43 lines
1.1 KiB
C++
43 lines
1.1 KiB
C++
#include "SystemNewtonRaphson.h"
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#include "SystemSolver.h"
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#include "SparseMatrix.h"
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#include "MatrixSolver.h"
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#include "GESpMatParPvMarkoFast.h"
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#include "CREATE.h"
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using namespace MbD;
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void MbD::SystemNewtonRaphson::initializeGlobally()
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{
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this->assignEquationNumbers();
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system->partsJointsMotionsDo([&](std::shared_ptr<Item> item) { item->useEquationNumbers(); });
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this->createVectorsAndMatrices();
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matrixSolver = this->matrixSolverClassNew();
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}
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void MbD::SystemNewtonRaphson::createVectorsAndMatrices()
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{
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x = std::make_shared<FullColumn<double>>(n);
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y = std::make_shared<FullColumn<double>>(n);
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pypx = std::make_shared <SparseMatrix<double>>(n, n);
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}
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std::shared_ptr<MatrixSolver> MbD::SystemNewtonRaphson::matrixSolverClassNew()
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{
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return CREATE<GESpMatParPvMarkoFast>::With();
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}
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void MbD::SystemNewtonRaphson::calcdxNorm()
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{
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VectorNewtonRaphson::calcdxNorm();
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std::string str("MbD: Convergence = ");
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str += std::to_string(dxNorm);
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system->logString(str);
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}
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void MbD::SystemNewtonRaphson::basicSolveEquations()
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{
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dx = matrixSolver->solvewithsaveOriginal(pypx, y->negated(), false);
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}
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