78 lines
2.5 KiB
C++
78 lines
2.5 KiB
C++
#pragma once
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#include <memory>
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#include <functional>
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#include "CartesianFrame.h"
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//#include "PartFrame.h"
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#include "FullColumn.h"
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#include "FullMatrix.h"
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#include "EndFramec.h"
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#include "EulerParametersDot.h"
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#include "EulerParametersDDot.h"
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namespace MbD {
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class PartFrame;
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//class EndFramec;
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//using EndFrmcptr = std::shared_ptr<EndFramec>;
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class MarkerFrame : public CartesianFrame
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{
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//partFrame rpmp aApm rOmO aAOm prOmOpE pAOmpE pprOmOpEpE ppAOmpEpE endFrames
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public:
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MarkerFrame();
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MarkerFrame(const char* str);
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System* root() override;
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void initialize() override;
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void setPartFrame(PartFrame* partFrm);
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PartFrame* getPartFrame();
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void setrpmp(FColDsptr x);
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void setaApm(FMatDsptr x);
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void addEndFrame(EndFrmcptr x);
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void initializeLocally() override;
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void initializeGlobally() override;
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void postInput() override;
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void calcPostDynCorrectorIteration() override;
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void prePosIC() override;
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int iqX();
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int iqE();
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void endFramesDo(const std::function <void(std::shared_ptr<EndFramec>)>& f);
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void fillqsu(FColDsptr col) override;
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void fillqsuWeights(std::shared_ptr<DiagonalMatrix<double>> diagMat) override;
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void fillqsulam(FColDsptr col) override;
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void fillqsudot(FColDsptr col) override;
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void fillqsudotWeights(std::shared_ptr<DiagonalMatrix<double>> diagMat) override;
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void setqsu(FColDsptr col) override;
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void setqsulam(FColDsptr col) override;
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void setqsudot(FColDsptr col) override;
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void setqsudotlam(FColDsptr col) override;
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void setqsuddotlam(FColDsptr col) override;
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void postPosICIteration() override;
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void postPosIC() override;
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void preDyn() override;
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void storeDynState() override;
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void preVelIC() override;
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void postVelIC() override;
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void preAccIC() override;
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FColDsptr qXdot();
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std::shared_ptr<EulerParametersDot<double>> qEdot();
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FColDsptr qXddot();
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FColDsptr qEddot();
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FColFMatDsptr pAOppE();
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FMatDsptr aBOp();
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void postDynStep() override;
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PartFrame* partFrame; //Use raw pointer when pointing backwards.
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FColDsptr rpmp = std::make_shared<FullColumn<double>>(3);
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FMatDsptr aApm = std::make_shared<FullMatrix<double>>(3, 3);
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FColDsptr rOmO = std::make_shared<FullColumn<double>>(3);
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FMatDsptr aAOm = std::make_shared<FullMatrix<double>>(3, 3);
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FMatDsptr prOmOpE;
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std::shared_ptr<FullColumn<std::shared_ptr<FullMatrix<double>>>> pAOmpE;
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std::shared_ptr<FullMatrix<std::shared_ptr<FullColumn<double>>>> pprOmOpEpE;
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FMatFMatDsptr ppAOmpEpE;
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std::shared_ptr<std::vector<EndFrmcptr>> endFrames;
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};
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}
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