41 lines
844 B
C++
41 lines
844 B
C++
#include <iostream>
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#include <memory>
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#include <typeinfo>
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#include <assert.h>
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#include "PrescribedMotion.h"
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#include "EndFrameqct.h"
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#include "Constant.h"
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using namespace MbD;
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PrescribedMotion::PrescribedMotion() {
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}
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PrescribedMotion::PrescribedMotion(const char* str) : Joint(str) {
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}
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void PrescribedMotion::initialize()
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{
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Joint::initialize();
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xBlk = std::make_shared<Constant>(0.0);
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yBlk = std::make_shared<Constant>(0.0);
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zBlk = std::make_shared<Constant>(0.0);
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phiBlk = std::make_shared<Constant>(0.0);
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theBlk = std::make_shared<Constant>(0.0);
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psiBlk = std::make_shared<Constant>(0.0);
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}
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void MbD::PrescribedMotion::initMotions()
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{
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assert(false);
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}
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void PrescribedMotion::connectsItoJ(EndFrmcptr frmi, EndFrmcptr frmj)
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{
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Joint::connectsItoJ(frmi, frmj);
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std::static_pointer_cast<EndFrameqc>(frmI)->initEndFrameqct();
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}
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