44 lines
1.5 KiB
C++
44 lines
1.5 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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#pragma once
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#include "RackPinConstraintIJ.h"
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namespace MbD {
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class RackPinConstraintIqcJc : public RackPinConstraintIJ
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{
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//pGpXI pGpEI ppGpXIpEI ppGpEIpEI iqXI iqEI
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public:
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RackPinConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj);
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void initxIeJeIe() override;
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void initthezIeJe() override;
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void addToJointForceI(FColDsptr col) override;
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void addToJointTorqueI(FColDsptr col) override;
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void calc_pGpEI();
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void calc_pGpXI();
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void calc_ppGpEIpEI();
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void calc_ppGpXIpEI();
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void calcPostDynCorrectorIteration() override;
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void fillAccICIterError(FColDsptr col) override;
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void fillPosICError(FColDsptr col) override;
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void fillPosICJacob(SpMatDsptr mat) override;
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void fillPosKineJacob(SpMatDsptr mat) override;
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void fillVelICJacob(SpMatDsptr mat) override;
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void init_xthez() override;
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void useEquationNumbers() override;
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FRowDsptr pGpXI, pGpEI;
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FMatDsptr ppGpXIpEI, ppGpEIpEI;
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size_t iqXI, iqEI;
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};
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}
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