153 lines
5.6 KiB
C++
153 lines
5.6 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#include "DistancexyConstraintIqcJc.h"
|
|
#include "EndFramec.h"
|
|
#include "CREATE.h"
|
|
#include "DispCompIeqcJecIe.h"
|
|
|
|
using namespace MbD;
|
|
|
|
MbD::DistancexyConstraintIqcJc::DistancexyConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj) : DistancexyConstraintIJ(frmi, frmj)
|
|
{
|
|
}
|
|
|
|
void MbD::DistancexyConstraintIqcJc::addToJointForceI(FColDsptr col)
|
|
{
|
|
col->equalSelfPlusFullVectortimes(pGpXI, lam);
|
|
}
|
|
|
|
void MbD::DistancexyConstraintIqcJc::addToJointTorqueI(FColDsptr jointTorque)
|
|
{
|
|
auto cForceT = pGpXI->times(lam);
|
|
auto frmIeqc = std::static_pointer_cast<EndFrameqc>(frmI);
|
|
auto rIpIeIp = frmIeqc->rpep();
|
|
auto pAOIppEI = frmIeqc->pAOppE();
|
|
auto aBOIp = frmIeqc->aBOp();
|
|
auto fpAOIppEIrIpIeIp = std::make_shared<FullColumn<double>>(4, 0.0);
|
|
for (size_t i = 0; i < 4; i++)
|
|
{
|
|
auto dum = cForceT->timesFullColumn(pAOIppEI->at(i)->timesFullColumn(rIpIeIp));
|
|
fpAOIppEIrIpIeIp->atiput(i, dum);
|
|
}
|
|
auto lampGpE = pGpEI->transpose()->times(lam);
|
|
auto c2Torque = aBOIp->timesFullColumn(lampGpE->minusFullColumn(fpAOIppEIrIpIeIp));
|
|
jointTorque->equalSelfPlusFullColumntimes(c2Torque, 0.5);
|
|
}
|
|
|
|
void MbD::DistancexyConstraintIqcJc::calcPostDynCorrectorIteration()
|
|
{
|
|
DistancexyConstraintIJ::calcPostDynCorrectorIteration();
|
|
this->calc_pGpXI();
|
|
this->calc_pGpEI();
|
|
this->calc_ppGpXIpXI();
|
|
this->calc_ppGpXIpEI();
|
|
this->calc_ppGpEIpEI();
|
|
}
|
|
|
|
void MbD::DistancexyConstraintIqcJc::calc_pGpEI()
|
|
{
|
|
pGpEI = (xIeJeIe->pvaluepEI()->times(xIeJeIe->value())->plusFullRow(yIeJeIe->pvaluepEI()->times(yIeJeIe->value())));
|
|
pGpEI->magnifySelf(2.0);
|
|
}
|
|
|
|
void MbD::DistancexyConstraintIqcJc::calc_pGpXI()
|
|
{
|
|
pGpXI = (xIeJeIe->pvaluepXI()->times(xIeJeIe->value())->plusFullRow(yIeJeIe->pvaluepXI()->times(yIeJeIe->value())));
|
|
pGpXI->magnifySelf(2.0);
|
|
}
|
|
|
|
void MbD::DistancexyConstraintIqcJc::calc_ppGpEIpEI()
|
|
{
|
|
ppGpEIpEI = (xIeJeIe->pvaluepEI()->transposeTimesFullRow(xIeJeIe->pvaluepEI()));
|
|
ppGpEIpEI = ppGpEIpEI->plusFullMatrix(xIeJeIe->ppvaluepEIpEI()->times(xIeJeIe->value()));
|
|
ppGpEIpEI = ppGpEIpEI->plusFullMatrix(yIeJeIe->pvaluepEI()->transposeTimesFullRow(yIeJeIe->pvaluepEI()));
|
|
ppGpEIpEI = ppGpEIpEI->plusFullMatrix(yIeJeIe->ppvaluepEIpEI()->times(yIeJeIe->value()));
|
|
ppGpEIpEI->magnifySelf(2.0);
|
|
}
|
|
|
|
void MbD::DistancexyConstraintIqcJc::calc_ppGpXIpEI()
|
|
{
|
|
ppGpXIpEI = (xIeJeIe->pvaluepXI()->transposeTimesFullRow(xIeJeIe->pvaluepEI()));
|
|
ppGpXIpEI = ppGpXIpEI->plusFullMatrix(xIeJeIe->ppvaluepXIpEI()->times(xIeJeIe->value()));
|
|
ppGpXIpEI = ppGpXIpEI->plusFullMatrix(yIeJeIe->pvaluepXI()->transposeTimesFullRow(yIeJeIe->pvaluepEI()));
|
|
ppGpXIpEI = ppGpXIpEI->plusFullMatrix(yIeJeIe->ppvaluepXIpEI()->times(yIeJeIe->value()));
|
|
ppGpXIpEI->magnifySelf(2.0);
|
|
}
|
|
|
|
void MbD::DistancexyConstraintIqcJc::calc_ppGpXIpXI()
|
|
{
|
|
//xIeJeIe ppvaluepXIpXI = 0
|
|
//yIeJeIe ppvaluepXIpXI = 0
|
|
ppGpXIpXI = (xIeJeIe->pvaluepXI()->transposeTimesFullRow(xIeJeIe->pvaluepXI()));
|
|
ppGpXIpXI = ppGpXIpXI->plusFullMatrix(yIeJeIe->pvaluepXI()->transposeTimesFullRow(yIeJeIe->pvaluepXI()));
|
|
ppGpXIpXI->magnifySelf(2.0);
|
|
}
|
|
|
|
void MbD::DistancexyConstraintIqcJc::init_xyIeJeIe()
|
|
{
|
|
xIeJeIe = CREATE<DispCompIeqcJecIe>::With(frmI, frmJ, 0);
|
|
yIeJeIe = CREATE<DispCompIeqcJecIe>::With(frmI, frmJ, 1);
|
|
}
|
|
|
|
void MbD::DistancexyConstraintIqcJc::fillAccICIterError(FColDsptr col)
|
|
{
|
|
col->atiplusFullVectortimes(iqXI, pGpXI, lam);
|
|
col->atiplusFullVectortimes(iqEI, pGpEI, lam);
|
|
auto efrmIqc = std::static_pointer_cast<EndFrameqc>(frmI);
|
|
auto qXdotI = efrmIqc->qXdot();
|
|
auto qEdotI = efrmIqc->qEdot();
|
|
auto sum = pGpXI->timesFullColumn(efrmIqc->qXddot());
|
|
sum += pGpEI->timesFullColumn(efrmIqc->qEddot());
|
|
sum += qXdotI->transposeTimesFullColumn(ppGpXIpXI->timesFullColumn(qXdotI));
|
|
sum += 2.0 * (qXdotI->transposeTimesFullColumn(ppGpXIpEI->timesFullColumn(qEdotI)));
|
|
sum += qEdotI->transposeTimesFullColumn(ppGpEIpEI->timesFullColumn(qEdotI));
|
|
col->atiplusNumber(iG, sum);
|
|
}
|
|
|
|
void MbD::DistancexyConstraintIqcJc::fillPosICError(FColDsptr col)
|
|
{
|
|
DistancexyConstraintIJ::fillPosICError(col);
|
|
col->atiplusFullVectortimes(iqXI, pGpXI, lam);
|
|
col->atiplusFullVectortimes(iqEI, pGpEI, lam);
|
|
}
|
|
|
|
void MbD::DistancexyConstraintIqcJc::fillPosICJacob(SpMatDsptr mat)
|
|
{
|
|
mat->atijplusFullRow(iG, iqXI, pGpXI);
|
|
mat->atijplusFullColumn(iqXI, iG, pGpXI->transpose());
|
|
mat->atijplusFullRow(iG, iqEI, pGpEI);
|
|
mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose());
|
|
mat->atijplusFullMatrixtimes(iqXI, iqXI, ppGpXIpXI, lam);
|
|
auto ppGpXIpEIlam = ppGpXIpEI->times(lam);
|
|
mat->atijplusFullMatrix(iqXI, iqEI, ppGpXIpEIlam);
|
|
mat->atijplusTransposeFullMatrix(iqEI, iqXI, ppGpXIpEIlam);
|
|
mat->atijplusFullMatrixtimes(iqEI, iqEI, ppGpEIpEI, lam);
|
|
}
|
|
|
|
void MbD::DistancexyConstraintIqcJc::fillPosKineJacob(SpMatDsptr mat)
|
|
{
|
|
mat->atijplusFullRow(iG, iqXI, pGpXI);
|
|
mat->atijplusFullRow(iG, iqEI, pGpEI);
|
|
}
|
|
|
|
void MbD::DistancexyConstraintIqcJc::fillVelICJacob(SpMatDsptr mat)
|
|
{
|
|
mat->atijplusFullRow(iG, iqXI, pGpXI);
|
|
mat->atijplusFullColumn(iqXI, iG, pGpXI->transpose());
|
|
mat->atijplusFullRow(iG, iqEI, pGpEI);
|
|
mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose());
|
|
}
|
|
|
|
void MbD::DistancexyConstraintIqcJc::useEquationNumbers()
|
|
{
|
|
auto frmIeqc = std::static_pointer_cast<EndFrameqc>(frmI);
|
|
iqXI = frmIeqc->iqX();
|
|
iqEI = frmIeqc->iqE();
|
|
}
|