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>
106 lines
2.6 KiB
C++
106 lines
2.6 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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#include <algorithm>
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#include "FunctionX.h"
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#include "Constant.h"
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#include "Sum.h"
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#include "Arguments.h"
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using namespace MbD;
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MbD::FunctionX::FunctionX(Symsptr arg) : xx(arg)
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{
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}
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void MbD::FunctionX::arguments(Symsptr args)
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{
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auto arguments = std::static_pointer_cast<Arguments>(args);
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assert(arguments->terms->size() == 1);
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xx = arguments->terms->front();
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}
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Symsptr MbD::FunctionX::copyWith(Symsptr self)
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{
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return self;
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}
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Symsptr MbD::FunctionX::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
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{
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auto itr = std::find_if(set->begin(), set->end(), [sptr](Symsptr sym) {return sptr.get() == sym.get(); });
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if (itr != set->end()) return sptr;
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auto newx = xx->expandUntil(xx, set);
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auto copy = copyWith(newx);
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if (newx->isConstant()) {
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return sptrConstant(copy->getValue());
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}
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else {
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return copy;
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}
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}
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Symsptr MbD::FunctionX::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
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{
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auto itr = std::find_if(set->begin(), set->end(), [sptr](Symsptr sym) {return sptr.get() == sym.get(); });
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if (itr != set->end()) return sptr;
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auto newx = xx->simplifyUntil(xx, set);
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auto copy = copyWith(newx);
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if (newx->isConstant()) {
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return sptrConstant(copy->getValue());
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}
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else {
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return copy;
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}
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}
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Symsptr MbD::FunctionX::differentiateWRT(Symsptr var)
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{
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if (this == var.get()) return sptrConstant(1.0);
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auto dfdx = differentiateWRTx();
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auto dxdvar = xx->differentiateWRT(var);
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return Symbolic::times(dfdx, dxdvar);
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}
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Symsptr MbD::FunctionX::differentiateWRTx()
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{
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assert(false);
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return Symsptr();
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}
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void MbD::FunctionX::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits)
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{
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xx->createMbD(mbdSys, mbdUnits);
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}
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double MbD::FunctionX::getValue()
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{
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assert(false);
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return 0.0;
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}
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double MbD::FunctionX::getValue(double arg)
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{
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double answer;
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if (xx->isVariable()) {
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auto oldVal = xx->getValue();
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xx->setValue(arg);
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answer = getValue();
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xx->setValue(oldVal);
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}
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else {
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assert(false);
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}
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return answer;
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}
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bool MbD::FunctionX::isConstant()
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{
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return xx->isConstant();
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}
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