114 lines
4.1 KiB
C++
114 lines
4.1 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 "TranslationConstraintIqcJc.h"
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#include "DispCompIeqcJecKeqc.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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TranslationConstraintIqcJc::TranslationConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj, size_t axisi) :
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TranslationConstraintIJ(frmi, frmj, axisi)
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{
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}
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void TranslationConstraintIqcJc::initriIeJeIe()
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{
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riIeJeIe = CREATE<DispCompIeqcJecKeqc>::With(frmI, frmJ, frmI, axisI);
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}
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void TranslationConstraintIqcJc::calcPostDynCorrectorIteration()
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{
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TranslationConstraintIJ::calcPostDynCorrectorIteration();
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auto riIeqJeIeq = std::static_pointer_cast<DispCompIeqcJecKeqc>(riIeJeIe);
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pGpXI = riIeqJeIeq->pvaluepXI();
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pGpEI = (riIeqJeIeq->pvaluepEI())->plusFullRow(riIeqJeIeq->pvaluepEK());
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ppGpXIpEI = riIeqJeIeq->ppvaluepXIpEK();
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ppGpEIpEI = riIeqJeIeq->ppvaluepEIpEI()
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->plusFullMatrix(riIeqJeIeq->ppvaluepEIpEK())
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->plusFullMatrix((riIeqJeIeq->ppvaluepEIpEK()->
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transpose()->plusFullMatrix(riIeqJeIeq->ppvaluepEKpEK())));
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}
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void TranslationConstraintIqcJc::useEquationNumbers()
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{
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auto frmIeqc = std::static_pointer_cast<EndFrameqc>(frmI);
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iqXI = frmIeqc->iqX();
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iqEI = frmIeqc->iqE();
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}
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void TranslationConstraintIqcJc::fillPosICError(FColDsptr col)
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{
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Constraint::fillPosICError(col);
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col->atiplusFullVectortimes(iqXI, pGpXI, lam);
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col->atiplusFullVectortimes(iqEI, pGpEI, lam);
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}
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void TranslationConstraintIqcJc::fillPosICJacob(SpMatDsptr mat)
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{
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mat->atijplusFullRow(iG, iqXI, pGpXI);
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mat->atijplusFullColumn(iqXI, iG, pGpXI->transpose());
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mat->atijplusFullRow(iG, iqEI, pGpEI);
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mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose());
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auto ppGpXIpEIlam = ppGpXIpEI->times(lam);
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mat->atijplusFullMatrix(iqXI, iqEI, ppGpXIpEIlam);
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mat->atijplusTransposeFullMatrix(iqEI, iqXI, ppGpXIpEIlam);
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mat->atijplusFullMatrixtimes(iqEI, iqEI, ppGpEIpEI, lam);
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}
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void TranslationConstraintIqcJc::fillPosKineJacob(SpMatDsptr mat)
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{
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mat->atijplusFullRow(iG, iqXI, pGpXI);
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mat->atijplusFullRow(iG, iqEI, pGpEI);
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}
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void TranslationConstraintIqcJc::fillVelICJacob(SpMatDsptr mat)
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{
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mat->atijplusFullRow(iG, iqXI, pGpXI);
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mat->atijplusFullColumn(iqXI, iG, pGpXI->transpose());
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mat->atijplusFullRow(iG, iqEI, pGpEI);
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mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose());
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}
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void TranslationConstraintIqcJc::fillAccICIterError(FColDsptr col)
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{
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col->atiplusFullVectortimes(iqXI, pGpXI, lam);
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col->atiplusFullVectortimes(iqEI, pGpEI, lam);
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auto efrmIqc = std::static_pointer_cast<EndFrameqc>(frmI);
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auto qXdotI = efrmIqc->qXdot();
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auto qEdotI = efrmIqc->qEdot();
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auto sum = pGpXI->timesFullColumn(efrmIqc->qXddot());
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sum += pGpEI->timesFullColumn(efrmIqc->qEddot());
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sum += 2.0 * (qXdotI->transposeTimesFullColumn(ppGpXIpEI->timesFullColumn(qEdotI)));
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sum += qEdotI->transposeTimesFullColumn(ppGpEIpEI->timesFullColumn(qEdotI));
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col->atiplusNumber(iG, sum);
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}
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void TranslationConstraintIqcJc::addToJointForceI(FColDsptr col)
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{
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col->equalSelfPlusFullVectortimes(pGpXI, lam);
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}
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void TranslationConstraintIqcJc::addToJointTorqueI(FColDsptr jointTorque)
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{
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auto cForceT = pGpXI->times(lam);
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auto rIpIeIp = frmI->rpep();
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auto pAOIppEI = frmI->pAOppE();
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auto aBOIp = frmI->aBOp();
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auto fpAOIppEIrIpIeIp = std::make_shared<FullColumn<double>>(4, 0.0);
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for (size_t i = 0; i < 4; i++)
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{
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auto dum = cForceT->timesFullColumn(pAOIppEI->at(i)->timesFullColumn(rIpIeIp));
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fpAOIppEIrIpIeIp->atiput(i, dum);
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}
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auto lampGpE = pGpEI->transpose()->times(lam);
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auto c2Torque = aBOIp->timesFullColumn(lampGpE->minusFullColumn(fpAOIppEIrIpIeIp));
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jointTorque->equalSelfPlusFullColumntimes(c2Torque, 0.5);
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}
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