36 lines
1.3 KiB
C++
36 lines
1.3 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 "DirectionCosineConstraintIJ.h"
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namespace MbD {
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class DirectionCosineConstraintIqcJc : public DirectionCosineConstraintIJ
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{
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//pGpEI ppGpEIpEI iqEI
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public:
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DirectionCosineConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj, int axisi, int axisj);
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void addToJointTorqueI(FColDsptr col) override;
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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 initaAijIeJe() override;
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void useEquationNumbers() override;
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FRowDsptr pGpEI;
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FMatDsptr ppGpEIpEI;
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int iqEI = -1;
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};
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}
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