSolver/FixedJoint.h
|
||||
OndselSolver/ForceTorqueData.h
|
||||
OndselSolver/ForceTorqueItem.h
|
||||
OndselSolver/FullMotion.h
|
||||
OndselSolver/FullRow.h
|
||||
OndselSolver/Function.h
|
||||
OndselSolver/FunctionFromData.h
|
||||
OndselSolver/FunctionWithManyArgs.h
|
||||
OndselSolver/FunctionX.h
|
||||
OndselSolver/FunctionXcParameter.h
|
||||
OndselSolver/FunctionXY.h
|
||||
OndselSolver/GearConstraintIJ.h
|
||||
OndselSolver/GearConstraintIqcJc.h
|
||||
OndselSolver/GearConstraintIqcJqc.h
|
||||
OndselSolver/GearJoint.h
|
||||
OndselSolver/GEFullMat.h
|
||||
OndselSolver/GEFullMatFullPv.h
|
||||
OndselSolver/GEFullMatParPv.h
|
||||
OndselSolver/GeneralSpline.h
|
||||
OndselSolver/GESpMat.h
|
||||
OndselSolver/GESpMatFullPv.h
|
||||
OndselSolver/GESpMatFullPvPosIC.h
|
||||
OndselSolver/GESpMatParPv.h
|
||||
OndselSolver/GESpMatParPvMarko.h
|
||||
OndselSolver/GESpMatParPvMarkoFast.h
|
||||
OndselSolver/GESpMatParPvPrecise.h
|
||||
OndselSolver/ICKineIntegrator.h
|
||||
OndselSolver/IndependentVariable.h
|
||||
OndselSolver/InLineJoint.h
|
||||
OndselSolver/InPlaneJoint.h
|
||||
OndselSolver/Integrator.h
|
||||
OndselSolver/IntegratorInterface.h
|
||||
OndselSolver/Item.h
|
||||
OndselSolver/Joint.h
|
||||
OndselSolver/KineIntegrator.h
|
||||
OndselSolver/KinematicIeJe.h
|
||||
OndselSolver/LDUFullMat.h
|
||||
OndselSolver/LDUFullMatParPv.h
|
||||
OndselSolver/LDUSpMat.h
|
||||
OndselSolver/LDUSpMatParPv.h
|
||||
OndselSolver/LDUSpMatParPvMarko.h
|
||||
OndselSolver/LDUSpMatParPvPrecise.h
|
||||
OndselSolver/LinearMultiStepMethod.h
|
||||
OndselSolver/LineInPlaneJoint.h
|
||||
OndselSolver/Ln.h
|
||||
OndselSolver/Log10.h
|
||||
OndselSolver/LogN.h
|
||||
OndselSolver/MarkerFrame.h
|
||||
OndselSolver/MatrixDecomposition.h
|
||||
OndselSolver/MatrixGaussElimination.h
|
||||
OndselSolver/MatrixLDU.h
|
||||
OndselSolver/MatrixSolver.h
|
||||
OndselSolver/MaximumIterationError.h
|
||||
OndselSolver/MbdMath.h
|
||||
OndselSolver/MBDynBlock.h
|
||||
OndselSolver/MBDynBody.h
|
||||
OndselSolver/MBDynControlData.h
|
||||
OndselSolver/MBDynData.h
|
||||
OndselSolver/MBDynElement.h
|
||||
OndselSolver/MBDynInitialValue.h
|
||||
OndselSolver/MBDynItem.h
|
||||
OndselSolver/MBDynJoint.h
|
||||
OndselSolver/MBDynMarker.h
|
||||
OndselSolver/MBDynNode.h
|
||||
OndselSolver/MBDynReference.h
|
||||
OndselSolver/MBDynStructural.h
|
||||
OndselSolver/MBDynSystem.h
|
||||
OndselSolver/MomentOfInertiaSolver.h
|
||||
OndselSolver/Negative.h
|
||||
OndselSolver/NewtonRaphson.h
|
||||
OndselSolver/NewtonRaphsonError.h
|
||||
OndselSolver/NoRotationJoint.h
|
||||
OndselSolver/NotKinematicError.h
|
||||
OndselSolver/Numeric.h
|
||||
OndselSolver/OrbitAnglezIecJec.h
|
||||
OndselSolver/OrbitAnglezIeqcJec.h
|
||||
OndselSolver/OrbitAnglezIeqcJeqc.h
|
||||
OndselSolver/Orientation.h
|
||||
OndselSolver/ParallelAxesJoint.h
|
||||
OndselSolver/Part.h
|
||||
OndselSolver/PartFrame.h
|
||||
OndselSolver/PerpendicularJoint.h
|
||||
OndselSolver/PlanarJoint.h
|
||||
OndselSolver/PointInLineJoint.h
|
||||
OndselSolver/PointInPlaneJoint.h
|
||||
OndselSolver/PosICKineNewtonRaphson.h
|
||||
OndselSolver/PosICNewtonRaphson.h
|
||||
OndselSolver/PosKineNewtonRaphson.h
|
||||
OndselSolver/PosNewtonRaphson.h
|
||||
OndselSolver/PosVelAccData.h
|
||||
OndselSolver/Power.h
|
||||
OndselSolver/PrescribedMotion.h
|
||||
OndselSolver/Product.h
|
||||
OndselSolver/QuasiIntegrator.h
|
||||
OndselSolver/RackPinConstraintIJ.h
|
||||
OndselSolver/RackPinConstraintIqcJc.h
|
||||
OndselSolver/RackPinConstraintIqcJqc.h
|
||||
OndselSolver/RackPinJoint.h
|
||||
OndselSolver/Reciprocal.h
|
||||
OndselSolver/RedundantConstraint.h
|
||||
OndselSolver/resource.h
|
||||
OndselSolver/RevCylJoint.h
|
||||
OndselSolver/RevoluteJoint.h
|
||||
OndselSolver/ScalarNewtonRaphson.h
|
||||
OndselSolver/ScrewConstraintIJ.h
|
||||
OndselSolver/ScrewConstraintIqcJc.h
|
||||
OndselSolver/ScrewConstraintIqcJqc.h
|
||||
OndselSolver/ScrewJoint.h
|
||||
OndselSolver/SimulationStoppingError.h
|
||||
OndselSolver/Sine.h
|
||||
OndselSolver/SingularMatrixError.h
|
||||
OndselSolver/Solver.h
|
||||
OndselSolver/SparseColumn.h
|
||||
OndselSolver/SparseMatrix.h
|
||||
OndselSolver/SparseRow.h
|
||||
OndselSolver/SparseVector.h
|
||||
OndselSolver/SphericalJoint.h
|
||||
OndselSolver/SphSphJoint.h
|
||||
OndselSolver/StableBackwardDifference.h
|
||||
OndselSolver/StateData.h
|
||||
OndselSolver/Sum.h
|
||||
OndselSolver/Symbolic.h
|
||||
OndselSolver/SymbolicParser.h
|
||||
OndselSolver/SyntaxError.h
|
||||
OndselSolver/System.h
|
||||
OndselSolver/SystemNewtonRaphson.h
|
||||
OndselSolver/SystemSolver.h
|
||||
OndselSolver/Time.h
|
||||
OndselSolver/TooManyTriesError.h
|
||||
OndselSolver/TooSmallStepSizeError.h
|
||||
OndselSolver/Translation.h
|
||||
OndselSolver/TranslationalJoint.h
|
||||
OndselSolver/TranslationConstraintIJ.h
|
||||
OndselSolver/TranslationConstraintIqcJc.h
|
||||
OndselSolver/TranslationConstraintIqcJqc.h
|
||||
OndselSolver/TranslationConstraintIqctJqc.h
|
||||
OndselSolver/Units.h
|
||||
OndselSolver/UniversalJoint.h
|
||||
OndselSolver/UserFunction.h
|
||||
OndselSolver/Variable.h
|
||||
OndselSolver/VectorNewtonRaphson.h
|
||||
OndselSolver/VelICKineSolver.h
|
||||
OndselSolver/VelICSolver.h
|
||||
OndselSolver/VelKineSolver.h
|
||||
OndselSolver/VelSolver.h
|
||||
OndselSolver/ZRotation.h
|
||||
OndselSolver/ZTranslation.h
|
||||
add_library(OndselSolver "")
|
||||
|
||||
target_sources(OndselSolver
|
||||
PRIVATE
|
||||
${ONDSELSOLVER_EXPORT}
|
||||
PUBLIC
|
||||
${ONDSELSOLVER_HEADERS}
|
||||
)
|
||||
|
||||
target_sources(OndselSolver PRIVATE
|
||||
"${ONDSELSOLVER_SRC}"
|
||||
"${ONDSELSOLVER_HEADERS}")
|
||||
|
||||
set_target_properties(OndselSolver
|
||||
PROPERTIES VERSION ${PROJECT_VERSION}
|
||||
SOVERSION 1
|
||||
PUBLIC_HEADER "${ONDSELSOLVER_HEADERS}"
|
||||
)
|
||||
#target_sources(OndselSolver PRIVATE ${ONDSELSOLVER_EXPORT})
|
||||
#target_sources(OndselSolver PRIVATE ${ONDSELSOLVER_HEADERS})
|
||||
|
||||
configure_file(OndselSolver.pc.in ${CMAKE_BINARY_DIR}/OndselSolver.pc @ONLY)
|
||||
install(TARGETS OndselSolver
|
||||
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
|
||||
PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/OndselSolver)
|
||||
|
||||
# PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/OndselSolver)
|
||||
|
||||
install(FILES ${CMAKE_BINARY_DIR}/OndselSolver.pc
|
||||
DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/pkgconfig)
|
||||
|
||||
|
||||
@@ -10,6 +10,7 @@
|
||||
#include "ASMTAssembly.h"
|
||||
#include "ASMTMarker.h"
|
||||
#include "Joint.h"
|
||||
#include "FullMatrix.h"
|
||||
|
||||
using namespace MbD;
|
||||
|
||||
|
||||
@@ -7,6 +7,7 @@
|
||||
***************************************************************************/
|
||||
|
||||
#include "ASMTMarker.h"
|
||||
#include "FullMatrix.h"
|
||||
#include "ASMTRefItem.h"
|
||||
#include "ASMTPart.h"
|
||||
#include "Part.h"
|
||||
|
||||
@@ -7,5 +7,111 @@
|
||||
***************************************************************************/
|
||||
|
||||
#include "DiagonalMatrix.h"
|
||||
#include "FullMatrix.h"
|
||||
|
||||
using namespace MbD;
|
||||
namespace MbD {
|
||||
|
||||
template<>
|
||||
inline DiagMatDsptr DiagonalMatrix<double>::times(double factor)
|
||||
{
|
||||
auto nrow = (int)this->size();
|
||||
auto answer = std::make_shared<DiagonalMatrix<double>>(nrow);
|
||||
for (int i = 0; i < nrow; i++)
|
||||
{
|
||||
answer->at(i) = this->at(i) * factor;
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
template<typename T>
|
||||
inline void DiagonalMatrix<T>::atiputDiagonalMatrix(int i, std::shared_ptr<DiagonalMatrix<T>> diagMat)
|
||||
{
|
||||
for (int ii = 0; ii < diagMat->size(); ii++)
|
||||
{
|
||||
this->at(i + ii) = diagMat->at(ii);
|
||||
}
|
||||
}
|
||||
template<typename T>
|
||||
inline DiagMatsptr<T> DiagonalMatrix<T>::times(T factor)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
template<typename T>
|
||||
inline FColsptr<T> DiagonalMatrix<T>::timesFullColumn(FColsptr<T> fullCol)
|
||||
{
|
||||
//"a*b = a(i,j)b(j) sum j."
|
||||
|
||||
auto nrow = (int)this->size();
|
||||
auto answer = std::make_shared<FullColumn<T>>(nrow);
|
||||
for (int i = 0; i < nrow; i++)
|
||||
{
|
||||
answer->at(i) = this->at(i) * fullCol->at(i);
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
template<typename T>
|
||||
inline FMatDsptr DiagonalMatrix<T>::timesFullMatrix(FMatDsptr fullMat)
|
||||
{
|
||||
auto nrow = (int)this->size();
|
||||
auto answer = std::make_shared<FullMatrixDouble>(nrow);
|
||||
for (int i = 0; i < nrow; i++)
|
||||
{
|
||||
answer->at(i) = fullMat->at(i)->times(this->at(i));
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
template<>
|
||||
inline double DiagonalMatrix<double>::sumOfSquares()
|
||||
{
|
||||
double sum = 0.0;
|
||||
for (int i = 0; i < this->size(); i++)
|
||||
{
|
||||
double element = this->at(i);
|
||||
sum += element * element;
|
||||
}
|
||||
return sum;
|
||||
}
|
||||
template<typename T>
|
||||
inline int DiagonalMatrix<T>::numberOfElements()
|
||||
{
|
||||
auto n = (int)this->size();
|
||||
return n * n;
|
||||
}
|
||||
template<>
|
||||
inline void DiagonalMatrix<double>::zeroSelf()
|
||||
{
|
||||
for (int i = 0; i < this->size(); i++) {
|
||||
this->at(i) = 0.0;
|
||||
}
|
||||
}
|
||||
template<>
|
||||
inline double DiagonalMatrix<double>::maxMagnitude()
|
||||
{
|
||||
double max = 0.0;
|
||||
for (int i = 0; i < this->size(); i++)
|
||||
{
|
||||
double element = this->at(i);
|
||||
if (element < 0.0) element = -element;
|
||||
if (max < element) max = element;
|
||||
}
|
||||
return max;
|
||||
}
|
||||
template<typename T>
|
||||
inline double DiagonalMatrix<T>::maxMagnitude()
|
||||
{
|
||||
assert(false);
|
||||
return 0.0;
|
||||
}
|
||||
template<typename T>
|
||||
inline std::ostream& DiagonalMatrix<T>::printOn(std::ostream& s) const
|
||||
{
|
||||
s << "DiagMat[";
|
||||
s << this->at(0);
|
||||
for (int i = 1; i < this->size(); i++)
|
||||
{
|
||||
s << ", " << this->at(i);
|
||||
}
|
||||
s << "]";
|
||||
return s;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@@ -8,10 +8,14 @@
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "FullColumn.ref.h"
|
||||
#include "FullRow.ref.h"
|
||||
#include "FullMatrix.ref.h"
|
||||
#include "DiagonalMatrix.ref.h"
|
||||
#include "Array.h"
|
||||
#include "FullColumn.h"
|
||||
#include "FullMatrix.h"
|
||||
//#include "FullColumn.h"
|
||||
//#include "FullRow.h"
|
||||
// #include "FullMatrix.h"
|
||||
|
||||
namespace MbD {
|
||||
template<typename T>
|
||||
@@ -41,107 +45,5 @@ namespace MbD {
|
||||
std::ostream& printOn(std::ostream& s) const override;
|
||||
|
||||
};
|
||||
template<>
|
||||
inline DiagMatDsptr DiagonalMatrix<double>::times(double factor)
|
||||
{
|
||||
auto nrow = (int)this->size();
|
||||
auto answer = std::make_shared<DiagonalMatrix<double>>(nrow);
|
||||
for (int i = 0; i < nrow; i++)
|
||||
{
|
||||
answer->at(i) = this->at(i) * factor;
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
template<typename T>
|
||||
inline void DiagonalMatrix<T>::atiputDiagonalMatrix(int i, std::shared_ptr<DiagonalMatrix<T>> diagMat)
|
||||
{
|
||||
for (int ii = 0; ii < diagMat->size(); ii++)
|
||||
{
|
||||
this->at(i + ii) = diagMat->at(ii);
|
||||
}
|
||||
}
|
||||
template<typename T>
|
||||
inline DiagMatsptr<T> DiagonalMatrix<T>::times(T factor)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
template<typename T>
|
||||
inline FColsptr<T> DiagonalMatrix<T>::timesFullColumn(FColsptr<T> fullCol)
|
||||
{
|
||||
//"a*b = a(i,j)b(j) sum j."
|
||||
|
||||
auto nrow = (int)this->size();
|
||||
auto answer = std::make_shared<FullColumn<T>>(nrow);
|
||||
for (int i = 0; i < nrow; i++)
|
||||
{
|
||||
answer->at(i) = this->at(i) * fullCol->at(i);
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
template<typename T>
|
||||
inline FMatDsptr DiagonalMatrix<T>::timesFullMatrix(FMatDsptr fullMat)
|
||||
{
|
||||
auto nrow = (int)this->size();
|
||||
auto answer = std::make_shared<FullMatrixDouble>(nrow);
|
||||
for (int i = 0; i < nrow; i++)
|
||||
{
|
||||
answer->at(i) = fullMat->at(i)->times(this->at(i));
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
template<>
|
||||
inline double DiagonalMatrix<double>::sumOfSquares()
|
||||
{
|
||||
double sum = 0.0;
|
||||
for (int i = 0; i < this->size(); i++)
|
||||
{
|
||||
double element = this->at(i);
|
||||
sum += element * element;
|
||||
}
|
||||
return sum;
|
||||
}
|
||||
template<typename T>
|
||||
inline int DiagonalMatrix<T>::numberOfElements()
|
||||
{
|
||||
auto n = (int)this->size();
|
||||
return n * n;
|
||||
}
|
||||
template<>
|
||||
inline void DiagonalMatrix<double>::zeroSelf()
|
||||
{
|
||||
for (int i = 0; i < this->size(); i++) {
|
||||
this->at(i) = 0.0;
|
||||
}
|
||||
}
|
||||
template<>
|
||||
inline double DiagonalMatrix<double>::maxMagnitude()
|
||||
{
|
||||
double max = 0.0;
|
||||
for (int i = 0; i < this->size(); i++)
|
||||
{
|
||||
double element = this->at(i);
|
||||
if (element < 0.0) element = -element;
|
||||
if (max < element) max = element;
|
||||
}
|
||||
return max;
|
||||
}
|
||||
template<typename T>
|
||||
inline double DiagonalMatrix<T>::maxMagnitude()
|
||||
{
|
||||
assert(false);
|
||||
return 0.0;
|
||||
}
|
||||
template<typename T>
|
||||
inline std::ostream& DiagonalMatrix<T>::printOn(std::ostream& s) const
|
||||
{
|
||||
s << "DiagMat[";
|
||||
s << this->at(0);
|
||||
for (int i = 1; i < this->size(); i++)
|
||||
{
|
||||
s << ", " << this->at(i);
|
||||
}
|
||||
s << "]";
|
||||
return s;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -79,10 +79,10 @@ namespace MbD {
|
||||
auto term7 = phiA->timesFullMatrix(theAdot->timesFullMatrix(psiAdot));
|
||||
auto term8 = phiA->timesFullMatrix(theA->timesFullMatrix(psiAddot));
|
||||
|
||||
aAddot = toFMDsptr(term->plusFullMatrix(term1)->plusFullMatrix(term2)
|
||||
aAddot = term->plusFullMatrix(term1)->plusFullMatrix(term2)
|
||||
->plusFullMatrix(term3)->plusFullMatrix(term4)
|
||||
->plusFullMatrix(term5)->plusFullMatrix(term6)
|
||||
->plusFullMatrix(term7)->plusFullMatrix(term8));
|
||||
->plusFullMatrix(term7)->plusFullMatrix(term8);
|
||||
}
|
||||
template<typename T>
|
||||
inline void EulerAnglesDDot<T>::aEulerAngles(EulerAngles<T>* eulerAngles)
|
||||
|
||||
@@ -7,6 +7,9 @@
|
||||
***************************************************************************/
|
||||
|
||||
#include "EulerParameters.h"
|
||||
#include "FullColumn.h"
|
||||
#include "FullRow.h"
|
||||
#include "FullMatrix.h"
|
||||
|
||||
using namespace MbD;
|
||||
template<>
|
||||
@@ -160,8 +163,8 @@ inline FMatFMatDsptr EulerParameters<double>::ppApEpEtimesMatrix(FMatDsptr mat)
|
||||
return answer;
|
||||
}
|
||||
|
||||
template<>
|
||||
inline void EulerParameters<double>::initialize()
|
||||
template<typename T> // this is ALWAYS double; see note below.
|
||||
inline void EulerParameters<T>::initialize()
|
||||
{
|
||||
aA = FullMatrixDouble::identitysptr(3);
|
||||
aB = std::make_shared<FullMatrixDouble>(3, 4);
|
||||
@@ -172,6 +175,14 @@ inline void EulerParameters<double>::initialize()
|
||||
pApE->at(i) = std::make_shared<FullMatrixDouble>(3, 3);
|
||||
}
|
||||
}
|
||||
|
||||
// the following can't be valid as FullMatrix instatiatiates <double>, yet
|
||||
// this class needs to see the member functions of FullMatrix
|
||||
//template<>
|
||||
//inline void EulerParameters<double>::initialize()
|
||||
//{
|
||||
//}
|
||||
|
||||
template<typename T>
|
||||
inline void EulerParameters<T>::calc()
|
||||
{
|
||||
|
||||
@@ -8,10 +8,12 @@
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "FullColumn.ref.h"
|
||||
#include "FullMatrix.ref.h"
|
||||
#include "EulerParameters.ref.h"
|
||||
#include "EulerArray.h"
|
||||
#include "FullColumn.h"
|
||||
#include "FullMatrix.h"
|
||||
// #include "FullColumn.h"
|
||||
// #include "FullMatrix.h"
|
||||
|
||||
namespace MbD {
|
||||
|
||||
|
||||
@@ -185,7 +185,7 @@ namespace MbD {
|
||||
inline FColDsptr EulerParametersDot<T>::omeOpO()
|
||||
{
|
||||
auto aaa = this->aB();
|
||||
auto bbb = aaa->timesFullColumn(this);
|
||||
auto bbb = aaa->timesFullColumn((MbD::FColsptr<double>)this);
|
||||
auto ccc = bbb->times(2.0);
|
||||
return ccc;
|
||||
//return this->aB->timesFullColumn(this)->times(2.0);
|
||||
|
||||
@@ -9,5 +9,171 @@
|
||||
#include <sstream>
|
||||
|
||||
#include "FullColumn.h"
|
||||
#include "FullRow.h"
|
||||
#include "FullMatrix.h"
|
||||
|
||||
using namespace MbD;
|
||||
namespace MbD {
|
||||
template<typename T>
|
||||
FColsptr<T> FullColumn<T>::plusFullColumn(FColsptr<T> fullCol)
|
||||
{
|
||||
int n = (int) this->size();
|
||||
auto answer = std::make_shared<FullColumn<T>>(n);
|
||||
for (int i = 0; i < n; i++) {
|
||||
answer->at(i) = this->at(i) + fullCol->at(i);
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
template<typename T>
|
||||
FColsptr<T> FullColumn<T>::minusFullColumn(FColsptr<T> fullCol)
|
||||
{
|
||||
int n = (int) this->size();
|
||||
auto answer = std::make_shared<FullColumn<T>>(n);
|
||||
for (int i = 0; i < n; i++) {
|
||||
answer->at(i) = this->at(i) - fullCol->at(i);
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
template<>
|
||||
FColDsptr FullColumn<double>::times(double a)
|
||||
{
|
||||
int n = (int)this->size();
|
||||
auto answer = std::make_shared<FullColumn<double>>(n);
|
||||
for (int i = 0; i < n; i++) {
|
||||
answer->at(i) = this->at(i) * a;
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
template<typename T>
|
||||
FColsptr<T> FullColumn<T>::times(T a)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
template<typename T>
|
||||
FColsptr<T> FullColumn<T>::negated()
|
||||
{
|
||||
return this->times(-1.0);
|
||||
}
|
||||
template<typename T>
|
||||
void FullColumn<T>::atiputFullColumn(int i, FColsptr<T> fullCol)
|
||||
{
|
||||
for (int ii = 0; ii < fullCol->size(); ii++)
|
||||
{
|
||||
this->at(i + ii) = fullCol->at(ii);
|
||||
}
|
||||
}
|
||||
template<typename T>
|
||||
void FullColumn<T>::atiplusFullColumn(int i, FColsptr<T> fullCol)
|
||||
{
|
||||
for (int ii = 0; ii < fullCol->size(); ii++)
|
||||
{
|
||||
this->at(i + ii) += fullCol->at(ii);
|
||||
}
|
||||
}
|
||||
template<typename T>
|
||||
void FullColumn<T>::equalSelfPlusFullColumnAt(FColsptr<T> fullCol, int ii)
|
||||
{
|
||||
//self is subcolumn of fullCol
|
||||
for (int i = 0; i < this->size(); i++)
|
||||
{
|
||||
this->at(i) += fullCol->at(ii + i);
|
||||
}
|
||||
}
|
||||
template<typename T>
|
||||
void FullColumn<T>::atiminusFullColumn(int i1, FColsptr<T> fullCol)
|
||||
{
|
||||
for (int ii = 0; ii < fullCol->size(); ii++)
|
||||
{
|
||||
int i = i1 + ii;
|
||||
this->at(i) -= fullCol->at(ii);
|
||||
}
|
||||
}
|
||||
template<typename T>
|
||||
void FullColumn<T>::equalFullColumnAt(FColsptr<T> fullCol, int i)
|
||||
{
|
||||
this->equalArrayAt(fullCol, i);
|
||||
//for (int ii = 0; ii < this->size(); ii++)
|
||||
//{
|
||||
// this->at(ii) = fullCol->at(i + ii);
|
||||
//}
|
||||
}
|
||||
template<>
|
||||
FColDsptr FullColumn<double>::copy()
|
||||
{
|
||||
auto n = (int) this->size();
|
||||
auto answer = std::make_shared<FullColumn<double>>(n);
|
||||
for (int i = 0; i < n; i++)
|
||||
{
|
||||
answer->at(i) = this->at(i);
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
template<typename T>
|
||||
FRowsptr<T> FullColumn<T>::transpose()
|
||||
{
|
||||
return std::make_shared<FullRow<T>>(*this);
|
||||
}
|
||||
template<typename T>
|
||||
void FullColumn<T>::atiplusFullColumntimes(int i1, FColsptr<T> fullCol, T factor)
|
||||
{
|
||||
for (int ii = 0; ii < fullCol->size(); ii++)
|
||||
{
|
||||
int i = i1 + ii;
|
||||
this->at(i) += fullCol->at(ii) * factor;
|
||||
}
|
||||
}
|
||||
template<typename T>
|
||||
T FullColumn<T>::transposeTimesFullColumn(const FColsptr<T> fullCol)
|
||||
{
|
||||
return this->dot(fullCol);
|
||||
}
|
||||
template<typename T>
|
||||
void FullColumn<T>::equalSelfPlusFullColumntimes(FColsptr<T> fullCol, T factor)
|
||||
{
|
||||
this->equalSelfPlusFullVectortimes(fullCol, factor);
|
||||
}
|
||||
template<typename T>
|
||||
FColsptr<T> FullColumn<T>::cross(FColsptr<T> fullCol)
|
||||
{
|
||||
auto a0 = this->at(0);
|
||||
auto a1 = this->at(1);
|
||||
auto a2 = this->at(2);
|
||||
auto b0 = fullCol->at(0);
|
||||
auto b1 = fullCol->at(1);
|
||||
auto b2 = fullCol->at(2);
|
||||
auto answer = std::make_shared<FullColumn<T>>(3);
|
||||
answer->atiput(0, a1 * b2 - (a2 * b1));
|
||||
answer->atiput(1, a2 * b0 - (a0 * b2));
|
||||
answer->atiput(2, a0 * b1 - (a1 * b0));
|
||||
return answer;
|
||||
}
|
||||
//template<>
|
||||
//inline std::shared_ptr<FullColumn<Symsptr>> FullColumn<Symsptr>::simplified()
|
||||
//{
|
||||
// auto n = this->size();
|
||||
// auto answer = std::make_shared<FullColumn<Symsptr>>(n);
|
||||
// for (int i = 0; i < n; i++)
|
||||
// {
|
||||
// auto func = this->at(i);
|
||||
// answer->at(i) = func->simplified(func);
|
||||
// }
|
||||
// return answer;
|
||||
//}
|
||||
template<typename T>
|
||||
FColsptr<T> FullColumn<T>::simplified()
|
||||
{
|
||||
assert(false);
|
||||
return FColsptr<T>();
|
||||
}
|
||||
template<typename T>
|
||||
std::ostream& FullColumn<T>::printOn(std::ostream& s) const
|
||||
{
|
||||
s << "FullCol{";
|
||||
s << this->at(0);
|
||||
for (int i = 1; i < this->size(); i++)
|
||||
{
|
||||
s << ", " << this->at(i);
|
||||
}
|
||||
s << "}";
|
||||
return s;
|
||||
}
|
||||
}
|
||||
@@ -14,19 +14,9 @@
|
||||
#include "FullVector.h"
|
||||
#include "FullColumn.ref.h"
|
||||
#include "FullRow.ref.h"
|
||||
#include "FullColumn.h"
|
||||
#include "FullRow.h"
|
||||
#include "FullMatrix.ref.h"
|
||||
|
||||
namespace MbD {
|
||||
// template<typename T>
|
||||
// class FullColumn;
|
||||
// using FColDsptr = std::shared_ptr<FullColumn<double>>;
|
||||
// template<typename T>
|
||||
// using FColsptr = std::shared_ptr<FullColumn<T>>;
|
||||
// template<typename T>
|
||||
// class FullRow;
|
||||
// template<typename T>
|
||||
// using FRowsptr = std::shared_ptr<FullRow<T>>;
|
||||
class Symbolic;
|
||||
|
||||
template<typename T>
|
||||
@@ -58,168 +48,6 @@ namespace MbD {
|
||||
|
||||
std::ostream& printOn(std::ostream& s) const override;
|
||||
};
|
||||
template<typename T>
|
||||
inline FColsptr<T> FullColumn<T>::plusFullColumn(FColsptr<T> fullCol)
|
||||
{
|
||||
int n = (int) this->size();
|
||||
auto answer = std::make_shared<FullColumn<T>>(n);
|
||||
for (int i = 0; i < n; i++) {
|
||||
answer->at(i) = this->at(i) + fullCol->at(i);
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
template<typename T>
|
||||
inline FColsptr<T> FullColumn<T>::minusFullColumn(FColsptr<T> fullCol)
|
||||
{
|
||||
int n = (int) this->size();
|
||||
auto answer = std::make_shared<FullColumn<T>>(n);
|
||||
for (int i = 0; i < n; i++) {
|
||||
answer->at(i) = this->at(i) - fullCol->at(i);
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
template<>
|
||||
inline FColDsptr FullColumn<double>::times(double a)
|
||||
{
|
||||
int n = (int)this->size();
|
||||
auto answer = std::make_shared<FullColumn<double>>(n);
|
||||
for (int i = 0; i < n; i++) {
|
||||
answer->at(i) = this->at(i) * a;
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
template<typename T>
|
||||
inline FColsptr<T> FullColumn<T>::times(T a)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
template<typename T>
|
||||
inline FColsptr<T> FullColumn<T>::negated()
|
||||
{
|
||||
return this->times(-1.0);
|
||||
}
|
||||
template<typename T>
|
||||
inline void FullColumn<T>::atiputFullColumn(int i, FColsptr<T> fullCol)
|
||||
{
|
||||
for (int ii = 0; ii < fullCol->size(); ii++)
|
||||
{
|
||||
this->at(i + ii) = fullCol->at(ii);
|
||||
}
|
||||
}
|
||||
template<typename T>
|
||||
inline void FullColumn<T>::atiplusFullColumn(int i, FColsptr<T> fullCol)
|
||||
{
|
||||
for (int ii = 0; ii < fullCol->size(); ii++)
|
||||
{
|
||||
this->at(i + ii) += fullCol->at(ii);
|
||||
}
|
||||
}
|
||||
template<typename T>
|
||||
inline void FullColumn<T>::equalSelfPlusFullColumnAt(FColsptr<T> fullCol, int ii)
|
||||
{
|
||||
//self is subcolumn of fullCol
|
||||
for (int i = 0; i < this->size(); i++)
|
||||
{
|
||||
this->at(i) += fullCol->at(ii + i);
|
||||
}
|
||||
}
|
||||
template<typename T>
|
||||
inline void FullColumn<T>::atiminusFullColumn(int i1, FColsptr<T> fullCol)
|
||||
{
|
||||
for (int ii = 0; ii < fullCol->size(); ii++)
|
||||
{
|
||||
int i = i1 + ii;
|
||||
this->at(i) -= fullCol->at(ii);
|
||||
}
|
||||
}
|
||||
template<typename T>
|
||||
inline void FullColumn<T>::equalFullColumnAt(FColsptr<T> fullCol, int i)
|
||||
{
|
||||
this->equalArrayAt(fullCol, i);
|
||||
//for (int ii = 0; ii < this->size(); ii++)
|
||||
//{
|
||||
// this->at(ii) = fullCol->at(i + ii);
|
||||
//}
|
||||
}
|
||||
template<>
|
||||
inline FColDsptr FullColumn<double>::copy()
|
||||
{
|
||||
auto n = (int) this->size();
|
||||
auto answer = std::make_shared<FullColumn<double>>(n);
|
||||
for (int i = 0; i < n; i++)
|
||||
{
|
||||
answer->at(i) = this->at(i);
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
template<typename T>
|
||||
inline FRowsptr<T> FullColumn<T>::transpose()
|
||||
{
|
||||
return std::make_shared<FullRow<T>>(*this);
|
||||
}
|
||||
template<typename T>
|
||||
inline void FullColumn<T>::atiplusFullColumntimes(int i1, FColsptr<T> fullCol, T factor)
|
||||
{
|
||||
for (int ii = 0; ii < fullCol->size(); ii++)
|
||||
{
|
||||
int i = i1 + ii;
|
||||
this->at(i) += fullCol->at(ii) * factor;
|
||||
}
|
||||
}
|
||||
template<typename T>
|
||||
inline T FullColumn<T>::transposeTimesFullColumn(const FColsptr<T> fullCol)
|
||||
{
|
||||
return this->dot(fullCol);
|
||||
}
|
||||
template<typename T>
|
||||
inline void FullColumn<T>::equalSelfPlusFullColumntimes(FColsptr<T> fullCol, T factor)
|
||||
{
|
||||
this->equalSelfPlusFullVectortimes(fullCol, factor);
|
||||
}
|
||||
template<typename T>
|
||||
inline FColsptr<T> FullColumn<T>::cross(FColsptr<T> fullCol)
|
||||
{
|
||||
auto a0 = this->at(0);
|
||||
auto a1 = this->at(1);
|
||||
auto a2 = this->at(2);
|
||||
auto b0 = fullCol->at(0);
|
||||
auto b1 = fullCol->at(1);
|
||||
auto b2 = fullCol->at(2);
|
||||
auto answer = std::make_shared<FullColumn<T>>(3);
|
||||
answer->atiput(0, a1 * b2 - (a2 * b1));
|
||||
answer->atiput(1, a2 * b0 - (a0 * b2));
|
||||
answer->atiput(2, a0 * b1 - (a1 * b0));
|
||||
return answer;
|
||||
}
|
||||
//template<>
|
||||
//inline std::shared_ptr<FullColumn<Symsptr>> FullColumn<Symsptr>::simplified()
|
||||
//{
|
||||
// auto n = this->size();
|
||||
// auto answer = std::make_shared<FullColumn<Symsptr>>(n);
|
||||
// for (int i = 0; i < n; i++)
|
||||
// {
|
||||
// auto func = this->at(i);
|
||||
// answer->at(i) = func->simplified(func);
|
||||
// }
|
||||
// return answer;
|
||||
//}
|
||||
template<typename T>
|
||||
inline FColsptr<T> FullColumn<T>::simplified()
|
||||
{
|
||||
assert(false);
|
||||
return FColsptr<T>();
|
||||
}
|
||||
template<typename T>
|
||||
inline std::ostream& FullColumn<T>::printOn(std::ostream& s) const
|
||||
{
|
||||
s << "FullCol{";
|
||||
s << this->at(0);
|
||||
for (int i = 1; i < this->size(); i++)
|
||||
{
|
||||
s << ", " << this->at(i);
|
||||
}
|
||||
s << "}";
|
||||
return s;
|
||||
}
|
||||
template class FullVector<double>;
|
||||
}
|
||||
|
||||
|
||||
@@ -1,5 +1,8 @@
|
||||
#pragma once
|
||||
|
||||
#include <algorithm>
|
||||
#include <memory>
|
||||
|
||||
namespace MbD {
|
||||
template<typename T>
|
||||
class FullColumn;
|
||||
|
||||
@@ -13,68 +13,29 @@
|
||||
#include "EulerParameters.h"
|
||||
|
||||
namespace MbD {
|
||||
// template<typename T>
|
||||
//
|
||||
// inline std::shared_ptr<FullMatrixTemplate<T>> rotatex(T the)
|
||||
FColsptr<double> FullMatrixDouble::timesFullColumn(FColsptr<double> fullCol)
|
||||
{
|
||||
// return this->timesFullColumn(fullCol.get());
|
||||
auto nrow = this->nrow();
|
||||
auto answer = std::make_shared<FullColumn<double>>(nrow);
|
||||
for (int i = 0; i < nrow; i++)
|
||||
{
|
||||
answer->at(i) = this->at(i)->timesFullColumn(fullCol);
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
// FColsptr<double> timesFullColumn(FullColumn<double>* fullCol) // local
|
||||
// {
|
||||
// auto sthe = std::sin(the);
|
||||
// auto cthe = std::cos(the);
|
||||
// auto rotMat = std::make_shared<FullMatrixTemplate<T>>(3, 3);
|
||||
// auto row0 = rotMat->at(0);
|
||||
// row0->atiput(0, 1.0);
|
||||
// row0->atiput(1, 0.0);
|
||||
// row0->atiput(2, 0.0);
|
||||
// auto row1 = rotMat->at(1);
|
||||
// row1->atiput(0, 0.0);
|
||||
// row1->atiput(1, cthe);
|
||||
// row1->atiput(2, -sthe);
|
||||
// auto row2 = rotMat->at(2);
|
||||
// row2->atiput(0, 0.0);
|
||||
// row2->atiput(1, sthe);
|
||||
// row2->atiput(2, cthe);
|
||||
// return rotMat;
|
||||
// //"a*b = a(i,j)b(j) sum j."
|
||||
// auto nrow = this->nrow();
|
||||
// auto answer = std::make_shared<FullColumn<double>>(nrow);
|
||||
// for (int i = 0; i < nrow; i++)
|
||||
// {
|
||||
// answer->at(i) = this->at(i)->timesFullColumn(fullCol);
|
||||
// }
|
||||
// return answer;
|
||||
// }
|
||||
// template<typename T>
|
||||
// inline std::shared_ptr<FullMatrixTemplate<T>> rotatey(T the)
|
||||
// {
|
||||
// auto sthe = std::sin(the);
|
||||
// auto cthe = std::cos(the);
|
||||
// auto rotMat = std::make_shared<FullMatrixTemplate<T>>(3, 3);
|
||||
// auto row0 = rotMat->at(0);
|
||||
// row0->atiput(0, cthe);
|
||||
// row0->atiput(1, 0.0);
|
||||
// row0->atiput(2, sthe);
|
||||
// auto row1 = rotMat->at(1);
|
||||
// row1->atiput(0, 0.0);
|
||||
// row1->atiput(1, 1.0);
|
||||
// row1->atiput(2, 0.0);
|
||||
// auto row2 = rotMat->at(2);
|
||||
// row2->atiput(0, -sthe);
|
||||
// row2->atiput(1, 0.0);
|
||||
// row2->atiput(2, cthe);
|
||||
// return rotMat;
|
||||
// }
|
||||
// template<typename T>
|
||||
// inline std::shared_ptr<FullMatrixTemplate<T>> rotatez(T the)
|
||||
// {
|
||||
// auto sthe = std::sin(the);
|
||||
// auto cthe = std::cos(the);
|
||||
// auto rotMat = std::make_shared<FullMatrixTemplate<T>>(3, 3);
|
||||
// auto row0 = rotMat->at(0);
|
||||
// row0->atiput(0, cthe);
|
||||
// row0->atiput(1, -sthe);
|
||||
// row0->atiput(2, 0.0);
|
||||
// auto row1 = rotMat->at(1);
|
||||
// row1->atiput(0, sthe);
|
||||
// row1->atiput(1, cthe);
|
||||
// row1->atiput(2, 0.0);
|
||||
// auto row2 = rotMat->at(2);
|
||||
// row2->atiput(0, 0.0);
|
||||
// row2->atiput(1, 0.0);
|
||||
// row2->atiput(2, 1.0);
|
||||
// return rotMat;
|
||||
// }
|
||||
inline std::shared_ptr<FullMatrixDouble> rotatex(double the)
|
||||
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::rotatex(double the)
|
||||
{
|
||||
auto sthe = std::sin(the);
|
||||
auto cthe = std::cos(the);
|
||||
@@ -93,7 +54,7 @@ namespace MbD {
|
||||
row2->atiput(2, cthe);
|
||||
return rotMat;
|
||||
}
|
||||
inline std::shared_ptr<FullMatrixDouble> rotatey(double the)
|
||||
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::rotatey(double the)
|
||||
{
|
||||
auto sthe = std::sin(the);
|
||||
auto cthe = std::cos(the);
|
||||
@@ -112,7 +73,7 @@ namespace MbD {
|
||||
row2->atiput(2, cthe);
|
||||
return rotMat;
|
||||
}
|
||||
inline std::shared_ptr<FullMatrixDouble> rotatez(double the)
|
||||
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::rotatez(double the)
|
||||
{
|
||||
auto sthe = std::sin(the);
|
||||
auto cthe = std::cos(the);
|
||||
@@ -131,73 +92,7 @@ namespace MbD {
|
||||
row2->atiput(2, 1.0);
|
||||
return rotMat;
|
||||
}
|
||||
// template<typename T>
|
||||
// inline std::shared_ptr<FullMatrixTemplate<T>> rotatexrotDot(T the, T thedot)
|
||||
// {
|
||||
// auto sthe = std::sin(the);
|
||||
// auto cthe = std::cos(the);
|
||||
// auto sthedot = cthe * thedot;
|
||||
// auto cthedot = -sthe * thedot;
|
||||
// auto rotMat = std::make_shared<FullMatrixTemplate<T>>(3, 3);
|
||||
// auto row0 = rotMat->at(0);
|
||||
// row0->atiput(0, 0.0);
|
||||
// row0->atiput(1, 0.0);
|
||||
// row0->atiput(2, 0.0);
|
||||
// auto row1 = rotMat->at(1);
|
||||
// row1->atiput(0, 0.0);
|
||||
// row1->atiput(1, cthedot);
|
||||
// row1->atiput(2, -sthedot);
|
||||
// auto row2 = rotMat->at(2);
|
||||
// row2->atiput(0, 0.0);
|
||||
// row2->atiput(1, sthedot);
|
||||
// row2->atiput(2, cthedot);
|
||||
// return rotMat;
|
||||
// }
|
||||
// template<typename T>
|
||||
// inline std::shared_ptr<FullMatrixTemplate<T>> rotateyrotDot(T the, T thedot)
|
||||
// {
|
||||
// auto sthe = std::sin(the);
|
||||
// auto cthe = std::cos(the);
|
||||
// auto sthedot = cthe * thedot;
|
||||
// auto cthedot = -sthe * thedot;
|
||||
// auto rotMat = std::make_shared<FullMatrixTemplate<T>>(3, 3);
|
||||
// auto row0 = rotMat->at(0);
|
||||
// row0->atiput(0, cthedot);
|
||||
// row0->atiput(1, 0.0);
|
||||
// row0->atiput(2, sthedot);
|
||||
// auto row1 = rotMat->at(1);
|
||||
// row1->atiput(0, 0.0);
|
||||
// row1->atiput(1, 0.0);
|
||||
// row1->atiput(2, 0.0);
|
||||
// auto row2 = rotMat->at(2);
|
||||
// row2->atiput(0, -sthedot);
|
||||
// row2->atiput(1, 0.0);
|
||||
// row2->atiput(2, cthedot);
|
||||
// return rotMat;
|
||||
// }
|
||||
// template<typename T>
|
||||
// inline std::shared_ptr<FullMatrixTemplate<T>> rotatezrotDot(T the, T thedot)
|
||||
// {
|
||||
// auto sthe = std::sin(the);
|
||||
// auto cthe = std::cos(the);
|
||||
// auto sthedot = cthe * thedot;
|
||||
// auto cthedot = -sthe * thedot;
|
||||
// auto rotMat = std::make_shared<FullMatrixTemplate<T>>(3, 3);
|
||||
// auto row0 = rotMat->at(0);
|
||||
// row0->atiput(0, cthedot);
|
||||
// row0->atiput(1, -sthedot);
|
||||
// row0->atiput(2, 0.0);
|
||||
// auto row1 = rotMat->at(1);
|
||||
// row1->atiput(0, sthedot);
|
||||
// row1->atiput(1, cthedot);
|
||||
// row1->atiput(2, 0.0);
|
||||
// auto row2 = rotMat->at(2);
|
||||
// row2->atiput(0, 0.0);
|
||||
// row2->atiput(1, 0.0);
|
||||
// row2->atiput(2, 0.0);
|
||||
// return rotMat;
|
||||
// }
|
||||
inline std::shared_ptr<FullMatrixDouble> rotatexrotDot(double the, double thedot)
|
||||
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::rotatexrotDot(double the, double thedot)
|
||||
{
|
||||
auto sthe = std::sin(the);
|
||||
auto cthe = std::cos(the);
|
||||
@@ -218,7 +113,7 @@ namespace MbD {
|
||||
row2->atiput(2, cthedot);
|
||||
return rotMat;
|
||||
}
|
||||
inline std::shared_ptr<FullMatrixDouble> rotateyrotDot(double the, double thedot)
|
||||
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::rotateyrotDot(double the, double thedot)
|
||||
{
|
||||
auto sthe = std::sin(the);
|
||||
auto cthe = std::cos(the);
|
||||
@@ -239,7 +134,7 @@ namespace MbD {
|
||||
row2->atiput(2, cthedot);
|
||||
return rotMat;
|
||||
}
|
||||
inline std::shared_ptr<FullMatrixDouble> rotatezrotDot(double the, double thedot)
|
||||
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::rotatezrotDot(double the, double thedot)
|
||||
{
|
||||
auto sthe = std::sin(the);
|
||||
auto cthe = std::cos(the);
|
||||
@@ -260,8 +155,7 @@ namespace MbD {
|
||||
row2->atiput(2, 0.0);
|
||||
return rotMat;
|
||||
}
|
||||
template<typename T>
|
||||
inline std::shared_ptr<FullMatrixTemplate<T>> rotatexrotDotrotDDot(T the, T thedot, T theddot)
|
||||
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::rotatexrotDotrotDDot(double the, double thedot, double theddot)
|
||||
{
|
||||
auto sthe = std::sin(the);
|
||||
auto cthe = std::cos(the);
|
||||
@@ -269,7 +163,7 @@ namespace MbD {
|
||||
auto cthedot = -sthe * thedot;
|
||||
auto stheddot = cthedot * thedot + (cthe * theddot);
|
||||
auto ctheddot = -(sthedot * thedot) - (sthe * theddot);
|
||||
auto rotMat = std::make_shared<FullMatrixTemplate<T>>(3, 3);
|
||||
auto rotMat = std::make_shared<FullMatrixDouble>(3, 3);
|
||||
auto row0 = rotMat->at(0);
|
||||
row0->atiput(0, 0.0);
|
||||
row0->atiput(1, 0.0);
|
||||
@@ -284,8 +178,7 @@ namespace MbD {
|
||||
row2->atiput(2, ctheddot);
|
||||
return rotMat;
|
||||
}
|
||||
template<typename T>
|
||||
inline std::shared_ptr<FullMatrixTemplate<T>> rotateyrotDotrotDDot(T the, T thedot, T theddot)
|
||||
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::rotateyrotDotrotDDot(double the, double thedot, double theddot)
|
||||
{
|
||||
auto sthe = std::sin(the);
|
||||
auto cthe = std::cos(the);
|
||||
@@ -293,7 +186,7 @@ namespace MbD {
|
||||
auto cthedot = -sthe * thedot;
|
||||
auto stheddot = cthedot * thedot + (cthe * theddot);
|
||||
auto ctheddot = -(sthedot * thedot) - (sthe * theddot);
|
||||
auto rotMat = std::make_shared<FullMatrixTemplate<T>>(3, 3);
|
||||
auto rotMat = std::make_shared<FullMatrixDouble>(3, 3);
|
||||
auto row0 = rotMat->at(0);
|
||||
row0->atiput(0, ctheddot);
|
||||
row0->atiput(1, 0.0);
|
||||
@@ -308,8 +201,7 @@ namespace MbD {
|
||||
row2->atiput(2, ctheddot);
|
||||
return rotMat;
|
||||
}
|
||||
template<typename T>
|
||||
inline std::shared_ptr<FullMatrixTemplate<T>> rotatezrotDotrotDDot(T the, T thedot, T theddot)
|
||||
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::rotatezrotDotrotDDot(double the, double thedot, double theddot)
|
||||
{
|
||||
auto sthe = std::sin(the);
|
||||
auto cthe = std::cos(the);
|
||||
@@ -317,7 +209,7 @@ namespace MbD {
|
||||
auto cthedot = -sthe * thedot;
|
||||
auto stheddot = cthedot * thedot + (cthe * theddot);
|
||||
auto ctheddot = -(sthedot * thedot) - (sthe * theddot);
|
||||
auto rotMat = std::make_shared<FullMatrixTemplate<T>>(3, 3);
|
||||
auto rotMat = std::make_shared<FullMatrixDouble>(3, 3);
|
||||
auto row0 = rotMat->at(0);
|
||||
row0->atiput(0, ctheddot);
|
||||
row0->atiput(1, -stheddot);
|
||||
@@ -332,27 +224,19 @@ namespace MbD {
|
||||
row2->atiput(2, 0.0);
|
||||
return rotMat;
|
||||
}
|
||||
template<typename T>
|
||||
inline std::shared_ptr<FullMatrixTemplate<T>> FullMatrixTemplate<T>::identitysptr(int n)
|
||||
{
|
||||
auto mat = std::make_shared<FullMatrixTemplate<T>>(n, n);
|
||||
mat->identity();
|
||||
return mat;
|
||||
}
|
||||
inline std::shared_ptr<MbD::FullMatrixDouble> FullMatrixDouble::identitysptr(int n)
|
||||
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::identitysptr(int n)
|
||||
{
|
||||
auto mat = std::make_shared<FullMatrixDouble>(n, n);
|
||||
mat->identity();
|
||||
return mat;
|
||||
}
|
||||
inline std::shared_ptr<MbD::FullMatrixFullMatrixDouble> FullMatrixFullMatrixDouble::identitysptr(int n)
|
||||
std::shared_ptr<MbD::FullMatrixFullMatrixDouble> FullMatrixFullMatrixDouble::identitysptr(int n)
|
||||
{
|
||||
auto mat = std::make_shared<FullMatrixFullMatrixDouble>(n, n);
|
||||
mat->identity();
|
||||
return mat;
|
||||
}
|
||||
template<typename T>
|
||||
inline std::shared_ptr<FullMatrixTemplate<T>> FullMatrixTemplate<T>::tildeMatrix(FColDsptr col)
|
||||
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::tildeMatrix(FColDsptr col)
|
||||
{
|
||||
//"tildeMatrix is skew symmetric matrix related to angular velocity and cross product."
|
||||
if (col->size() != 3) throw std::runtime_error("Column is not of dimension 3");
|
||||
@@ -371,50 +255,47 @@ namespace MbD {
|
||||
tilde->atijput(2, 1, c0);
|
||||
return tilde;
|
||||
}
|
||||
template<>
|
||||
inline void FullMatrixTemplate<double>::zeroSelf()
|
||||
void FullMatrixDouble::zeroSelf()
|
||||
{
|
||||
for (int i = 0; i < this->size(); i++) {
|
||||
this->at(i)->zeroSelf();
|
||||
}
|
||||
}
|
||||
template<typename T>
|
||||
inline void FullMatrixTemplate<T>::identity() {
|
||||
assert(false);
|
||||
void FullMatrixFullMatrixDouble::zeroSelf()
|
||||
{
|
||||
for (int i = 0; i < this->size(); i++) {
|
||||
this->at(i)->zeroSelf();
|
||||
}
|
||||
}
|
||||
inline void FullMatrixDouble::identity() {
|
||||
void FullMatrixFullColumnDouble::zeroSelf()
|
||||
{
|
||||
for (int i = 0; i < this->size(); i++) {
|
||||
this->at(i)->zeroSelf();
|
||||
}
|
||||
}
|
||||
void FullMatrixDouble::identity() {
|
||||
this->zeroSelf();
|
||||
for (int i = 0; i < this->size(); i++) {
|
||||
this->at(i)->at(i) = 1.0;
|
||||
}
|
||||
}
|
||||
inline void FullMatrixFullMatrixDouble::identity() {
|
||||
void FullMatrixFullMatrixDouble::identity() {
|
||||
assert(false);
|
||||
// this->zeroSelf();
|
||||
// for (int i = 0; i < this->size(); i++) {
|
||||
// this->at(i)->at(i) = 1.0;
|
||||
// }
|
||||
}
|
||||
template<typename T>
|
||||
inline FColsptr<T> FullMatrixTemplate<T>::column(int j) {
|
||||
// TODO: should there be a FullMatrixFullColumnDouble version of this?
|
||||
FColsptr<double> FullMatrixDouble::column(int j) {
|
||||
int n = (int)this->size();
|
||||
auto answer = std::make_shared<FullColumn<T>>(n);
|
||||
auto answer = std::make_shared<FullColumn<double>>(n);
|
||||
for (int i = 0; i < n; i++) {
|
||||
answer->at(i) = this->at(i)->at(j);
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
// template<typename T>
|
||||
// inline std::shared_ptr<FullMatrixTemplate<T>> FullMatrixTemplate<T>::timesFullMatrix(std::shared_ptr<FullMatrixTemplate<T>> fullMat)
|
||||
// {
|
||||
// int m = this->nrow();
|
||||
// auto answer = std::make_shared<FullMatrixTemplate<T>>(m);
|
||||
// for (int i = 0; i < m; i++) {
|
||||
// answer->at(i) = this->at(i)->timesFullMatrix(fullMat);
|
||||
// }
|
||||
// return answer;
|
||||
// }
|
||||
inline std::shared_ptr<FullMatrixDouble> FullMatrixDouble::timesFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat)
|
||||
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::timesFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat)
|
||||
{
|
||||
int m = this->nrow();
|
||||
auto answer = std::make_shared<FullMatrixDouble>(m);
|
||||
@@ -423,7 +304,7 @@ namespace MbD {
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
inline std::shared_ptr<FullMatrixDouble> FullMatrixDouble::timesTransposeFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat)
|
||||
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::timesTransposeFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat)
|
||||
{
|
||||
int nrow = this->nrow();
|
||||
auto answer = std::make_shared<FullMatrixDouble>(nrow);
|
||||
@@ -432,7 +313,7 @@ namespace MbD {
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
inline std::shared_ptr<FullMatrixFullMatrixDouble> FullMatrixFullMatrixDouble::timesTransposeFullMatrix(std::shared_ptr<FullMatrixFullMatrixDouble> fullMat)
|
||||
std::shared_ptr<FullMatrixFullMatrixDouble> FullMatrixFullMatrixDouble::timesTransposeFullMatrix(std::shared_ptr<FullMatrixFullMatrixDouble> fullMat)
|
||||
{
|
||||
int nrow = this->nrow();
|
||||
auto answer = std::make_shared<FullMatrixFullMatrixDouble>(nrow);
|
||||
@@ -441,7 +322,7 @@ namespace MbD {
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
inline std::shared_ptr<FullMatrixDouble> FullMatrixDouble::times(double a)
|
||||
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::times(double a)
|
||||
{
|
||||
int m = this->nrow();
|
||||
auto answer = std::make_shared<FullMatrixDouble>(m);
|
||||
@@ -451,11 +332,11 @@ namespace MbD {
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
inline std::shared_ptr<FullMatrixFullMatrixDouble> FullMatrixFullMatrixDouble::times(double a)
|
||||
std::shared_ptr<FullMatrixFullMatrixDouble> FullMatrixFullMatrixDouble::times(double a)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
inline std::shared_ptr<FullMatrixFullColumnDouble> FullMatrixFullColumnDouble::times(double a)
|
||||
std::shared_ptr<FullMatrixFullColumnDouble> FullMatrixFullColumnDouble::times(double a)
|
||||
{
|
||||
// int m = this->nrow();
|
||||
// auto answer = std::make_shared<FullMatrixFullColumnDouble>(m);
|
||||
@@ -465,31 +346,11 @@ namespace MbD {
|
||||
// return answer;
|
||||
assert(false);
|
||||
}
|
||||
template<typename T>
|
||||
inline std::shared_ptr<FullMatrixTemplate<T>> FullMatrixTemplate<T>::times(T a)
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
// template<typename T>
|
||||
// inline std::shared_ptr<FullMatrixTemplate<T>> FullMatrixTemplate<T>::transposeTimesFullMatrix(std::shared_ptr<FullMatrixTemplate<T>> fullMat)
|
||||
// {
|
||||
// return this->transpose()->timesFullMatrix(fullMat);
|
||||
// }
|
||||
inline std::shared_ptr<FullMatrixDouble> FullMatrixDouble::transposeTimesFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat)
|
||||
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::transposeTimesFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat)
|
||||
{
|
||||
return this->transpose()->timesFullMatrix(fullMat);
|
||||
}
|
||||
// template<typename T>
|
||||
// inline std::shared_ptr<FullMatrixTemplate<T>> FullMatrixTemplate<T>::plusFullMatrix(std::shared_ptr<FullMatrixTemplate<T>> fullMat)
|
||||
// {
|
||||
// int n = (int)this->size();
|
||||
// auto answer = std::make_shared<FullMatrixTemplate<T>>(n);
|
||||
// for (int i = 0; i < n; i++) {
|
||||
// answer->at(i) = this->at(i)->plusFullRow(fullMat->at(i));
|
||||
// }
|
||||
// return answer;
|
||||
// }
|
||||
inline std::shared_ptr<FullMatrixDouble> FullMatrixDouble::plusFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat)
|
||||
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::plusFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat)
|
||||
{
|
||||
int n = (int)this->size();
|
||||
auto answer = std::make_shared<FullMatrixDouble>(n);
|
||||
@@ -498,31 +359,16 @@ namespace MbD {
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
template<typename T>
|
||||
inline std::shared_ptr<FullMatrixTemplate<T>> FullMatrixTemplate<T>::minusFullMatrix(std::shared_ptr<FullMatrixTemplate<T>> fullMat)
|
||||
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::minusFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat)
|
||||
{
|
||||
int n = (int)this->size();
|
||||
auto answer = std::make_shared<FullMatrixTemplate<T>>(n);
|
||||
auto answer = std::make_shared<FullMatrixDouble>(n);
|
||||
for (int i = 0; i < n; i++) {
|
||||
answer->at(i) = this->at(i)->minusFullRow(fullMat->at(i));
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
// template<typename T>
|
||||
// inline std::shared_ptr<FullMatrixTemplate<T>> FullMatrixTemplate<T>::transpose()
|
||||
// {
|
||||
// int nrow = this->nrow();
|
||||
// auto ncol = this->ncol();
|
||||
// auto answer = std::make_shared<FullMatrixTemplate<T>>(ncol, nrow);
|
||||
// for (int i = 0; i < nrow; i++) {
|
||||
// auto& row = this->at(i);
|
||||
// for (int j = 0; j < ncol; j++) {
|
||||
// answer->at(j)->at(i) = row->at(j);
|
||||
// }
|
||||
// }
|
||||
// return answer;
|
||||
// }
|
||||
inline std::shared_ptr<FullMatrixDouble> FullMatrixDouble::transpose() {
|
||||
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::transpose() {
|
||||
int nrow = this->nrow();
|
||||
auto ncol = this->ncol();
|
||||
auto answer = std::make_shared<FullMatrixDouble>(ncol, nrow);
|
||||
@@ -534,17 +380,11 @@ namespace MbD {
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
// template<typename T>
|
||||
// inline std::shared_ptr<FullMatrixTemplate<T>> FullMatrixTemplate<T>::negated()
|
||||
// {
|
||||
// return this->times(-1.0);
|
||||
// }
|
||||
inline std::shared_ptr<FullMatrixDouble> FullMatrixDouble::negated()
|
||||
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::negated()
|
||||
{
|
||||
return this->times(-1.0);
|
||||
}
|
||||
template<typename T>
|
||||
inline void FullMatrixTemplate<T>::symLowerWithUpper()
|
||||
void FullMatrixDouble::symLowerWithUpper()
|
||||
{
|
||||
int n = (int)this->size();
|
||||
for (int i = 0; i < n; i++) {
|
||||
@@ -553,42 +393,45 @@ namespace MbD {
|
||||
}
|
||||
}
|
||||
}
|
||||
template<typename T>
|
||||
inline void FullMatrixTemplate<T>::atiput(int i, FRowsptr<T> fullRow)
|
||||
void FullMatrixFullColumnDouble::symLowerWithUpper()
|
||||
{
|
||||
int n = (int)this->size();
|
||||
for (int i = 0; i < n; i++) {
|
||||
for (int j = i + 1; j < n; j++) {
|
||||
this->at(j)->at(i) = this->at(i)->at(j);
|
||||
}
|
||||
}
|
||||
}
|
||||
void FullMatrixDouble::atiput(int i, FRowsptr<double> fullRow)
|
||||
{
|
||||
this->at(i) = fullRow;
|
||||
}
|
||||
template<typename T>
|
||||
inline void FullMatrixTemplate<T>::atijput(int i, int j, T value)
|
||||
void FullMatrixDouble::atijput(int i, int j, double value)
|
||||
{
|
||||
this->at(i)->atiput(j, value);
|
||||
}
|
||||
template<typename T>
|
||||
inline void FullMatrixTemplate<T>::atijputFullColumn(int i1, int j1, FColsptr<T> fullCol)
|
||||
void FullMatrixDouble::atijputFullColumn(int i1, int j1, FColsptr<double> fullCol)
|
||||
{
|
||||
for (int ii = 0; ii < fullCol->size(); ii++)
|
||||
{
|
||||
this->at(i1 + ii)->at(j1) = fullCol->at(ii);
|
||||
}
|
||||
}
|
||||
template<typename T>
|
||||
inline void FullMatrixTemplate<T>::atijplusFullRow(int i, int j, FRowsptr<T> fullRow)
|
||||
void FullMatrixDouble::atijplusFullRow(int i, int j, FRowsptr<double> fullRow)
|
||||
{
|
||||
this->at(i)->atiplusFullRow(j, fullRow);
|
||||
}
|
||||
template<typename T>
|
||||
inline void FullMatrixTemplate<T>::atijplusNumber(int i, int j, T value)
|
||||
void FullMatrixDouble::atijplusNumber(int i, int j, double value)
|
||||
{
|
||||
auto rowi = this->at(i);
|
||||
rowi->at(j) += value;
|
||||
}
|
||||
template<typename T>
|
||||
inline void FullMatrixTemplate<T>::atijminusNumber(int i, int j, T value)
|
||||
void FullMatrixDouble::atijminusNumber(int i, int j, double value)
|
||||
{
|
||||
auto rowi = this->at(i);
|
||||
rowi->at(j) -= value;
|
||||
}
|
||||
inline double FullMatrixDouble::sumOfSquares()
|
||||
double FullMatrixDouble::sumOfSquares()
|
||||
{
|
||||
double sum = 0.0;
|
||||
for (int i = 0; i < this->size(); i++)
|
||||
@@ -597,7 +440,7 @@ namespace MbD {
|
||||
}
|
||||
return sum;
|
||||
}
|
||||
inline double FullMatrixFullMatrixDouble::sumOfSquares()
|
||||
double FullMatrixFullMatrixDouble::sumOfSquares()
|
||||
{
|
||||
double sum = 0.0;
|
||||
for (int i = 0; i < this->size(); i++)
|
||||
@@ -606,30 +449,16 @@ namespace MbD {
|
||||
}
|
||||
return sum;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
inline double FullMatrixTemplate<T>::sumOfSquares()
|
||||
double FullMatrixFullColumnDouble::sumOfSquares()
|
||||
{
|
||||
assert(false);
|
||||
return 0.0;
|
||||
double sum = 0.0;
|
||||
for (int i = 0; i < this->size(); i++)
|
||||
{
|
||||
sum += this->at(i)->sumOfSquares();
|
||||
}
|
||||
return sum;
|
||||
}
|
||||
template<typename T>
|
||||
inline void FullMatrixTemplate<T>::zeroSelf()
|
||||
{
|
||||
assert(false);
|
||||
}
|
||||
// template<typename T>
|
||||
// inline std::shared_ptr<FullMatrixTemplate<T>> FullMatrixTemplate<T>::copy()
|
||||
// {
|
||||
// auto m = (int)this->size();
|
||||
// auto answer = std::make_shared<FullMatrixTemplate<T>>(m);
|
||||
// for (int i = 0; i < m; i++)
|
||||
// {
|
||||
// answer->at(i) = this->at(i)->copy();
|
||||
// }
|
||||
// return answer;
|
||||
// }
|
||||
inline std::shared_ptr<FullMatrixDouble> FullMatrixDouble::copy()
|
||||
std::shared_ptr<FullMatrixDouble> FullMatrixDouble::copy()
|
||||
{
|
||||
auto m = (int)this->size();
|
||||
auto answer = std::make_shared<FullMatrixDouble>(m);
|
||||
@@ -639,31 +468,27 @@ namespace MbD {
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
template<typename T>
|
||||
inline FullMatrixTemplate<T> FullMatrixTemplate<T>::operator+(const FullMatrixTemplate<T> fullMat)
|
||||
FullMatrixDouble FullMatrixDouble::operator+(const FullMatrixDouble fullMat)
|
||||
{
|
||||
int n = (int)this->size();
|
||||
auto answer = FullMatrixTemplate<T>(n);
|
||||
FullMatrixDouble answer(n);
|
||||
for (int i = 0; i < n; i++) {
|
||||
answer.at(i) = this->at(i)->plusFullRow(fullMat.at(i));
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
template<typename T>
|
||||
inline FColsptr<T> FullMatrixTemplate<T>::transposeTimesFullColumn(FColsptr<T> fullCol)
|
||||
FColsptr<double> FullMatrixDouble::transposeTimesFullColumn(FColsptr<double> fullCol)
|
||||
{
|
||||
auto sptr = std::make_shared<FullMatrixTemplate<T>>(*this);
|
||||
auto sptr = std::make_shared<FullMatrixDouble>(*this);
|
||||
return fullCol->transpose()->timesFullMatrix(sptr)->transpose();
|
||||
}
|
||||
template<typename T>
|
||||
inline void FullMatrixTemplate<T>::magnifySelf(T factor)
|
||||
void FullMatrixDouble::magnifySelf(double factor)
|
||||
{
|
||||
for (int i = 0; i < this->size(); i++) {
|
||||
this->at(i)->magnifySelf(factor);
|
||||
}
|
||||
}
|
||||
template<typename T>
|
||||
inline std::ostream& FullMatrixTemplate<T>::printOn(std::ostream& s) const
|
||||
std::ostream& FullMatrixDouble::printOn(std::ostream& s) const
|
||||
{
|
||||
s << "FullMat[" << std::endl;
|
||||
for (int i = 0; i < this->size(); i++)
|
||||
@@ -673,16 +498,15 @@ namespace MbD {
|
||||
s << "]";
|
||||
return s;
|
||||
}
|
||||
template<typename T>
|
||||
inline std::shared_ptr<EulerParameters<T>> FullMatrixTemplate<T>::asEulerParameters()
|
||||
std::shared_ptr<EulerParameters<double>> FullMatrixDouble::asEulerParameters()
|
||||
{
|
||||
//"Given [A], compute Euler parameter."
|
||||
|
||||
auto traceA = this->trace();
|
||||
T dum = 0.0;
|
||||
T dumSq = 0.0;
|
||||
double dum = 0.0;
|
||||
double dumSq = 0.0;
|
||||
//auto qE = CREATE<EulerParameters<double>>::With(4); //Cannot use CREATE.h in subclasses of std::vector. Why?
|
||||
auto qE = std::make_shared<EulerParameters<T>>(4);
|
||||
auto qE = std::make_shared<EulerParameters<double>>(4);
|
||||
qE->initialize();
|
||||
auto OneMinusTraceDivFour = (1.0 - traceA) / 4.0;
|
||||
for (int i = 0; i < 3; i++)
|
||||
@@ -694,7 +518,7 @@ namespace MbD {
|
||||
dumSq = (1.0 + traceA) / 4.0;
|
||||
dum = (dumSq > 0.0) ? std::sqrt(dumSq) : 0.0;
|
||||
qE->atiput(3, dum);
|
||||
T max = 0.0;
|
||||
double max = 0.0;
|
||||
int maxE = -1;
|
||||
for (int i = 0; i < 4; i++)
|
||||
{
|
||||
@@ -733,18 +557,16 @@ namespace MbD {
|
||||
qE->calc();
|
||||
return qE;
|
||||
}
|
||||
template<typename T>
|
||||
inline T FullMatrixTemplate<T>::trace()
|
||||
double FullMatrixDouble::trace()
|
||||
{
|
||||
T trace = 0.0;
|
||||
double trace = 0.0;
|
||||
for (int i = 0; i < this->size(); i++)
|
||||
{
|
||||
trace += this->at(i)->at(i);
|
||||
}
|
||||
return trace;
|
||||
}
|
||||
template<typename T>
|
||||
inline double FullMatrixTemplate<T>::maxMagnitude()
|
||||
double FullMatrixDouble::maxMagnitude()
|
||||
{
|
||||
double max = 0.0;
|
||||
for (int i = 0; i < this->size(); i++)
|
||||
@@ -754,12 +576,31 @@ namespace MbD {
|
||||
}
|
||||
return max;
|
||||
}
|
||||
template<typename T>
|
||||
inline FColsptr<T> FullMatrixTemplate<T>::bryantAngles()
|
||||
double FullMatrixFullMatrixDouble::maxMagnitude()
|
||||
{
|
||||
auto answer = std::make_shared<FullColumn<T>>(3);
|
||||
double max = 0.0;
|
||||
for (int i = 0; i < this->size(); i++)
|
||||
{
|
||||
double element = this->at(i)->maxMagnitude();
|
||||
if (max < element) max = element;
|
||||
}
|
||||
return max;
|
||||
}
|
||||
double FullMatrixFullColumnDouble::maxMagnitude()
|
||||
{
|
||||
double max = 0.0;
|
||||
for (int i = 0; i < this->size(); i++)
|
||||
{
|
||||
double element = this->at(i)->maxMagnitude();
|
||||
if (max < element) max = element;
|
||||
}
|
||||
return max;
|
||||
}
|
||||
FColsptr<double> FullMatrixDouble::bryantAngles()
|
||||
{
|
||||
auto answer = std::make_shared<FullColumn<double>>(3);
|
||||
auto sthe1y = this->at(0)->at(2);
|
||||
T the0x, the1y, the2z, cthe0x, sthe0x, y, x;
|
||||
double the0x, the1y, the2z, cthe0x, sthe0x, y, x;
|
||||
if (std::abs(sthe1y) > 0.9999) {
|
||||
if (sthe1y > 0.0) {
|
||||
the0x = std::atan2(this->at(1)->at(0), this->at(1)->at(1));
|
||||
@@ -791,8 +632,7 @@ namespace MbD {
|
||||
answer->atiput(2, the2z);
|
||||
return answer;
|
||||
}
|
||||
template<typename T>
|
||||
inline bool FullMatrixTemplate<T>::isDiagonal()
|
||||
bool FullMatrixDouble::isDiagonal()
|
||||
{
|
||||
auto m = this->nrow();
|
||||
auto n = this->ncol();
|
||||
@@ -807,8 +647,7 @@ namespace MbD {
|
||||
}
|
||||
return true;
|
||||
}
|
||||
template<typename T>
|
||||
inline bool FullMatrixTemplate<T>::isDiagonalToWithin(double ratio)
|
||||
bool FullMatrixDouble::isDiagonalToWithin(double ratio)
|
||||
{
|
||||
double maxMag = this->maxMagnitude();
|
||||
auto tol = ratio * maxMag;
|
||||
@@ -828,39 +667,20 @@ namespace MbD {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
template<typename T>
|
||||
inline std::shared_ptr<DiagonalMatrix<T>> FullMatrixTemplate<T>::asDiagonalMatrix()
|
||||
std::shared_ptr<DiagonalMatrix<double>> FullMatrixDouble::asDiagonalMatrix()
|
||||
{
|
||||
int nrow = this->nrow();
|
||||
auto diagMat = std::make_shared<DiagonalMatrix<T>>(nrow);
|
||||
auto diagMat = std::make_shared<DiagonalMatrix<double>>(nrow);
|
||||
for (int i = 0; i < nrow; i++)
|
||||
{
|
||||
diagMat->atiput(i, this->at(i)->at(i));
|
||||
}
|
||||
return diagMat;
|
||||
}
|
||||
template<typename T>
|
||||
inline void FullMatrixTemplate<T>::conditionSelfWithTol(double tol)
|
||||
void FullMatrixDouble::conditionSelfWithTol(double tol)
|
||||
{
|
||||
for (auto row : *this) {
|
||||
row->conditionSelfWithTol(tol);
|
||||
}
|
||||
}
|
||||
template<typename T>
|
||||
inline FColsptr<T> FullMatrixTemplate<T>::timesFullColumn(FColsptr<T> fullCol)
|
||||
{
|
||||
return this->timesFullColumn(fullCol.get());
|
||||
}
|
||||
template<typename T>
|
||||
inline FColsptr<T> FullMatrixTemplate<T>::timesFullColumn(FullColumn<T>* fullCol)
|
||||
{
|
||||
//"a*b = a(i,j)b(j) sum j."
|
||||
auto nrow = this->nrow();
|
||||
auto answer = std::make_shared<FullColumn<T>>(nrow);
|
||||
for (int i = 0; i < nrow; i++)
|
||||
{
|
||||
answer->at(i) = this->at(i)->timesFullColumn(fullCol);
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -17,103 +17,46 @@
|
||||
#include "DiagonalMatrix.ref.h"
|
||||
#include "EulerParameters.ref.h"
|
||||
#include "RowTypeMatrix.h"
|
||||
#include "FullRow.h" // exception to normal include pattern
|
||||
#include "FullRow.h" // now that refs are resolved, go do the full systems
|
||||
//#include "FullColumn.h"
|
||||
//#include "DiagonalMatrix.h"
|
||||
//#include "EulerParameters.h"
|
||||
|
||||
namespace MbD {
|
||||
template<typename T>
|
||||
class FullMatrixTemplate : public RowTypeMatrix<FRowsptr<T>>
|
||||
{
|
||||
public:
|
||||
FullMatrixTemplate() = default;
|
||||
explicit FullMatrixTemplate(int m) : RowTypeMatrix<FRowsptr<T>>(m)
|
||||
{
|
||||
}
|
||||
FullMatrixTemplate(int m, int n) {
|
||||
for (int i = 0; i < m; i++) {
|
||||
auto row = std::make_shared<FullRow<T>>(n);
|
||||
this->push_back(row);
|
||||
}
|
||||
}
|
||||
FullMatrixTemplate(std::initializer_list<FRowsptr<T>> listOfRows) {
|
||||
for (auto& row : listOfRows)
|
||||
{
|
||||
this->push_back(row);
|
||||
}
|
||||
}
|
||||
FullMatrixTemplate(std::initializer_list<std::initializer_list<T>> list2D) {
|
||||
for (auto& rowList : list2D)
|
||||
{
|
||||
auto row = std::make_shared<FullRow<T>>(rowList);
|
||||
this->push_back(row);
|
||||
}
|
||||
}
|
||||
// static std::shared_ptr<FullMatrixTemplate<T>> rotatex(T angle);
|
||||
// static std::shared_ptr<FullMatrixTemplate<T>> rotatey(T angle);
|
||||
// static std::shared_ptr<FullMatrixTemplate<T>> rotatez(T angle);
|
||||
// static std::shared_ptr<FullMatrixTemplate<T>> rotatexrotDot(T angle, T angledot);
|
||||
// static std::shared_ptr<FullMatrixTemplate<T>> rotateyrotDot(T angle, T angledot);
|
||||
// static std::shared_ptr<FullMatrixTemplate<T>> rotatezrotDot(T angle, T angledot);
|
||||
static std::shared_ptr<FullMatrixTemplate<T>> rotatexrotDotrotDDot(T angle, T angleDot, T angleDDot);
|
||||
static std::shared_ptr<FullMatrixTemplate<T>> rotateyrotDotrotDDot(T angle, T angleDot, T angleDDot);
|
||||
static std::shared_ptr<FullMatrixTemplate<T>> rotatezrotDotrotDDot(T angle, T angleDot, T angleDDot);
|
||||
static std::shared_ptr<FullMatrixTemplate<T>> identitysptr(int n);
|
||||
static std::shared_ptr<FullMatrixTemplate<T>> tildeMatrix(FColDsptr col);
|
||||
|
||||
virtual void identity();
|
||||
FColsptr<T> column(int j);
|
||||
FColsptr<T> timesFullColumn(FColsptr<T> fullCol);
|
||||
FColsptr<T> timesFullColumn(FullColumn<T>* fullCol);
|
||||
// std::shared_ptr<FullMatrixTemplate<T>> timesFullMatrix(std::shared_ptr<FullMatrixTemplate<T>> fullMat);
|
||||
|
||||
virtual std::shared_ptr<FullMatrixTemplate<T>> timesTransposeFullMatrix(std::shared_ptr<FullMatrixTemplate<T>> fullMat);
|
||||
|
||||
std::shared_ptr<FullMatrixTemplate<T>> times(T a);
|
||||
// std::shared_ptr<FullMatrixTemplate<T>> transposeTimesFullMatrix(std::shared_ptr<FullMatrixTemplate<T>> fullMat);
|
||||
// std::shared_ptr<FullMatrixTemplate<T>> plusFullMatrix(std::shared_ptr<FullMatrixTemplate<T>> fullMat);
|
||||
std::shared_ptr<FullMatrixTemplate<T>> minusFullMatrix(std::shared_ptr<FullMatrixTemplate<T>> fullMat);
|
||||
// std::shared_ptr<FullMatrixTemplate<T>> transpose();
|
||||
// std::shared_ptr<FullMatrixTemplate<T>> negated();
|
||||
void symLowerWithUpper();
|
||||
void atiput(int i, FRowsptr<T> fullRow) override;
|
||||
void atijput(int i, int j, T value);
|
||||
void atijputFullColumn(int i, int j, FColsptr<T> fullCol);
|
||||
void atijplusFullRow(int i, int j, FRowsptr<T> fullRow);
|
||||
void atijplusNumber(int i, int j, T value);
|
||||
void atijminusNumber(int i, int j, T value);
|
||||
double sumOfSquares() override;
|
||||
void zeroSelf() override;
|
||||
// std::shared_ptr<FullMatrixTemplate<T>> copy();
|
||||
FullMatrixTemplate<T> operator+(const FullMatrixTemplate<T> fullMat);
|
||||
FColsptr<T> transposeTimesFullColumn(const FColsptr<T> fullCol);
|
||||
void magnifySelf(T factor);
|
||||
std::shared_ptr<EulerParameters<T>> asEulerParameters();
|
||||
T trace();
|
||||
double maxMagnitude() override;
|
||||
FColsptr<T> bryantAngles();
|
||||
bool isDiagonal();
|
||||
bool isDiagonalToWithin(double ratio);
|
||||
std::shared_ptr<DiagonalMatrix<T>> asDiagonalMatrix();
|
||||
void conditionSelfWithTol(double tol);
|
||||
|
||||
std::ostream& printOn(std::ostream& s) const override;
|
||||
};
|
||||
|
||||
//
|
||||
// FULL MATRIX DOUBLE instantiation
|
||||
// FULL MATRIX DOUBLE
|
||||
//
|
||||
class FullMatrixDouble : public FullMatrixTemplate<double> {
|
||||
class FullMatrixDouble : public RowTypeMatrix<FRowsptr<double>> {
|
||||
public:
|
||||
FullMatrixDouble() : FullMatrixTemplate<double>() {};
|
||||
explicit FullMatrixDouble(int m) : FullMatrixTemplate<double>(m) {};
|
||||
FullMatrixDouble(int m, int n) : FullMatrixTemplate<double>(m, n) {};
|
||||
FullMatrixDouble(std::initializer_list<std::initializer_list<double>> list2D) : FullMatrixTemplate<double>(list2D) {}
|
||||
FullMatrixDouble(std::initializer_list<FRowsptr<double>> listOfRows) : FullMatrixTemplate<double>(listOfRows) {};
|
||||
FullMatrixDouble() = default;
|
||||
explicit FullMatrixDouble(int m) : RowTypeMatrix<FRowsptr<double>>(m)
|
||||
{
|
||||
}
|
||||
FullMatrixDouble(int m, int n) {
|
||||
for (int i = 0; i < m; i++) {
|
||||
auto row = std::make_shared<FullRow<double>>(n);
|
||||
this->push_back(row);
|
||||
}
|
||||
}
|
||||
FullMatrixDouble(std::initializer_list<FRowsptr<double>> listOfRows) {
|
||||
for (auto& row : listOfRows)
|
||||
{
|
||||
this->push_back(row);
|
||||
}
|
||||
}
|
||||
FullMatrixDouble(std::initializer_list<std::initializer_list<double>> list2D) {
|
||||
for (auto& rowList : list2D)
|
||||
{
|
||||
auto row = std::make_shared<FullRow<double>>(rowList);
|
||||
this->push_back(row);
|
||||
}
|
||||
}
|
||||
|
||||
std::shared_ptr<FullMatrixDouble> times(double a);
|
||||
std::shared_ptr<FullMatrixDouble> timesTransposeFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat);
|
||||
void identity() override;
|
||||
void identity();
|
||||
static std::shared_ptr<MbD::FullMatrixDouble> identitysptr(int n);
|
||||
double sumOfSquares();
|
||||
double sumOfSquares() override;
|
||||
std::shared_ptr<FullMatrixDouble> transposeTimesFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat);
|
||||
std::shared_ptr<FullMatrixDouble> timesFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat);
|
||||
std::shared_ptr<FullMatrixDouble> transpose();
|
||||
@@ -125,37 +68,82 @@ namespace MbD {
|
||||
static std::shared_ptr<FullMatrixDouble> rotatexrotDot(double angle, double angledot);
|
||||
static std::shared_ptr<FullMatrixDouble> rotateyrotDot(double angle, double angledot);
|
||||
static std::shared_ptr<FullMatrixDouble> rotatezrotDot(double angle, double angledot);
|
||||
std::shared_ptr<FullMatrixDouble> copy();
|
||||
static std::shared_ptr<FullMatrixDouble> rotatexrotDotrotDDot(double angle, double angleDot, double angleDDot);
|
||||
static std::shared_ptr<FullMatrixDouble> rotateyrotDotrotDDot(double angle, double angleDot, double angleDDot);
|
||||
static std::shared_ptr<FullMatrixDouble> rotatezrotDotrotDDot(double angle, double angleDot, double angleDDot);
|
||||
static std::shared_ptr<FullMatrixDouble> tildeMatrix(FColDsptr col);
|
||||
void zeroSelf() override;
|
||||
FColsptr<double> column(int j);
|
||||
|
||||
void atiput(int i, FRowsptr<double> fullRow);
|
||||
void atijput(int i, int j, double value);
|
||||
std::shared_ptr<FullMatrixDouble> copy();
|
||||
double maxMagnitude() override;
|
||||
FullMatrixDouble operator+(const FullMatrixDouble fullMat);
|
||||
std::shared_ptr<FullMatrixDouble> minusFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat);
|
||||
FColsptr<double> transposeTimesFullColumn(FColsptr<double> fullCol);
|
||||
void symLowerWithUpper();
|
||||
void atijputFullColumn(int i1, int j1, FColsptr<double> fullCol);
|
||||
void atijplusFullRow(int i, int j, FRowsptr<double> fullRow);
|
||||
void atijplusNumber(int i, int j, double value);
|
||||
void atijminusNumber(int i, int j, double value);
|
||||
void magnifySelf(double factor);
|
||||
std::shared_ptr<EulerParameters<double>> asEulerParameters();
|
||||
FColsptr<double> bryantAngles();
|
||||
double trace();
|
||||
bool isDiagonal();
|
||||
bool isDiagonalToWithin(double ratio);
|
||||
std::shared_ptr<DiagonalMatrix<double>> asDiagonalMatrix();
|
||||
void conditionSelfWithTol(double tol);
|
||||
std::ostream& printOn(std::ostream& s) const override;
|
||||
FColsptr<double> timesFullColumn(FColsptr<double> fullCol);
|
||||
// FColsptr<double> timesFullColumn(FullColumn<double>* fullCol);
|
||||
};
|
||||
|
||||
//
|
||||
// FULL MATRIX FULL MATRIX DOUBLE instantiation
|
||||
// FULL MATRIX FULL MATRIX DOUBLE
|
||||
//
|
||||
class FullMatrixFullMatrixDouble : public FullMatrixTemplate<FMatDsptr> {
|
||||
class FullMatrixFullMatrixDouble : public RowTypeMatrix<FRowsptr<FMatDsptr>> {
|
||||
public:
|
||||
FullMatrixFullMatrixDouble() : FullMatrixTemplate<FMatDsptr>() {};
|
||||
explicit FullMatrixFullMatrixDouble(int m) : FullMatrixTemplate<FMatDsptr>(m) {};
|
||||
FullMatrixFullMatrixDouble(int m, int n) : FullMatrixTemplate<FMatDsptr>(m, n) {};
|
||||
FullMatrixFullMatrixDouble() = default;
|
||||
explicit FullMatrixFullMatrixDouble(int m) : RowTypeMatrix<FRowsptr<FMatDsptr>>(m)
|
||||
{
|
||||
}
|
||||
FullMatrixFullMatrixDouble(int m, int n) {
|
||||
for (int i = 0; i < m; i++) {
|
||||
auto row = std::make_shared<FullRow<FMatDsptr>>(n);
|
||||
this->push_back(row);
|
||||
}
|
||||
}
|
||||
|
||||
double maxMagnitude() override;
|
||||
void zeroSelf() override;
|
||||
std::shared_ptr<FullMatrixFullMatrixDouble> times(double a);
|
||||
std::shared_ptr<FullMatrixFullMatrixDouble> timesTransposeFullMatrix(std::shared_ptr<FullMatrixFullMatrixDouble> fullMat);
|
||||
double sumOfSquares() override;
|
||||
void identity() override;
|
||||
void identity();
|
||||
static std::shared_ptr<MbD::FullMatrixFullMatrixDouble> identitysptr(int n);
|
||||
};
|
||||
//
|
||||
// FULL MATRIX FULL COLUMN DOUBLE instantiation
|
||||
// FULL MATRIX FULL COLUMN DOUBLE
|
||||
//
|
||||
class FullMatrixFullColumnDouble : public FullMatrixTemplate<FColDsptr> {
|
||||
class FullMatrixFullColumnDouble : public RowTypeMatrix<FRowsptr<FColDsptr>> {
|
||||
public:
|
||||
FullMatrixFullColumnDouble() : FullMatrixTemplate<FColDsptr>() {};
|
||||
explicit FullMatrixFullColumnDouble(int m) : FullMatrixTemplate<FColDsptr>(m) {};
|
||||
FullMatrixFullColumnDouble(int m, int n) : FullMatrixTemplate<FColDsptr>(m, n) {};
|
||||
FullMatrixFullColumnDouble() = default;
|
||||
explicit FullMatrixFullColumnDouble(int m) : RowTypeMatrix<FRowsptr<FColDsptr>>(m)
|
||||
{
|
||||
}
|
||||
FullMatrixFullColumnDouble(int m, int n) {
|
||||
for (int i = 0; i < m; i++) {
|
||||
auto row = std::make_shared<FullRow<FColDsptr>>(n);
|
||||
this->push_back(row);
|
||||
}
|
||||
}
|
||||
|
||||
std::shared_ptr<FullMatrixFullColumnDouble> times(double a);
|
||||
std::shared_ptr<FullMatrixFullColumnDouble> timesTransposeFullMatrix(std::shared_ptr<FullMatrixFullColumnDouble> fullMat);
|
||||
double maxMagnitude() override;
|
||||
void zeroSelf() override;
|
||||
double sumOfSquares() override;
|
||||
void identity() override;
|
||||
static std::shared_ptr<MbD::FullMatrixFullColumnDouble> identitysptr(int n);
|
||||
void symLowerWithUpper();
|
||||
std::shared_ptr<FullMatrixFullColumnDouble> times(double a);
|
||||
};
|
||||
}
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
#pragma once
|
||||
|
||||
#include "FullColumn.ref.h"
|
||||
#include <algorithm>
|
||||
|
||||
namespace MbD {
|
||||
class FullMatrixDouble;
|
||||
|
||||
@@ -7,65 +7,64 @@
|
||||
***************************************************************************/
|
||||
|
||||
#include "FullRow.h"
|
||||
#include "FullMatrix.h"
|
||||
|
||||
using namespace MbD;
|
||||
|
||||
template<typename T>
|
||||
std::shared_ptr<FullMatrixDouble> FullRow<T>::transposeTimesFullRow(FRowsptr<T> fullRow)
|
||||
{
|
||||
//"a*b = a(i)b(j)"
|
||||
auto nrow = (int)this->size();
|
||||
auto answer = std::make_shared<FullMatrixDouble>(nrow);
|
||||
for (int i = 0; i < nrow; i++)
|
||||
namespace MbD {
|
||||
template<typename T>
|
||||
std::shared_ptr<FullMatrixDouble> FullRow<T>::transposeTimesFullRow(FRowsptr<T> fullRow)
|
||||
{
|
||||
answer->atiput(i, fullRow->times(this->at(i)));
|
||||
//"a*b = a(i)b(j)"
|
||||
auto nrow = (int)this->size();
|
||||
auto answer = std::make_shared<FullMatrixDouble>(nrow);
|
||||
for (int i = 0; i < nrow; i++)
|
||||
{
|
||||
answer->atiput(i, fullRow->times(this->at(i)));
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
inline FRowsptr<T> FullRow<T>::timesTransposeFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat)
|
||||
{
|
||||
//"a*bT = a(1,j)b(k,j)"
|
||||
int ncol = fullMat->nrow();
|
||||
auto answer = std::make_shared<FullRow<T>>(ncol);
|
||||
for (int k = 0; k < ncol; k++) {
|
||||
answer->at(k) = this->dot(fullMat->at(k));
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
inline FRowsptr<T> FullRow<T>::timesTransposeFullMatrixForFMFMDsptr(std::shared_ptr<FullMatrixFullMatrixDouble> fullMat)
|
||||
{
|
||||
//"a*bT = a(1,j)b(k,j)"
|
||||
int ncol = fullMat->nrow();
|
||||
auto answer = std::make_shared<FullRow<T>>(ncol);
|
||||
for (int k = 0; k < ncol; k++) {
|
||||
answer->at(k) = this->dot(fullMat->at(k));
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
inline FRowsptr<T> FullRow<T>::timesFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat)
|
||||
{
|
||||
FRowsptr<T> answer = fullMat->at(0)->times(this->at(0));
|
||||
for (int j = 1; j < (int) this->size(); j++)
|
||||
template<typename T>
|
||||
FRowsptr<T> FullRow<T>::timesTransposeFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat)
|
||||
{
|
||||
answer->equalSelfPlusFullRowTimes(fullMat->at(j), this->at(j));
|
||||
//"a*bT = a(1,j)b(k,j)"
|
||||
int ncol = fullMat->nrow();
|
||||
auto answer = std::make_shared<FullRow<T>>(ncol);
|
||||
for (int k = 0; k < ncol; k++) {
|
||||
answer->at(k) = this->dot(fullMat->at(k));
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
inline FRowsptr<T> FullRow<T>::timesFullMatrixForFMFMDsptr(std::shared_ptr<FullMatrixFullMatrixDouble> fullMat)
|
||||
{
|
||||
FRowsptr<T> answer = fullMat->at(0)->times(this->at(0));
|
||||
for (int j = 1; j < (int) this->size(); j++)
|
||||
template<typename T>
|
||||
FRowsptr<T> FullRow<T>::timesTransposeFullMatrixForFMFMDsptr(std::shared_ptr<FullMatrixFullMatrixDouble> fullMat)
|
||||
{
|
||||
answer->equalSelfPlusFullRowTimes(fullMat->at(j), this->at(j));
|
||||
//"a*bT = a(1,j)b(k,j)"
|
||||
int ncol = fullMat->nrow();
|
||||
auto answer = std::make_shared<FullRow<T>>(ncol);
|
||||
for (int k = 0; k < ncol; k++) {
|
||||
answer->at(k) = this->dot(fullMat->at(k));
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
FRowsptr<T> FullRow<T>::timesFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat)
|
||||
{
|
||||
FRowsptr<T> answer = fullMat->at(0)->times(this->at(0));
|
||||
for (int j = 1; j < (int) this->size(); j++)
|
||||
{
|
||||
answer->equalSelfPlusFullRowTimes(fullMat->at(j), this->at(j));
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
FRowsptr<T> FullRow<T>::timesFullMatrixForFMFMDsptr(std::shared_ptr<FullMatrixFullMatrixDouble> fullMat)
|
||||
{
|
||||
FRowsptr<T> answer = fullMat->at(0)->times(this->at(0));
|
||||
for (int j = 1; j < (int) this->size(); j++)
|
||||
{
|
||||
answer->equalSelfPlusFullRowTimes(fullMat->at(j), this->at(j));
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
return answer;
|
||||
}
|
||||
|
||||
@@ -10,9 +10,13 @@
|
||||
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#include "FullColumn.ref.h"
|
||||
#include "FullRow.ref.h"
|
||||
#include "DiagonalMatrix.ref.h"
|
||||
#include "FullMatrix.ref.h"
|
||||
#include "FullColumn.h"
|
||||
// #include "FullMatrix.h"
|
||||
#include "FullRow.h"
|
||||
#include "FullMatrix.h"
|
||||
#include "DiagonalMatrix.h"
|
||||
#include "SparseMatrix.h"
|
||||
#include "enum.h"
|
||||
|
||||
@@ -164,7 +164,7 @@ FMatDsptr MbD::MBDynItem::readOrientation(std::vector<std::string>& args)
|
||||
auto ref = mbdynReferences()->at(refName);
|
||||
auto aAFf = readBasicOrientation(args);
|
||||
auto aAOF = ref->aAOf;
|
||||
aAOf = toFMDsptr(aAOF->timesFullMatrix(aAFf));
|
||||
aAOf = aAOF->timesFullMatrix(aAFf);
|
||||
}
|
||||
else if (str.find("hinge") != std::string::npos) {
|
||||
args.erase(args.begin());
|
||||
|
||||
@@ -21,7 +21,7 @@ void MbD::MBDynMarker::parseMBDyn(std::vector<std::string>& args)
|
||||
auto rOmO = readPosition(args);
|
||||
auto aAOm = readOrientation(args);
|
||||
rPmP = aAOP->transposeTimesFullColumn(rOmO->minusFullColumn(rOPO));
|
||||
aAPm = toFMDsptr(aAOP->transposeTimesFullMatrix(aAOm));
|
||||
aAPm = aAOP->transposeTimesFullMatrix(aAOm);
|
||||
}
|
||||
else if (str.find("offset") != std::string::npos) {
|
||||
rPmP = readPosition(args);
|
||||
|
||||
@@ -70,13 +70,13 @@ void MarkerFrame::calcPostDynCorrectorIteration()
|
||||
auto rOpO = partFrame->rOpO();
|
||||
auto aAOp = partFrame->aAOp();
|
||||
rOmO = rOpO->plusFullColumn(aAOp->timesFullColumn(rpmp));
|
||||
aAOm = toFMDsptr(aAOp->timesFullMatrix(aApm));
|
||||
aAOm = aAOp->timesFullMatrix(aApm);
|
||||
auto pAOppE = partFrame->pAOppE();
|
||||
for (int i = 0; i < 4; i++)
|
||||
{
|
||||
auto& pAOppEi = pAOppE->at(i);
|
||||
prOmOpE->atijputFullColumn(0, i, pAOppEi->timesFullColumn(rpmp));
|
||||
pAOmpE->at(i) = toFMDsptr(pAOppEi->timesFullMatrix(aApm));
|
||||
pAOmpE->at(i) = pAOppEi->timesFullMatrix(aApm);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -188,7 +188,7 @@ void MbD::MomentOfInertiaSolver::calcJoo()
|
||||
auto term22 = rPoPtilde->timesFullMatrix(rocmPtilde);
|
||||
auto term23 = term22->transpose();
|
||||
auto term2 = term21->plusFullMatrix(term22)->plusFullMatrix(term23)->times(m);
|
||||
aJoo = toFMDsptr(aAPo->transposeTimesFullMatrix(term1->plusFullMatrix(term2))->timesFullMatrix(aAPo));
|
||||
aJoo = aAPo->transposeTimesFullMatrix(term1->plusFullMatrix(term2))->timesFullMatrix(aAPo);
|
||||
aJoo->symLowerWithUpper();
|
||||
aJoo->conditionSelfWithTol(aJoo->maxMagnitude() * 1.0e-6);
|
||||
}
|
||||
@@ -198,7 +198,7 @@ void MbD::MomentOfInertiaSolver::calcJpp()
|
||||
//"aJcmP = aJPP + mass*(rPcmPTilde*rPcmPTilde)"
|
||||
|
||||
auto rPcmPtilde = FullMatrixDouble::tildeMatrix(rPcmP);
|
||||
aJcmP = toFMDsptr(aJPP->plusFullMatrix(rPcmPtilde->timesFullMatrix(rPcmPtilde)->times(m)));
|
||||
aJcmP = aJPP->plusFullMatrix(rPcmPtilde->timesFullMatrix(rPcmPtilde)->times(m));
|
||||
aJcmP->symLowerWithUpper();
|
||||
aJcmP->conditionSelfWithTol(aJcmP->maxMagnitude() * 1.0e-6);
|
||||
if (aJcmP->isDiagonal()) {
|
||||
@@ -249,7 +249,7 @@ FColDsptr MbD::MomentOfInertiaSolver::eigenvectorFor(double lam)
|
||||
//"[aJcmP] - lam[I]."
|
||||
|
||||
double e0, e1, e2;
|
||||
aJcmPcopy = toFMDsptr(aJcmP->copy());
|
||||
aJcmPcopy = aJcmP->copy();
|
||||
colOrder = std::make_shared<FullRow<int>>(3);
|
||||
auto eigenvector = std::make_shared<FullColumn<double>>(3);
|
||||
for (int i = 0; i < 3; i++)
|
||||
|
||||
@@ -462,7 +462,7 @@ void Part::calcmEdot()
|
||||
auto a4J = aJ->times(4.0);
|
||||
auto term1 = aC->transposeTimesFullMatrix(a4J->timesFullMatrix(aCdot));
|
||||
auto term2 = term1->transpose();
|
||||
mEdot = toFMDsptr(term1->plusFullMatrix(term2));
|
||||
mEdot = term1->plusFullMatrix(term2);
|
||||
}
|
||||
|
||||
void Part::calcpTpE()
|
||||
@@ -479,7 +479,7 @@ void Part::calcppTpEpE()
|
||||
auto& qEdot = partFrame->qEdot;
|
||||
auto pCpEtimesqEdot = EulerParameters<double>::pCpEtimesColumn(qEdot);
|
||||
auto a4J = aJ->times(4.0);
|
||||
ppTpEpE = toFMDsptr(pCpEtimesqEdot->transposeTimesFullMatrix(a4J->timesFullMatrix(pCpEtimesqEdot)));
|
||||
ppTpEpE = pCpEtimesqEdot->transposeTimesFullMatrix(a4J->timesFullMatrix(pCpEtimesqEdot));
|
||||
}
|
||||
|
||||
void Part::calcppTpEpEdot()
|
||||
@@ -491,13 +491,13 @@ void Part::calcppTpEpEdot()
|
||||
auto term1 = EulerParameters<double>::pCTpEtimesColumn(a4J->timesFullColumn(aC->timesFullColumn(qEdot)));
|
||||
auto pCpEtimesqEdot = EulerParameters<double>::pCpEtimesColumn(qEdot);
|
||||
auto term2 = aC->transposeTimesFullMatrix(a4J->timesFullMatrix(pCpEtimesqEdot));
|
||||
ppTpEpEdot = toFMDsptr(term1->plusFullMatrix(term2)->transpose());
|
||||
ppTpEpEdot = term1->plusFullMatrix(term2)->transpose();
|
||||
}
|
||||
|
||||
void Part::calcmE()
|
||||
{
|
||||
auto aC = partFrame->aC();
|
||||
mE = toFMDsptr(aC->transposeTimesFullMatrix(aJ->timesFullMatrix(aC))->times(4.0));
|
||||
mE = aC->transposeTimesFullMatrix(aJ->timesFullMatrix(aC))->times(4.0);
|
||||
}
|
||||
|
||||
void Part::fillAccICIterError(FColDsptr col)
|
||||
|
||||
@@ -53,14 +53,14 @@ void MbD::RackPinConstraintIqcJc::calc_pGpXI()
|
||||
|
||||
void MbD::RackPinConstraintIqcJc::calc_ppGpEIpEI()
|
||||
{
|
||||
ppGpEIpEI = toFMDsptr(xIeJeIe->ppvaluepEIpEI()
|
||||
->plusFullMatrix(thezIeJe->ppvaluepEIpEI()->times(pitchRadius)));
|
||||
ppGpEIpEI = xIeJeIe->ppvaluepEIpEI()
|
||||
->plusFullMatrix(thezIeJe->ppvaluepEIpEI()->times(pitchRadius));
|
||||
}
|
||||
|
||||
void MbD::RackPinConstraintIqcJc::calc_ppGpXIpEI()
|
||||
{
|
||||
ppGpXIpEI = toFMDsptr(xIeJeIe->ppvaluepXIpEI()
|
||||
->plusFullMatrix(thezIeJe->ppvaluepXIpEI()->times(pitchRadius)));
|
||||
ppGpXIpEI = xIeJeIe->ppvaluepXIpEI()
|
||||
->plusFullMatrix(thezIeJe->ppvaluepXIpEI()->times(pitchRadius));
|
||||
}
|
||||
|
||||
void MbD::RackPinConstraintIqcJc::calcPostDynCorrectorIteration()
|
||||
|
||||
@@ -30,20 +30,20 @@ void MbD::RackPinConstraintIqcJqc::calc_pGpXJ()
|
||||
|
||||
void MbD::RackPinConstraintIqcJqc::calc_ppGpEIpEJ()
|
||||
{
|
||||
ppGpEIpEJ = toFMDsptr(xIeJeIe->ppvaluepEIpEJ()
|
||||
->plusFullMatrix(thezIeJe->ppvaluepEIpEJ()->times(pitchRadius)));
|
||||
ppGpEIpEJ = xIeJeIe->ppvaluepEIpEJ()
|
||||
->plusFullMatrix(thezIeJe->ppvaluepEIpEJ()->times(pitchRadius));
|
||||
}
|
||||
|
||||
void MbD::RackPinConstraintIqcJqc::calc_ppGpEIpXJ()
|
||||
{
|
||||
ppGpEIpXJ = toFMDsptr(xIeJeIe->ppvaluepEIpXJ()
|
||||
->plusFullMatrix(thezIeJe->ppvaluepEIpXJ()->times(pitchRadius)));
|
||||
ppGpEIpXJ = xIeJeIe->ppvaluepEIpXJ()
|
||||
->plusFullMatrix(thezIeJe->ppvaluepEIpXJ()->times(pitchRadius));
|
||||
}
|
||||
|
||||
void MbD::RackPinConstraintIqcJqc::calc_ppGpEJpEJ()
|
||||
{
|
||||
ppGpEJpEJ = toFMDsptr(xIeJeIe->ppvaluepEJpEJ()
|
||||
->plusFullMatrix(thezIeJe->ppvaluepEJpEJ()->times(pitchRadius)));
|
||||
ppGpEJpEJ = xIeJeIe->ppvaluepEJpEJ()
|
||||
->plusFullMatrix(thezIeJe->ppvaluepEJpEJ()->times(pitchRadius));
|
||||
}
|
||||
|
||||
void MbD::RackPinConstraintIqcJqc::calcPostDynCorrectorIteration()
|
||||
|
||||
@@ -55,14 +55,14 @@ void MbD::ScrewConstraintIqcJc::calc_pGpXI()
|
||||
|
||||
void MbD::ScrewConstraintIqcJc::calc_ppGpEIpEI()
|
||||
{
|
||||
ppGpEIpEI = toFMDsptr(zIeJeIe->ppvaluepEIpEI()->times(2.0 * M_PI)
|
||||
->minusFullMatrix(thezIeJe->ppvaluepEIpEI()->times(pitch)));
|
||||
ppGpEIpEI = zIeJeIe->ppvaluepEIpEI()->times(2.0 * M_PI)
|
||||
->minusFullMatrix(thezIeJe->ppvaluepEIpEI()->times(pitch));
|
||||
}
|
||||
|
||||
void MbD::ScrewConstraintIqcJc::calc_ppGpXIpEI()
|
||||
{
|
||||
ppGpXIpEI = toFMDsptr(zIeJeIe->ppvaluepXIpEI()->times(2.0 * M_PI)
|
||||
->minusFullMatrix(thezIeJe->ppvaluepXIpEI()->times(pitch)));
|
||||
ppGpXIpEI = zIeJeIe->ppvaluepXIpEI()->times(2.0 * M_PI)
|
||||
->minusFullMatrix(thezIeJe->ppvaluepXIpEI()->times(pitch));
|
||||
}
|
||||
|
||||
void MbD::ScrewConstraintIqcJc::calcPostDynCorrectorIteration()
|
||||
|
||||
@@ -32,20 +32,20 @@ void MbD::ScrewConstraintIqcJqc::calc_pGpXJ()
|
||||
|
||||
void MbD::ScrewConstraintIqcJqc::calc_ppGpEIpEJ()
|
||||
{
|
||||
ppGpEIpEJ = toFMDsptr(zIeJeIe->ppvaluepEIpEJ()->times(2.0 * M_PI)
|
||||
->minusFullMatrix(thezIeJe->ppvaluepEIpEJ()->times(pitch)));
|
||||
ppGpEIpEJ = zIeJeIe->ppvaluepEIpEJ()->times(2.0 * M_PI)
|
||||
->minusFullMatrix(thezIeJe->ppvaluepEIpEJ()->times(pitch));
|
||||
}
|
||||
|
||||
void MbD::ScrewConstraintIqcJqc::calc_ppGpEIpXJ()
|
||||
{
|
||||
ppGpEIpXJ = toFMDsptr(zIeJeIe->ppvaluepEIpXJ()->times(2.0 * M_PI)
|
||||
->minusFullMatrix(thezIeJe->ppvaluepEIpXJ()->times(pitch)));
|
||||
ppGpEIpXJ = zIeJeIe->ppvaluepEIpXJ()->times(2.0 * M_PI)
|
||||
->minusFullMatrix(thezIeJe->ppvaluepEIpXJ()->times(pitch));
|
||||
}
|
||||
|
||||
void MbD::ScrewConstraintIqcJqc::calc_ppGpEJpEJ()
|
||||
{
|
||||
ppGpEJpEJ = toFMDsptr(zIeJeIe->ppvaluepEJpEJ()->times(2.0 * M_PI)
|
||||
->minusFullMatrix(thezIeJe->ppvaluepEJpEJ()->times(pitch)));
|
||||
ppGpEJpEJ = zIeJeIe->ppvaluepEJpEJ()->times(2.0 * M_PI)
|
||||
->minusFullMatrix(thezIeJe->ppvaluepEJpEJ()->times(pitch));
|
||||
}
|
||||
|
||||
void MbD::ScrewConstraintIqcJqc::calcPostDynCorrectorIteration()
|
||||
|
||||
@@ -30,10 +30,10 @@ void TranslationConstraintIqcJc::calcPostDynCorrectorIteration()
|
||||
pGpXI = riIeqJeIeq->pvaluepXI();
|
||||
pGpEI = (riIeqJeIeq->pvaluepEI())->plusFullRow(riIeqJeIeq->pvaluepEK());
|
||||
ppGpXIpEI = riIeqJeIeq->ppvaluepXIpEK();
|
||||
ppGpEIpEI = toFMDsptr(riIeqJeIeq->ppvaluepEIpEI()
|
||||
ppGpEIpEI = riIeqJeIeq->ppvaluepEIpEI()
|
||||
->plusFullMatrix(riIeqJeIeq->ppvaluepEIpEK())
|
||||
->plusFullMatrix((riIeqJeIeq->ppvaluepEIpEK()->
|
||||
transpose()->plusFullMatrix(riIeqJeIeq->ppvaluepEKpEK()))));
|
||||
transpose()->plusFullMatrix(riIeqJeIeq->ppvaluepEKpEK())));
|
||||
}
|
||||
|
||||
void TranslationConstraintIqcJc::useEquationNumbers()
|
||||
|
||||
@@ -28,8 +28,8 @@ void TranslationConstraintIqcJqc::calcPostDynCorrectorIteration()
|
||||
TranslationConstraintIqcJc::calcPostDynCorrectorIteration();
|
||||
pGpXJ = riIeJeIe->pvaluepXJ();
|
||||
pGpEJ = riIeJeIe->pvaluepEJ();
|
||||
ppGpEIpXJ = toFMDsptr(riIeJeIe->ppvaluepXJpEK()->transpose());
|
||||
ppGpEIpEJ = toFMDsptr(riIeJeIe->ppvaluepEJpEK()->transpose());
|
||||
ppGpEIpXJ = riIeJeIe->ppvaluepXJpEK()->transpose();
|
||||
ppGpEIpEJ = riIeJeIe->ppvaluepEJpEK()->transpose();
|
||||
ppGpEJpEJ = riIeJeIe->ppvaluepEJpEJ();
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user