68 lines
1.9 KiB
C++
68 lines
1.9 KiB
C++
#include<algorithm>
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#include "System.h"
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using namespace MbD;
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System::System() {
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time = std::make_shared<Time>();
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parts = std::make_shared<std::vector<std::shared_ptr<Part>>>();
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jointsMotions = std::make_shared<std::vector<std::shared_ptr<Joint>>>();
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systemSolver = std::make_shared<SystemSolver>(this);
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}
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System::System(const char* str) : Item(str) {
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time = std::make_shared<Time>();
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parts = std::make_shared<std::vector<std::shared_ptr<Part>>>();
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jointsMotions = std::make_shared<std::vector<std::shared_ptr<Joint>>>();
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systemSolver = std::make_shared<SystemSolver>(this);
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}
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void System::addPart(std::shared_ptr<Part> part)
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{
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part->setSystem(*this);
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parts->push_back(part);
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}
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void System::runKINEMATICS()
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{
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//Smalltalk code
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//admSystem preMbDrun.
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// [self initializeLocally.
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// self initializeGlobally.
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// self hasChanged]
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// whileTrue.
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// self partsJointsMotionsForcesTorquesDo : [:item | item postInput] .
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// admSystem outputFor : #INPUT.
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// mbdSystemSolver runAllIC.
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// admSystem outputFor : #'INITIAL CONDITIONS'.
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// mbdSystemSolver runBasicKinematic.
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// admSystem postMbDrun
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while (true)
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{
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initializeLocally();
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initializeGlobally();
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if (!hasChanged) break;
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}
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systemSolver->runAllIC();
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systemSolver->runBasicKinematic();
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}
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void System::initializeLocally()
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{
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hasChanged = false;
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time->value = systemSolver->tstart;
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std::for_each(parts->begin(), parts->end(), [](const auto& part) { part->initializeLocally(); });
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std::for_each(jointsMotions->begin(), jointsMotions->end(), [](const auto& joint) { joint->initializeLocally(); });
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systemSolver->initializeLocally();
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}
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void System::initializeGlobally()
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{
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std::for_each(parts->begin(), parts->end(), [](const auto& part) { part->initializeGlobally(); });
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std::for_each(jointsMotions->begin(), jointsMotions->end(), [](const auto& joint) { joint->initializeGlobally(); });
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systemSolver->initializeGlobally();
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}
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