3d6a23a678
* Check rackpin and gear for zero radii * rebase zero-radii-check (#69) * contributing * Update push-freecad.yml updated actions/checkout to v4 * dragging log for debugging * fix calcdxNorm crash * setDebug and remove MBDyn* * Update cmakelists.txt * fix includes for gcc-14 gcc-14 is more disciplined about not including <algorithm> transitively. * fix runDragStep * backhoe files (#65) * Mark unused variables to silence compiler warnings. (#64) * Backhoe issues (#67) * backhoe issues * runDragStep edit * backhoe issues * runDragStep edit * Reduce large drag step progressively until convergence. * Switch to using built-in M_PI, even on MSVC (#68) --------- Co-authored-by: Brad Collette <bradcollette@pop-os.localdomain> Co-authored-by: mosfet80 <realeandrea@yahoo.it> Co-authored-by: PaddleStroke <pierrelouis.boyer@gmail.com> Co-authored-by: Jed Brown <jed@jedbrown.org> Co-authored-by: sliptonic <shopinthewoods@gmail.com> Co-authored-by: Chris Hennes <chennes@pioneerlibrarysystem.org> * in progress * Gtest added --------- Co-authored-by: Brad Collette <bradcollette@pop-os.localdomain> Co-authored-by: mosfet80 <realeandrea@yahoo.it> Co-authored-by: PaddleStroke <pierrelouis.boyer@gmail.com> Co-authored-by: Jed Brown <jed@jedbrown.org> Co-authored-by: sliptonic <shopinthewoods@gmail.com> Co-authored-by: Chris Hennes <chennes@pioneerlibrarysystem.org>
87 lines
2.9 KiB
C++
87 lines
2.9 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
#include <memory>
|
|
#include <functional>
|
|
|
|
#include "CartesianFrame.h"
|
|
#include "FullColumn.h"
|
|
#include "FullMatrix.h"
|
|
#include "EulerParametersDot.h"
|
|
#include "EulerParametersDDot.h"
|
|
|
|
namespace MbD {
|
|
class CartesianFrame;
|
|
class PartFrame;
|
|
class EndFramec;
|
|
using EndFrmsptr = std::shared_ptr<EndFramec>;
|
|
|
|
class MarkerFrame : public CartesianFrame
|
|
{
|
|
//partFrame rpmp aApm rOmO aAOm prOmOpE pAOmpE pprOmOpEpE ppAOmpEpE endFrames
|
|
public:
|
|
MarkerFrame();
|
|
MarkerFrame(const std::string& str);
|
|
System* root() override;
|
|
void initialize() override;
|
|
void setPartFrame(PartFrame* partFrm);
|
|
PartFrame* getPartFrame();
|
|
void setrpmp(FColDsptr x);
|
|
void setaApm(FMatDsptr mat);
|
|
void addEndFrame(EndFrmsptr x);
|
|
void initializeLocally() override;
|
|
void initializeGlobally() override;
|
|
void calcPostDynCorrectorIteration() override;
|
|
size_t iqX();
|
|
size_t iqE();
|
|
void endFramesDo(const std::function <void(EndFrmsptr)>& f);
|
|
void fillqsu(FColDsptr col) override;
|
|
void fillqsuWeights(DiagMatDsptr diagMat) override;
|
|
void fillqsuddotlam(FColDsptr col) override;
|
|
void fillqsulam(FColDsptr col) override;
|
|
void fillqsudot(FColDsptr col) override;
|
|
void fillqsudotWeights(DiagMatDsptr diagMat) override;
|
|
void setqsu(FColDsptr col) override;
|
|
void setqsulam(FColDsptr col) override;
|
|
void setqsudot(FColDsptr col) override;
|
|
void setqsudotlam(FColDsptr col) override;
|
|
void setqsuddotlam(FColDsptr col) override;
|
|
void storeDynState() override;
|
|
void postInput() override;
|
|
void postPosICIteration() override;
|
|
void postVelIC() override;
|
|
void postPosIC() override;
|
|
void preDyn() override;
|
|
void prePosIC() override;
|
|
void preVelIC() override;
|
|
void preAccIC() override;
|
|
FColDsptr qXdot();
|
|
std::shared_ptr<EulerParametersDot<double>> qEdot();
|
|
FColDsptr qXddot();
|
|
FColDsptr qEddot();
|
|
FColFMatDsptr pAOppE();
|
|
FMatDsptr aBOp();
|
|
void postDynStep() override;
|
|
|
|
PartFrame* partFrame; //Use raw pointer when pointing backwards.
|
|
FColDsptr rpmp = std::make_shared<FullColumn<double>>(3);
|
|
FMatDsptr aApm = FullMatrix<double>::identitysptr(3);
|
|
FColDsptr rOmO = std::make_shared<FullColumn<double>>(3);
|
|
FMatDsptr aAOm = FullMatrix<double>::identitysptr(3);
|
|
FMatDsptr prOmOpE;
|
|
FColFMatDsptr pAOmpE;
|
|
FMatFColDsptr pprOmOpEpE;
|
|
FMatFMatDsptr ppAOmpEpE;
|
|
std::shared_ptr<std::vector<EndFrmsptr>> endFrames;
|
|
|
|
};
|
|
}
|
|
|