45 lines
1.5 KiB
C++
45 lines
1.5 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 <cstdint>
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#include "RackPinConstraintIqcJc.h"
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namespace MbD {
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class RackPinConstraintIqcJqc : public RackPinConstraintIqcJc
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{
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//pGpXJ pGpEJ ppGpEIpXJ ppGpEIpEJ ppGpEJpEJ iqXJ iqEJ
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public:
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RackPinConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj);
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void initxIeJeIe() override;
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void initthezIeJe() override;
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void calc_pGpEJ();
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void calc_pGpXJ();
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void calc_ppGpEIpEJ();
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void calc_ppGpEIpXJ();
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void calc_ppGpEJpEJ();
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void calcPostDynCorrectorIteration() override;
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void fillAccICIterError(FColDsptr col) override;
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void fillPosICError(FColDsptr col) override;
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void fillPosICJacob(SpMatDsptr mat) override;
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void fillPosKineJacob(SpMatDsptr mat) override;
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void fillVelICJacob(SpMatDsptr mat) override;
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void init_xthez() override;
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void useEquationNumbers() override;
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std::string constraintSpec() override;
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FRowDsptr pGpXJ, pGpEJ;
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FMatDsptr ppGpEIpXJ, ppGpEIpEJ, ppGpEJpEJ;
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size_t iqXJ = SIZE_MAX, iqEJ = SIZE_MAX;
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};
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}
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