60 lines
2.1 KiB
C++
60 lines
2.1 KiB
C++
/***************************************************************************
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* Copyright (c) 2023 Ondsel, Inc. *
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* *
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* This file is part of OndselSolver. *
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* *
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* See LICENSE file for details about copyright. *
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***************************************************************************/
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#include "AllowZRotationConstraintIqctJqc.h"
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#include "EndFramec.h"
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#include "MarkerFrame.h"
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#include "EndFrameqc.h"
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#include "CREATE.h"
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#include "Symbolic.h"
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#include "Constant.h"
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#include "EulerAngleszxz.h"
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using namespace MbD;
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MbD::AllowZRotationConstraintIqctJqc::AllowZRotationConstraintIqctJqc(EndFrmsptr frmi, EndFrmsptr frmj, size_t axisi, size_t axisj) :
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DirectionCosineConstraintIqctJqc(frmi, frmj, axisi, axisj)
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{
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//Do nothing.
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}
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std::shared_ptr<AllowZRotationConstraintIqctJqc> MbD::AllowZRotationConstraintIqctJqc::With(EndFrmsptr frmi, EndFrmsptr frmj, size_t axisi, size_t axisj)
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{
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auto con = std::make_shared<AllowZRotationConstraintIqctJqc>(frmi, frmj, axisi, axisj);
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con->initialize();
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return con;
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}
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void MbD::AllowZRotationConstraintIqctJqc::postInput()
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{
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auto eqctI = std::static_pointer_cast<EndFrameqct>(frmI);
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auto aAImJe = eqctI->getMarkerFrame()->aAOm->transposeTimesFullMatrix(frmJ->aAOe);
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auto aEulerAngleszxz = aAImJe->eulerAngleszxz();
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auto the1z = aEulerAngleszxz->at(1);
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auto the2x = aEulerAngleszxz->at(2);
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if (std::abs(the2x) < (M_PI / 2.0)) {
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eqctI->phiThePsiBlks->at(1) = std::make_shared<Constant>(the1z);
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}
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else {
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eqctI->phiThePsiBlks->at(1) = std::make_shared<Constant>(M_PI + the1z);
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}
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eqctI->postInput();
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DirectionCosineConstraintIqctJqc::postInput();
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}
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void MbD::AllowZRotationConstraintIqctJqc::postPosIC()
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{
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//self becomeRedundantConstraint
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throw SimulationStoppingError("To be implemented.");
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}
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std::string MbD::AllowZRotationConstraintIqctJqc::constraintSpec()
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{
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return "AllowZRotationConstraintIJ";
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}
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