52 lines
1.7 KiB
C++
52 lines
1.7 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 <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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}
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PrescribedMotion::PrescribedMotion(const char* str) : Joint(str) {
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}
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void PrescribedMotion::initialize()
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{
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Joint::initialize();
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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 MbD::PrescribedMotion::initMotions()
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{
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auto xyzBlkList = std::initializer_list<Symsptr>{ xBlk, yBlk, zBlk };
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std::static_pointer_cast<EndFrameqct>(frmI)->rmemBlks = (std::make_shared<FullColumn<Symsptr>>(xyzBlkList));
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auto xyzRotBlkList = std::initializer_list<Symsptr>{ phiBlk, theBlk, psiBlk };
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std::static_pointer_cast<EndFrameqct>(frmI)->phiThePsiBlks = (std::make_shared<FullColumn<Symsptr>>(xyzRotBlkList));
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}
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void PrescribedMotion::connectsItoJ(EndFrmsptr frmi, EndFrmsptr frmj)
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{
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Joint::connectsItoJ(frmi, frmj);
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std::static_pointer_cast<EndFrameqc>(frmI)->initEndFrameqct();
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}
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