76 lines
1.7 KiB
C++
76 lines
1.7 KiB
C++
#include<algorithm>
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#include "Part.h"
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#include "PartFrame.h"
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#include "EulerConstraint.h"
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#include "AbsConstraint.h"
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#include "MarkerFrame.h"
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using namespace MbD;
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PartFrame::PartFrame()
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{
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initialize();
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}
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PartFrame::PartFrame(const char* str) : CartesianFrame(str)
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{
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initialize();
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}
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void PartFrame::initialize()
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{
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aGeu = std::make_shared<EulerConstraint>("EulerCon");
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aGeu->setOwner(this);
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aGabs = std::make_unique<std::vector<std::shared_ptr<AbsConstraint>>>();
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markerFrames = std::make_unique<std::vector<std::shared_ptr<MarkerFrame>>>();
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}
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void PartFrame::setqX(FColDsptr x) {
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qX->copy(x);
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}
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FColDsptr PartFrame::getqX() {
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return qX;
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}
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void PartFrame::setqE(FColDsptr x) {
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qE->copy(x);
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}
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FColDsptr PartFrame::getqE() {
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return qE;
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}
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void PartFrame::setPart(Part* x) {
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part = x;
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}
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Part* PartFrame::getPart() {
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return part;
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}
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void PartFrame::addMarkerFrame(std::shared_ptr<MarkerFrame> markerFrame)
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{
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markerFrame->setPartFrame(this);
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markerFrames->push_back(markerFrame);
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}
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std::shared_ptr<EndFramec> PartFrame::endFrame(std::string name)
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{
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auto match = std::find_if(markerFrames->begin(), markerFrames->end(), [&](auto mkr) {return mkr->getName() == name; });
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return (*match)->endFrames->at(0);
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}
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void MbD::PartFrame::asFixed()
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{
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for (int i = 0; i < 6; i++) {
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auto con = std::make_shared<AbsConstraint>(i);
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con->setOwner(this);
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aGabs->push_back(con);
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}
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}
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void PartFrame::initializeLocally()
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{
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std::for_each(markerFrames->begin(), markerFrames->end(), [](const auto& markerFrame) { markerFrame->initializeLocally(); });
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aGeu->initializeLocally();
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std::for_each(aGabs->begin(), aGabs->end(), [](const auto& aGab) { aGab->initializeLocally(); });
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}
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void PartFrame::initializeGlobally()
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{
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}
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