80 lines
2.7 KiB
C++
80 lines
2.7 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 "DirectionCosineConstraintIqcJc.h"
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#include "DirectionCosineIeqcJec.h"
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#include "EndFrameqc.h"
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#include "CREATE.h"
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using namespace MbD;
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DirectionCosineConstraintIqcJc::DirectionCosineConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj, size_t axisi, size_t axisj) :
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DirectionCosineConstraintIJ(frmi, frmj, axisi, axisj)
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{
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}
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void DirectionCosineConstraintIqcJc::initaAijIeJe()
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{
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aAijIeJe = CREATE<DirectionCosineIeqcJec>::With(frmI, frmJ, axisI, axisJ);
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}
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void DirectionCosineConstraintIqcJc::calcPostDynCorrectorIteration()
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{
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DirectionCosineConstraintIJ::calcPostDynCorrectorIteration();
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auto aAijIeqJe = std::static_pointer_cast<DirectionCosineIeqcJec>(aAijIeJe);
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pGpEI = aAijIeqJe->pAijIeJepEI;
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ppGpEIpEI = aAijIeqJe->ppAijIeJepEIpEI;
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}
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void DirectionCosineConstraintIqcJc::useEquationNumbers()
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{
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iqEI = std::static_pointer_cast<EndFrameqc>(frmI)->iqE();
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}
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void DirectionCosineConstraintIqcJc::fillPosICError(FColDsptr col)
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{
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Constraint::fillPosICError(col);
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col->atiplusFullVectortimes(iqEI, pGpEI, lam);
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}
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void DirectionCosineConstraintIqcJc::fillPosICJacob(SpMatDsptr mat)
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{
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mat->atijplusFullRow(iG, iqEI, pGpEI);
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mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose());
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mat->atijplusFullMatrixtimes(iqEI, iqEI, ppGpEIpEI, lam);
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}
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void DirectionCosineConstraintIqcJc::fillPosKineJacob(SpMatDsptr mat)
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{
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mat->atijplusFullRow(iG, iqEI, pGpEI);
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}
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void DirectionCosineConstraintIqcJc::fillVelICJacob(SpMatDsptr mat)
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{
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mat->atijplusFullRow(iG, iqEI, pGpEI);
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mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose());
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}
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void DirectionCosineConstraintIqcJc::fillAccICIterError(FColDsptr col)
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{
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col->atiplusFullVector(iqEI, pGpEI->times(lam));
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auto efrmIqc = std::static_pointer_cast<EndFrameqc>(frmI);
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auto qEdotI = efrmIqc->qEdot();
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auto sum = pGpEI->timesFullColumn(efrmIqc->qEddot());
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sum += qEdotI->transposeTimesFullColumn(ppGpEIpEI->timesFullColumn(qEdotI));
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col->atiplusNumber(iG, sum);
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}
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void DirectionCosineConstraintIqcJc::addToJointTorqueI(FColDsptr jointTorque)
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{
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auto aBOIp = frmI->aBOp();
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auto lampGpE = pGpEI->transpose()->times(lam);
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auto c2Torque = aBOIp->timesFullColumn(lampGpE);
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jointTorque->equalSelfPlusFullColumntimes(c2Torque, 0.5);
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}
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