43 lines
1.2 KiB
C++
43 lines
1.2 KiB
C++
#include "DirectionCosineConstraintIqcJc.h"
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#include "DirectionCosineIeqcJec.h"
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#include "EndFrameqc.h"
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#include "CREATE.h"
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using namespace MbD;
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DirectionCosineConstraintIqcJc::DirectionCosineConstraintIqcJc(EndFrmcptr frmi, EndFrmcptr frmj, int axisi, int axisj) :
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DirectionCosineConstraintIJ(frmi, frmj, axisi, axisj)
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{
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}
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void DirectionCosineConstraintIqcJc::initaAijIeJe()
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{
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aAijIeJe = CREATE<DirectionCosineIeqcJec>::With(frmI, frmJ, axisI, axisJ);
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}
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void MbD::DirectionCosineConstraintIqcJc::calcPostDynCorrectorIteration()
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{
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DirectionCosineConstraintIJ::calcPostDynCorrectorIteration();
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auto aAijIeqJe = std::static_pointer_cast<DirectionCosineIeqcJec>(aAijIeJe);
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pGpEI = aAijIeqJe->pAijIeJepEI;
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ppGpEIpEI = aAijIeqJe->ppAijIeJepEIpEI;
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}
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void MbD::DirectionCosineConstraintIqcJc::useEquationNumbers()
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{
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iqEI = std::static_pointer_cast<EndFrameqc>(frmI)->iqE();
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}
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void MbD::DirectionCosineConstraintIqcJc::fillPosICError(FColDsptr col)
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{
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Constraint::fillPosICError(col);
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col->atiplusFullVectortimes(iqEI, pGpEI, lam);
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}
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void MbD::DirectionCosineConstraintIqcJc::fillPosICJacob(SpMatDsptr mat)
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{
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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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