55 lines
1.7 KiB
C++
55 lines
1.7 KiB
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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initialize();
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}
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PrescribedMotion::PrescribedMotion(const char* str) : Joint(str) {
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initialize();
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}
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void PrescribedMotion::initialize()
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{
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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 PrescribedMotion::connectsItoJ(std::shared_ptr<EndFramec> frmi, std::shared_ptr<EndFramec> frmj)
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{
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Joint::connectsItoJ(frmi, frmj);
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frmI->EndFrameqctFrom(frmI);
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}
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//void PrescribedMotion::connectsItoJ(std::shared_ptr<EndFramec> frmi, std::shared_ptr<EndFramec> frmj)
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//{
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// Joint::connectsItoJ(frmi, frmj);
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// frmI->EndFrameqctFrom(frmI);
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// decltype(frmi) dddd;
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// std::cout << "typeid(dddd).name() " << typeid(dddd).name() << std::endl;
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// std::cout << "typeid(frmI).name() " << typeid(frmI).name() << std::endl;
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// if (typeid(frmI).name() != "EndFrameqct") {
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// std::shared_ptr<EndFramec> newFrmI;
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// newFrmI = std::make_shared<EndFrameqct>(frmI->getName().c_str());
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// decltype(newFrmI) ffff;
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// std::cout << "typeid(ffff).name() " << typeid(ffff).name() << std::endl;
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// auto gggg = std::make_shared<EndFrameqct>(frmI->getName().c_str());
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// std::cout << "typeid(gggg).name() " << typeid(gggg).name() << std::endl;
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// std::cout << "typeid(newFrmI).name() " << typeid(newFrmI).name() << std::endl;
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// std::swap(frmI, newFrmI);
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// assert(typeid(frmI).name() != "EndFrameqct");
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// }
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//}
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