219 lines
8.5 KiB
C++
219 lines
8.5 KiB
C++
/*********************************************************************
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* @file MbDCode.cpp
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*
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* @brief Program to assemble a piston crank system.
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*********************************************************************/
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#include <iostream>
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#include "System.h"
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#include "Constant.h"
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#include "FullColumn.h"
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#include "FullMatrix.h"
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#include "DiagonalMatrix.h"
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#include "Part.h"
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#include "Joint.h"
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#include "CylindricalJoint.h"
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#include "RevoluteJoint.h"
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#include "ZRotation.h"
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#include "PartFrame.h"
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#include "MarkerFrame.h"
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#include "EndFrameqc.h"
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#include "EndFrameqct.h"
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#include "Product.h"
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#include "Symbolic.h"
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#include "SystemSolver.h"
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#include "MbDCode.h"
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#include "Time.h"
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#include "CREATE.h"
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using namespace MbD;
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int main()
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{
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std::cout << "Hello World!\n";
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System& TheSystem = System::getInstance("TheSystem");
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std::cout << "TheSystem.getName() " << TheSystem.getName() << std::endl;
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auto systemSolver = TheSystem.systemSolver;
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systemSolver->errorTolPosKine = 1.0e-6;
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systemSolver->errorTolAccKine = 1.0e-6;
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systemSolver->iterMaxPosKine = 25;
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systemSolver->iterMaxAccKine = 25;
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systemSolver->tstart = 0;
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systemSolver->tend = 25.0;
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systemSolver->hmin = 2.5e-8;
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systemSolver->hmax = 25.0;
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systemSolver->hout = 1.0;
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systemSolver->corAbsTol = 1.0e-6;
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systemSolver->corRelTol = 1.0e-6;
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systemSolver->intAbsTol = 1.0e-6;
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systemSolver->intRelTol = 1.0e-6;
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systemSolver->iterMaxDyn = 4;
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systemSolver->orderMax = 5;
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systemSolver->translationLimit = 9.6058421285615e9;
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systemSolver->rotationLimit = 0.5;
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std::string str;
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FColDsptr qX, qE, qXdot, omeOpO;
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FColDsptr rpmp;
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FMatDsptr aApm;
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FRowDsptr fullRow;
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//
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auto assembly1 = CREATE<Part>::With("/Assembly1");
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std::cout << "assembly1->getName() " << assembly1->getName() << std::endl;
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assembly1->m = 0.0;
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assembly1->aJ = std::make_shared<DiagonalMatrix<double>>(ListD{ 0, 0, 0 });
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qX = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
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qE = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0, 1 });
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assembly1->setqX(qX);
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assembly1->setqE(qE);
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qXdot = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
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omeOpO = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0, 1 });
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assembly1->setqXdot(qXdot);
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assembly1->setomeOpO(omeOpO);
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std::cout << "assembly1->getqX() " << assembly1->getqX()->toString() << std::endl;
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std::cout << "assembly1->getqE() " << assembly1->getqE()->toString() << std::endl;
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TheSystem.addPart(assembly1);
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{
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auto partFrame = assembly1->partFrame;
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auto marker1 = CREATE<MarkerFrame>::With("/Assembly1/Marker1");
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rpmp = std::make_shared<FullColumn<double>>(ListD{ 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 });
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marker1->setrpmp(rpmp);
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aApm = std::make_shared<FullMatrix<double>>(ListListD{
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{ 1, 0, 0 },
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{ 0, 0, 1 },
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{ 0, -1, 0 }
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});
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marker1->setaApm(aApm);
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partFrame->addMarkerFrame(marker1);
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//
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auto marker2 = CREATE<MarkerFrame>::With("/Assembly1/Marker2");
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rpmp = std::make_shared<FullColumn<double>>(ListD{ 0.0, 0.0, 0.0 });
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marker2->setrpmp(rpmp);
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aApm = std::make_shared<FullMatrix<double>>(ListListD{
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{ 1, 0, 0 },
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{ 0, 1, 0 },
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{ 0, 0, 1 }
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});
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marker2->setaApm(aApm);
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partFrame->addMarkerFrame(marker2);
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}
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assembly1->asFixed();
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//
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auto crankPart1 = CREATE<Part>::With("/Assembly1/Part1");
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qX = std::make_shared<FullColumn<double>>(ListD{ 0.38423366582893, 6.8384291794733e-9, -0.048029210642807 });
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qE = std::make_shared<FullColumn<double>>(ListD{ 0.0, 0.0, 1.4248456266393e-10, 1.0 });
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crankPart1->setqX(qX);
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crankPart1->setqE(qE);
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TheSystem.parts->push_back(crankPart1);
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{
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auto partFrame = crankPart1->partFrame;
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auto marker1 = CREATE<MarkerFrame>::With("/Assembly1/Part1/Marker1");
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rpmp = std::make_shared<FullColumn<double>>(ListD{ -0.38423368514246, -2.6661567755108e-17, 0.048029210642807 });
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marker1->setrpmp(rpmp);
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aApm = std::make_shared<FullMatrix<double>>(ListListD{
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{ 1, 0, 0 },
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{ 0, 1, 0 },
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{ 0, 0, 1 }
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});
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marker1->setaApm(aApm);
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partFrame->addMarkerFrame(marker1);
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//
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auto marker2 = CREATE<MarkerFrame>::With("/Assembly1/Part1/Marker2");
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rpmp = std::make_shared<FullColumn<double>>(ListD{ 0.38423368514246, -2.6661567755108e-17, 0.048029210642807 });
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marker2->setrpmp(rpmp);
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aApm = std::make_shared<FullMatrix<double>>(ListListD{
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{ 1, 0, 0 },
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{ 0, 1, 0 },
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{ 0, 0, 1 }
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});
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marker2->setaApm(aApm);
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partFrame->addMarkerFrame(marker2);
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}
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//
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auto conrodPart2 = CREATE<Part>::With("/Assembly1/Part2");
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qX = std::make_shared<FullColumn<double>>(ListD{ 0.38423366582893, 0.49215308269277, 0.048029210642807 });
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qE = std::make_shared<FullColumn<double>>(ListD{ 0.0, 0.0, 0.89871701272344, 0.4385290538168 });
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conrodPart2->setqX(qX);
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conrodPart2->setqE(qE);
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TheSystem.parts->push_back(conrodPart2);
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{
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auto partFrame = conrodPart2->partFrame;
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auto marker1 = CREATE<MarkerFrame>::With("/Assembly1/Part2/Marker1");
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rpmp = std::make_shared<FullColumn<double>>(ListD{ -0.6243797383565, 1.1997705489799e-16, -0.048029210642807 });
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marker1->setrpmp(rpmp);
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aApm = std::make_shared<FullMatrix<double>>(ListListD{
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{1.0, 2.7755575615629e-16, 0.0},
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{-2.7755575615629e-16, 1.0, 0.0},
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{0.0, 0.0, 1.0}
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});
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marker1->setaApm(aApm);
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partFrame->addMarkerFrame(marker1);
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//
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auto marker2 = CREATE<MarkerFrame>::With("/Assembly1/Part2/Marker2");
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rpmp = std::make_shared<FullColumn<double>>(ListD{ 0.6243797383565, -2.1329254204087e-16, -0.048029210642807 });
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marker2->setrpmp(rpmp);
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aApm = std::make_shared<FullMatrix<double>>(ListListD{
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{1.0, 2.4980018054066e-16, 2.2204460492503e-16},
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{-2.4980018054066e-16, 1.0, 4.1633363423443e-17},
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{-2.2204460492503e-16, -4.1633363423443e-17, 1.0}
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});
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marker2->setaApm(aApm);
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partFrame->addMarkerFrame(marker2);
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}
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//
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auto pistonPart3 = CREATE<Part>::With("/Assembly1/Part3");
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qX = std::make_shared<FullColumn<double>>(ListD{ -1.284772285311e-18, 1.4645982581368, -4.788228906425e-17 });
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qE = std::make_shared<FullColumn<double>>(ListD{ 0.70710678118655, 0.70710678118655, 0.0, 0.0 });
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pistonPart3->setqX(qX);
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pistonPart3->setqE(qE);
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TheSystem.parts->push_back(pistonPart3);
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{
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auto partFrame = pistonPart3->partFrame;
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auto marker1 = CREATE<MarkerFrame>::With("/Assembly1/Part3/Marker1");
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rpmp = std::make_shared<FullColumn<double>>(ListD{ -0.48029210642807, 7.6201599718927e-18, -2.816737703896e-17 });
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marker1->setrpmp(rpmp);
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aApm = std::make_shared<FullMatrix<double>>(ListListD{
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{9.2444637330587e-33, 1.0, 2.2204460492503e-16},
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{1.0, -9.2444637330587e-33, -1.0785207688569e-32},
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{-1.0785207688569e-32, 2.2204460492503e-16, -1.0}
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});
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marker1->setaApm(aApm);
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partFrame->addMarkerFrame(marker1);
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//
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auto marker2 = CREATE<MarkerFrame>::With("/Assembly1/Part3/Marker2");
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rpmp = std::make_shared<FullColumn<double>>(ListD{ 0.48029210642807, 1.7618247880058e-17, 2.5155758471256e-17 });
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marker2->setrpmp(rpmp);
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aApm = std::make_shared<FullMatrix<double>>(ListListD{
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{6.9388939039072e-18, -6.4146353042213e-50, 1.0},
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{1.0, -6.9388939039072e-18, 6.9388939039072e-18},
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{-6.9388939039072e-18, 1.0, -7.4837411882581e-50}
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});
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marker2->setaApm(aApm);
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partFrame->addMarkerFrame(marker2);
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}
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//
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auto cylJoint4 = CREATE<CylindricalJoint>::With("/Assembly1/Joint4");
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cylJoint4->connectsItoJ(pistonPart3->partFrame->endFrame("/Assembly1/Part3/Marker2"), assembly1->partFrame->endFrame("/Assembly1/Marker1"));
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TheSystem.jointsMotions->push_back(cylJoint4);
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auto revJoint3 = CREATE<RevoluteJoint>::With("/Assembly1/Joint3");
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revJoint3->connectsItoJ(conrodPart2->partFrame->endFrame("/Assembly1/Part2/Marker2"), pistonPart3->partFrame->endFrame("/Assembly1/Part3/Marker1"));
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TheSystem.jointsMotions->push_back(revJoint3);
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auto revJoint2 = CREATE<RevoluteJoint>::With("/Assembly1/Joint2");
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revJoint2->connectsItoJ(crankPart1->partFrame->endFrame("/Assembly1/Part1/Marker2"), conrodPart2->partFrame->endFrame("/Assembly1/Part2/Marker1"));
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TheSystem.jointsMotions->push_back(revJoint2);
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auto revJoint1 = CREATE<RevoluteJoint>::With("/Assembly1/Joint1");
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revJoint1->connectsItoJ(assembly1->partFrame->endFrame("/Assembly1/Marker2"), crankPart1->partFrame->endFrame("/Assembly1/Part1/Marker1"));
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TheSystem.jointsMotions->push_back(revJoint1);
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auto rotMotion1 = CREATE<ZRotation>::With("/Assembly1/Motion1");
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rotMotion1->connectsItoJ(assembly1->partFrame->endFrame("/Assembly1/Marker2"), crankPart1->partFrame->endFrame("/Assembly1/Part1/Marker1"));
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auto omega = std::make_shared<Constant>(6.2831853071796);
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auto timeScale = std::make_shared<Constant>(0.04);
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rotMotion1->phiBlk = std::make_shared<Product>(omega, timeScale, TheSystem.time);
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TheSystem.jointsMotions->push_back(rotMotion1);
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//
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TheSystem.runKINEMATICS();
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} |