97 lines
3.5 KiB
C++
97 lines
3.5 KiB
C++
#pragma once
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#include <memory>
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#include <vector>
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#include <functional>
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#include "CartesianFrame.h"
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#include "EndFramec.h"
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#include "FullColumn.h"
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#include "EulerParameters.h"
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#include "EulerParametersDot.h"
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#include "CREATE.h"
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namespace MbD {
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class Part;
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class MarkerFrame;
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class EulerConstraint;
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class AbsConstraint;
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//class EulerParameters;
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//class EulerParametersDot;
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class PartFrame : public CartesianFrame
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{
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//ToDo: part iqX iqE qX qE qXdot qEdot qXddot qEddot aGeu aGabs markerFrames
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public:
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PartFrame();
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PartFrame(const char* str);
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void initialize();
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void initializeLocally() override;
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void initializeGlobally() override;
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void asFixed();
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void postInput() override;
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void calcPostDynCorrectorIteration() override;
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void setqX(FColDsptr x);
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FColDsptr getqX();
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void setqE(FColDsptr x);
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FColDsptr getqE();
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void setqXdot(FColDsptr x);
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FColDsptr getqXdot();
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void setomeOpO(FColDsptr x);
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FColDsptr getomeOpO();
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void setqXddot(FColDsptr x);
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FColDsptr getqXddot();
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void setqEddot(FColDsptr x);
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FColDsptr getqEddot();
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void setPart(Part* x);
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Part* getPart();
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void addMarkerFrame(std::shared_ptr<MarkerFrame> x);
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EndFrmcptr endFrame(std::string name);
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void aGabsDo(const std::function <void(std::shared_ptr<Constraint>)>& f);
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void markerFramesDo(const std::function <void(std::shared_ptr<MarkerFrame>)>& f);
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void removeRedundantConstraints(std::shared_ptr<std::vector<int>> redundantEqnNos) override;
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void reactivateRedundantConstraints() override;
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void constraintsReport() override;
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void prePosIC() override;
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void prePosKine() override;
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FColDsptr rOpO();
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FMatDsptr aAOp();
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FColFMatDsptr pAOppE();
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void fillEssenConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essenConstraints) override;
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void fillRedundantConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> redunConstraints) override;
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void fillConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> allConstraints) override;
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void fillqsu(FColDsptr col) override;
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void fillqsuWeights(std::shared_ptr<DiagonalMatrix<double>> diagMat) override;
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void fillqsulam(FColDsptr col) override;
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void fillqsudot(FColDsptr col) override;
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void fillqsudotWeights(std::shared_ptr<DiagonalMatrix<double>> diagMat) override;
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void useEquationNumbers() override;
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void setqsu(FColDsptr col) override;
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void setqsulam(FColDsptr col) override;
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void postPosICIteration() override;
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void fillPosICError(FColDsptr col) override;
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void fillPosICJacob(SpMatDsptr mat) override;
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void postPosIC() override;
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void outputStates() override;
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void preDyn() override;
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void storeDynState() override;
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void fillPosKineError(FColDsptr col) override;
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void preVelIC() override;
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Part* part = nullptr; //Use raw pointer when pointing backwards.
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int iqX = -1;
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int iqE = -1; //Position index of frame variables qX and qE in system list of variables
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FColDsptr qX = std::make_shared<FullColumn<double>>(3);
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std::shared_ptr<EulerParameters<double>> qE = CREATE<EulerParameters<double>>::With(4);
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FColDsptr qXdot = std::make_shared<FullColumn<double>>(3);
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std::shared_ptr<EulerParametersDot<double>> qEdot = std::make_shared<EulerParametersDot<double>>(4);
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FColDsptr qXddot = std::make_shared<FullColumn<double>>(3);
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FColDsptr qEddot = std::make_shared<FullColumn<double>>(4);
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std::shared_ptr<Constraint> aGeu;
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std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> aGabs;
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std::shared_ptr<std::vector<std::shared_ptr<MarkerFrame>>> markerFrames;
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};
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}
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