410 lines
12 KiB
C++
410 lines
12 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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#pragma once
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#include "EulerArray.h"
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#include "FullColumn.h"
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#include "FullMatrix.h"
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namespace MbD
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{
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template<typename T>
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class EulerParameters: public EulerArray<T>
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{
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// Quarternion = {q0, q1, q2, q3}
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// EulerParameters = {qE1, qE2, qE3, qE4} is preferred because Smalltalk uses one-based
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// indexing.
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// q0 = qE4
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// Note: It is tempting to use quarternions in C++ because of zero-based indexing.
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// Note: But that will make it harder to compare computation results with Smalltalk
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// aA aB aC pApE
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public:
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EulerParameters()
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: EulerArray<T>(4)
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{
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this->initialize();
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}
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EulerParameters(size_t count)
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: EulerArray<T>(count)
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{
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this->initialize();
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}
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EulerParameters(size_t count, const T& value)
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: EulerArray<T>(count, value)
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{
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this->initialize();
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}
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EulerParameters(std::initializer_list<T> list)
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: EulerArray<T> {list}
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{
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this->initialize();
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}
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EulerParameters(FColDsptr axis, double theta)
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: EulerArray<T>(4)
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{
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auto halfTheta = theta / 2.0;
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auto sinHalfTheta = std::sin(halfTheta);
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auto cosHalfTheta = std::cos(halfTheta);
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axis->normalizeSelf();
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this->atiputFullColumn(0, axis->times(sinHalfTheta));
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this->atiput(3, cosHalfTheta);
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this->conditionSelf();
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this->initialize();
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this->calc();
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}
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static std::shared_ptr<FullMatrix<FColsptr<T>>> ppApEpEtimesColumn(FColDsptr col);
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static FMatDsptr pCpEtimesColumn(FColDsptr col);
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static FMatDsptr pCTpEtimesColumn(FColDsptr col);
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static std::shared_ptr<FullMatrix<FMatsptr<T>>> ppApEpEtimesMatrix(FMatDsptr mat);
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void initialize() override;
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void calc() override;
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void calcABC();
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void calcpApE();
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void conditionSelf() override;
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std::shared_ptr<EulerParameters<T>> times(T a);
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std::shared_ptr<EulerParameters<T>>
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plusFullColumn(std::shared_ptr<EulerParameters<T>> eulerPars);
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std::shared_ptr<EulerParameters<T>> copy();
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FMatDsptr aA;
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FMatDsptr aB;
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FMatDsptr aC;
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FColFMatDsptr pApE;
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};
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template<>
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inline FMatFColDsptr EulerParameters<double>::ppApEpEtimesColumn(FColDsptr col)
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{
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double a2c0 = 2 * col->at(0);
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double a2c1 = 2 * col->at(1);
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double a2c2 = 2 * col->at(2);
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double m2c0 = 0 - a2c0;
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double m2c1 = 0 - a2c1;
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double m2c2 = 0 - a2c2;
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auto col00 = std::make_shared<FullColumn<double>>(ListD {a2c0, m2c1, m2c2});
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auto col01 = std::make_shared<FullColumn<double>>(ListD {a2c1, a2c0, 0});
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auto col02 = std::make_shared<FullColumn<double>>(ListD {a2c2, 0, a2c0});
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auto col03 = std::make_shared<FullColumn<double>>(ListD {0, m2c2, a2c1});
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auto col11 = std::make_shared<FullColumn<double>>(ListD {m2c0, a2c1, m2c2});
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auto col12 = std::make_shared<FullColumn<double>>(ListD {0, a2c2, a2c1});
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auto col13 = std::make_shared<FullColumn<double>>(ListD {a2c2, 0, m2c0});
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auto col22 = std::make_shared<FullColumn<double>>(ListD {m2c0, m2c1, a2c2});
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auto col23 = std::make_shared<FullColumn<double>>(ListD {m2c1, a2c0, 0});
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auto col33 = std::make_shared<FullColumn<double>>(ListD {a2c0, a2c1, a2c2});
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auto answer = std::make_shared<FullMatrix<FColDsptr>>(4, 4);
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auto& row0 = answer->at(0);
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row0->at(0) = col00;
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row0->at(1) = col01;
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row0->at(2) = col02;
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row0->at(3) = col03;
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auto& row1 = answer->at(1);
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row1->at(0) = col01;
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row1->at(1) = col11;
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row1->at(2) = col12;
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row1->at(3) = col13;
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auto& row2 = answer->at(2);
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row2->at(0) = col02;
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row2->at(1) = col12;
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row2->at(2) = col22;
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row2->at(3) = col23;
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auto& row3 = answer->at(3);
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row3->at(0) = col03;
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row3->at(1) = col13;
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row3->at(2) = col23;
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row3->at(3) = col33;
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return answer;
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}
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template<>
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inline FMatDsptr EulerParameters<double>::pCpEtimesColumn(FColDsptr col)
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{
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//"col size = 4."
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auto c0 = col->at(0);
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auto c1 = col->at(1);
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auto c2 = col->at(2);
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auto mc0 = -c0;
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auto mc1 = -c1;
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auto mc2 = -c2;
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auto mc3 = -col->at(3);
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auto answer = std::make_shared<FullMatrix<double>>(3, 4);
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auto& row0 = answer->at(0);
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auto& row1 = answer->at(1);
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auto& row2 = answer->at(2);
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row0->atiput(0, mc3);
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row0->atiput(1, mc2);
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row0->atiput(2, c1);
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row0->atiput(3, c0);
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row1->atiput(0, c2);
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row1->atiput(1, mc3);
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row1->atiput(2, mc0);
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row1->atiput(3, c1);
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row2->atiput(0, mc1);
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row2->atiput(1, c0);
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row2->atiput(2, mc3);
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row2->atiput(3, c2);
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return answer;
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}
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template<typename T>
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inline FMatDsptr EulerParameters<T>::pCTpEtimesColumn(FColDsptr col)
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{
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//"col size = 3."
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auto c0 = col->at(0);
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auto c1 = col->at(1);
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auto c2 = col->at(2);
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auto mc0 = -c0;
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auto mc1 = -c1;
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auto mc2 = -c2;
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auto answer = std::make_shared<FullMatrix<double>>(4, 4);
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auto& row0 = answer->at(0);
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auto& row1 = answer->at(1);
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auto& row2 = answer->at(2);
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auto& row3 = answer->at(3);
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row0->atiput(0, 0.0);
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row0->atiput(1, c2);
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row0->atiput(2, mc1);
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row0->atiput(3, c0);
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row1->atiput(0, mc2);
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row1->atiput(1, 0.0);
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row1->atiput(2, c0);
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row1->atiput(3, c1);
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row2->atiput(0, c1);
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row2->atiput(1, mc0);
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row2->atiput(2, 0.0);
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row2->atiput(3, c2);
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row3->atiput(0, mc0);
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row3->atiput(1, mc1);
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row3->atiput(2, mc2);
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row3->atiput(3, 0.0);
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return answer;
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}
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template<>
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inline FMatFMatDsptr EulerParameters<double>::ppApEpEtimesMatrix(FMatDsptr mat)
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{
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FRowDsptr a2m0 = mat->at(0)->times(2.0);
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FRowDsptr a2m1 = mat->at(1)->times(2.0);
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FRowDsptr a2m2 = mat->at(2)->times(2.0);
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FRowDsptr m2m0 = a2m0->negated();
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FRowDsptr m2m1 = a2m1->negated();
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FRowDsptr m2m2 = a2m2->negated();
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FRowDsptr zero = std::make_shared<FullRow<double>>(3, 0.0);
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auto mat00 = std::make_shared<FullMatrix<double>>(ListFRD {a2m0, m2m1, m2m2});
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auto mat01 = std::make_shared<FullMatrix<double>>(ListFRD {a2m1, a2m0, zero});
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auto mat02 = std::make_shared<FullMatrix<double>>(ListFRD {a2m2, zero, a2m0});
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auto mat03 = std::make_shared<FullMatrix<double>>(ListFRD {zero, m2m2, a2m1});
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auto mat11 = std::make_shared<FullMatrix<double>>(ListFRD {m2m0, a2m1, m2m2});
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auto mat12 = std::make_shared<FullMatrix<double>>(ListFRD {zero, a2m2, a2m1});
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auto mat13 = std::make_shared<FullMatrix<double>>(ListFRD {a2m2, zero, m2m0});
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auto mat22 = std::make_shared<FullMatrix<double>>(ListFRD {m2m0, m2m1, a2m2});
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auto mat23 = std::make_shared<FullMatrix<double>>(ListFRD {m2m1, a2m0, zero});
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auto mat33 = std::make_shared<FullMatrix<double>>(ListFRD {a2m0, a2m1, a2m2});
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auto answer = std::make_shared<FullMatrix<FMatDsptr>>(4, 4);
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auto& row0 = answer->at(0);
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row0->at(0) = mat00;
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row0->at(1) = mat01;
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row0->at(2) = mat02;
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row0->at(3) = mat03;
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auto& row1 = answer->at(1);
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row1->at(0) = mat01;
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row1->at(1) = mat11;
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row1->at(2) = mat12;
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row1->at(3) = mat13;
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auto& row2 = answer->at(2);
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row2->at(0) = mat02;
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row2->at(1) = mat12;
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row2->at(2) = mat22;
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row2->at(3) = mat23;
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auto& row3 = answer->at(3);
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row3->at(0) = mat03;
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row3->at(1) = mat13;
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row3->at(2) = mat23;
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row3->at(3) = mat33;
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return answer;
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}
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template<>
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inline void EulerParameters<double>::initialize()
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{
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aA = FullMatrix<double>::identitysptr(3);
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aB = std::make_shared<FullMatrix<double>>(3, 4);
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aC = std::make_shared<FullMatrix<double>>(3, 4);
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pApE = std::make_shared<FullColumn<FMatDsptr>>(4);
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for (size_t i = 0; i < 4; i++) {
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pApE->at(i) = std::make_shared<FullMatrix<double>>(3, 3);
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}
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}
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template<typename T>
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inline void EulerParameters<T>::calc()
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{
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this->calcABC();
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this->calcpApE();
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}
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template<>
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inline void EulerParameters<double>::calcABC()
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{
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double aE0 = this->at(0);
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double aE1 = this->at(1);
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double aE2 = this->at(2);
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double aE3 = this->at(3);
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double mE0 = -aE0;
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double mE1 = -aE1;
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double mE2 = -aE2;
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FRowDsptr aBi;
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aBi = aB->at(0);
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aBi->at(0) = aE3;
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aBi->at(1) = mE2;
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aBi->at(2) = aE1;
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aBi->at(3) = mE0;
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aBi = aB->at(1);
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aBi->at(0) = aE2;
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aBi->at(1) = aE3;
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aBi->at(2) = mE0;
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aBi->at(3) = mE1;
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aBi = aB->at(2);
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aBi->at(0) = mE1;
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aBi->at(1) = aE0;
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aBi->at(2) = aE3;
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aBi->at(3) = mE2;
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FRowDsptr aCi;
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aCi = aC->at(0);
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aCi->at(0) = aE3;
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aCi->at(1) = aE2;
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aCi->at(2) = mE1;
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aCi->at(3) = mE0;
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aCi = aC->at(1);
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aCi->at(0) = mE2;
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aCi->at(1) = aE3;
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aCi->at(2) = aE0;
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aCi->at(3) = mE1;
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aCi = aC->at(2);
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aCi->at(0) = aE1;
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aCi->at(1) = mE0;
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aCi->at(2) = aE3;
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aCi->at(3) = mE2;
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aA = aB->timesTransposeFullMatrix(aC);
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}
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template<>
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inline void EulerParameters<double>::calcpApE()
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{
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double a2E0 = 2.0 * (this->at(0));
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double a2E1 = 2.0 * (this->at(1));
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double a2E2 = 2.0 * (this->at(2));
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double a2E3 = 2.0 * (this->at(3));
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double m2E0 = -a2E0;
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double m2E1 = -a2E1;
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double m2E2 = -a2E2;
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double m2E3 = -a2E3;
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FMatDsptr pApEk;
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pApEk = pApE->at(0);
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FRowDsptr pAipEk;
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pAipEk = pApEk->at(0);
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pAipEk->at(0) = a2E0;
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pAipEk->at(1) = a2E1;
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pAipEk->at(2) = a2E2;
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pAipEk = pApEk->at(1);
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pAipEk->at(0) = a2E1;
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pAipEk->at(1) = m2E0;
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pAipEk->at(2) = m2E3;
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pAipEk = pApEk->at(2);
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pAipEk->at(0) = a2E2;
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pAipEk->at(1) = a2E3;
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pAipEk->at(2) = m2E0;
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//
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pApEk = pApE->at(1);
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pAipEk = pApEk->at(0);
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pAipEk->at(0) = m2E1;
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pAipEk->at(1) = a2E0;
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pAipEk->at(2) = a2E3;
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pAipEk = pApEk->at(1);
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pAipEk->at(0) = a2E0;
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pAipEk->at(1) = a2E1;
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pAipEk->at(2) = a2E2;
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pAipEk = pApEk->at(2);
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pAipEk->at(0) = m2E3;
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pAipEk->at(1) = a2E2;
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pAipEk->at(2) = m2E1;
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//
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pApEk = pApE->at(2);
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pAipEk = pApEk->at(0);
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pAipEk->at(0) = m2E2;
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pAipEk->at(1) = m2E3;
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pAipEk->at(2) = a2E0;
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pAipEk = pApEk->at(1);
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pAipEk->at(0) = a2E3;
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pAipEk->at(1) = m2E2;
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pAipEk->at(2) = a2E1;
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pAipEk = pApEk->at(2);
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pAipEk->at(0) = a2E0;
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pAipEk->at(1) = a2E1;
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pAipEk->at(2) = a2E2;
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//
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pApEk = pApE->at(3);
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pAipEk = pApEk->at(0);
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pAipEk->at(0) = a2E3;
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pAipEk->at(1) = m2E2;
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pAipEk->at(2) = a2E1;
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pAipEk = pApEk->at(1);
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pAipEk->at(0) = a2E2;
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pAipEk->at(1) = a2E3;
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pAipEk->at(2) = m2E0;
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pAipEk = pApEk->at(2);
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pAipEk->at(0) = m2E1;
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pAipEk->at(1) = a2E0;
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pAipEk->at(2) = a2E3;
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}
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template<typename T>
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inline void EulerParameters<T>::conditionSelf()
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{
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EulerArray<T>::conditionSelf();
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this->normalizeSelf();
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}
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template<>
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inline std::shared_ptr<EulerParameters<double>> EulerParameters<double>::times(double a)
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{
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auto n = this->size();
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auto answer = std::make_shared<EulerParameters<double>>(n);
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for (size_t i = 0; i < n; i++) {
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answer->at(i) = this->at(i) * a;
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}
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return answer;
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}
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template<typename T>
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inline std::shared_ptr<EulerParameters<T>> EulerParameters<T>::times(T)
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{
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throw SimulationStoppingError("To be implemented.");
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}
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template<typename T>
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inline std::shared_ptr<EulerParameters<T>>
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EulerParameters<T>::plusFullColumn(std::shared_ptr<EulerParameters<T>> eulerPars)
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{
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auto n = this->size();
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auto answer = std::make_shared<EulerParameters<T>>(n);
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for (size_t i = 0; i < n; i++) {
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answer->at(i) = this->at(i) + eulerPars->at(i);
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}
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return answer;
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}
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template<typename T>
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inline std::shared_ptr<EulerParameters<T>> EulerParameters<T>::copy()
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{
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auto n = this->size();
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auto answer = std::make_shared<EulerParameters<double>>(n);
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for (size_t i = 0; i < n; i++) {
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answer->at(i) = this->at(i);
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}
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return answer;
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}
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} // namespace MbD
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