83 lines
3.1 KiB
C++
83 lines
3.1 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 "EulerAngles.h"
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namespace MbD {
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template<typename T>
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inline void EulerAngles<T>::initialize()
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{
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rotOrder = std::make_shared<FullColumn<int>>(3);
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rotOrder->at(0) = 0;
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rotOrder->at(1) = 1;
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rotOrder->at(2) = 2;
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}
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template<>
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inline void EulerAngles<Symsptr>::calc()
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{
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cA = std::make_shared<FullColumn<FMatDsptr>>(3);
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for (int i = 0; i < 3; i++)
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{
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auto axis = rotOrder->at(i);
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auto angle = this->at(i)->getValue();
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if (axis == 1) {
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cA->atiput(i, FullMatrixDouble::rotatex(angle));
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}
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else if (axis == 2) {
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cA->atiput(i, FullMatrixDouble::rotatey(angle));
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}
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else if (axis == 3) {
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cA->atiput(i, FullMatrixDouble::rotatez(angle));
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}
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else {
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throw std::runtime_error("Euler angle rotation order must be any permutation of 1,2,3 without consecutive repeats.");
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}
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}
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aA = cA->at(0)->timesFullMatrix(cA->at(1)->timesFullMatrix(cA->at(2)));
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}
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template<>
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inline void EulerAngles<double>::calc()
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{
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cA = std::make_shared<FullColumn<FMatDsptr>>(3);
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for (int i = 0; i < 3; i++)
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{
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auto axis = rotOrder->at(i);
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auto angle = this->at(i);
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if (axis == 1) {
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cA->atiput(i, FullMatrixDouble::rotatex(angle));
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}
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else if (axis == 2) {
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cA->atiput(i, FullMatrixDouble::rotatey(angle));
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}
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else if (axis == 3) {
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cA->atiput(i, FullMatrixDouble::rotatez(angle));
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}
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else {
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throw std::runtime_error("Euler angle rotation order must be any permutation of 1,2,3 without consecutive repeats.");
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}
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}
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aA = cA->at(0)->timesFullMatrix(cA->at(1)->timesFullMatrix(cA->at(2)));
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}
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template<typename T>
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inline void EulerAngles<T>::calc()
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{
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assert(false);
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}
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// type-specific helper functions
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std::shared_ptr<EulerAnglesDot<std::shared_ptr<MbD::Symbolic>>> differentiateWRT(EulerAngles<std::shared_ptr<MbD::Symbolic>>& ref, std::shared_ptr<MbD::Symbolic> var)
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{
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auto derivatives = std::make_shared<EulerAnglesDot<std::shared_ptr<MbD::Symbolic>>>();
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std::transform(ref.begin(), ref.end(), derivatives->begin(),
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[var](std::shared_ptr<MbD::Symbolic> term) { return term->differentiateWRT(var); }
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);
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derivatives->aEulerAngles = &ref;
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return derivatives;
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}
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}
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