101 lines
3.0 KiB
C++
101 lines
3.0 KiB
C++
#include "AtPointConstraintIqcJc.h"
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#include "DispCompIeqcJecO.h"
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#include "CREATE.h"
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#include "EndFrameqc.h"
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using namespace MbD;
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AtPointConstraintIqcJc::AtPointConstraintIqcJc(EndFrmcptr frmi, EndFrmcptr frmj, int axisi) :
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AtPointConstraintIJ(frmi, frmj, axisi)
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{
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}
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void AtPointConstraintIqcJc::initializeGlobally()
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{
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AtPointConstraintIJ::initializeGlobally();
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ppGpEIpEI = (std::static_pointer_cast<DispCompIeqcJecO>(riIeJeO))->ppriIeJeOpEIpEI;
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}
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void AtPointConstraintIqcJc::initriIeJeO()
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{
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riIeJeO = CREATE<DispCompIeqcJecO>::With(frmI, frmJ, axis);
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}
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void AtPointConstraintIqcJc::calcPostDynCorrectorIteration()
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{
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AtPointConstraintIJ::calcPostDynCorrectorIteration();
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pGpEI = std::static_pointer_cast<DispCompIeqcJecO>(riIeJeO)->priIeJeOpEI;
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}
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void AtPointConstraintIqcJc::useEquationNumbers()
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{
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auto frmIeqc = std::static_pointer_cast<EndFrameqc>(frmI);
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iqXIminusOnePlusAxis = frmIeqc->iqX() + axis;
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iqEI = frmIeqc->iqE();
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}
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void AtPointConstraintIqcJc::fillPosICError(FColDsptr col)
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{
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Constraint::fillPosICError(col);
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col->at(iqXIminusOnePlusAxis) -= lam;
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col->atiplusFullVectortimes(iqEI, pGpEI, lam);
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}
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void AtPointConstraintIqcJc::fillPosICJacob(SpMatDsptr mat)
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{
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mat->atijplusNumber(iG, iqXIminusOnePlusAxis, -1.0);
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mat->atijplusNumber(iqXIminusOnePlusAxis, iG, -1.0);
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mat->atijplusFullRow(iG, iqEI, pGpEI);
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mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose());
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mat->atijplusFullMatrixtimes(iqEI, iqEI, ppGpEIpEI, lam);
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}
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void AtPointConstraintIqcJc::fillPosKineJacob(SpMatDsptr mat)
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{
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mat->atijplusNumber(iG, iqXIminusOnePlusAxis, -1.0);
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mat->atijplusFullRow(iG, iqEI, pGpEI);
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}
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void AtPointConstraintIqcJc::fillVelICJacob(SpMatDsptr mat)
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{
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mat->atijplusNumber(iG, iqXIminusOnePlusAxis, -1.0);
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mat->atijplusNumber(iqXIminusOnePlusAxis, iG, -1.0);
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mat->atijplusFullRow(iG, iqEI, pGpEI);
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mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose());
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}
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void AtPointConstraintIqcJc::fillAccICIterError(FColDsptr col)
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{
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col->atiminusNumber(iqXIminusOnePlusAxis, lam);
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col->atiplusFullVectortimes(iqEI, pGpEI, lam);
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auto efrmIqc = std::static_pointer_cast<EndFrameqc>(frmI);
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auto qEdotI = efrmIqc->qEdot();
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auto sum = -efrmIqc->qXddot()->at(axis);
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sum += pGpEI->timesFullColumn(efrmIqc->qEddot());
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sum += qEdotI->transposeTimesFullColumn(ppGpEIpEI->timesFullColumn(qEdotI));
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col->atiplusNumber(iG, sum);
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}
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void AtPointConstraintIqcJc::addToJointForceI(FColDsptr col)
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{
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col->atiminusNumber(axis, lam);
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}
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void AtPointConstraintIqcJc::addToJointTorqueI(FColDsptr jointTorque)
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{
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auto cForceT = std::make_shared<FullRow<double>>(3, 0.0);
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cForceT->atiput(axis, -lam);
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auto rIpIeIp = frmI->rpep();
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auto pAOIppEI = frmI->pAOppE();
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auto aBOIp = frmI->aBOp();
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auto fpAOIppEIrIpIeIp = std::make_shared<FullColumn<double>>(4, 0.0);
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for (int i = 0; i < 4; i++)
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{
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auto dum = cForceT->timesFullColumn(pAOIppEI->at(i)->timesFullColumn(rIpIeIp));
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fpAOIppEIrIpIeIp->atiput(i, dum);
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}
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auto lampGpE = pGpEI->transpose()->times(lam);
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auto c2Torque = aBOIp->timesFullColumn(lampGpE->minusFullColumn(fpAOIppEIrIpIeIp));
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jointTorque->equalSelfPlusFullColumntimes(c2Torque, 0.5);
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}
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