59 lines
1.6 KiB
C++
59 lines
1.6 KiB
C++
#include "DispCompIecJecKeqc.h"
|
|
#include "EndFrameqc.h"
|
|
|
|
using namespace MbD;
|
|
|
|
DispCompIecJecKeqc::DispCompIecJecKeqc()
|
|
{
|
|
}
|
|
|
|
DispCompIecJecKeqc::DispCompIecJecKeqc(EndFrmsptr frmi, EndFrmsptr frmj, EndFrmsptr frmk, int axisk) : DispCompIecJecKec(frmi, frmj, frmk, axisk)
|
|
{
|
|
}
|
|
|
|
void DispCompIecJecKeqc::initialize()
|
|
{
|
|
priIeJeKepEK = std::make_shared<FullRow<double>>(4);
|
|
ppriIeJeKepEKpEK = std::make_shared<FullMatrix<double>>(4, 4);
|
|
}
|
|
|
|
void DispCompIecJecKeqc::initializeGlobally()
|
|
{
|
|
ppAjOKepEKpEK = std::static_pointer_cast<EndFrameqc>(efrmK)->ppAjOepEpE(axisK);
|
|
}
|
|
|
|
void DispCompIecJecKeqc::calcPostDynCorrectorIteration()
|
|
{
|
|
auto frmIqc = std::static_pointer_cast<EndFrameqc>(frmI);
|
|
auto frmJqc = std::static_pointer_cast<EndFrameqc>(frmJ);
|
|
auto efrmKqc = std::static_pointer_cast<EndFrameqc>(efrmK);
|
|
aAjOKe = efrmKqc->aAjOe(axisK);
|
|
rIeJeO = frmJqc->rOeO->minusFullColumn(frmIqc->rOeO);
|
|
riIeJeKe = aAjOKe->dot(rIeJeO);
|
|
pAjOKepEKT = efrmKqc->pAjOepET(axisK);
|
|
ppAjOKepEKpEK = efrmKqc->ppAjOepEpE(axisK);
|
|
for (int i = 0; i < 4; i++)
|
|
{
|
|
priIeJeKepEK->at(i) = ((pAjOKepEKT->at(i))->dot(rIeJeO));
|
|
auto& ppAjOKepEKipEK = ppAjOKepEKpEK->at(i);
|
|
auto& ppriIeJeKepEKipEK = ppriIeJeKepEKpEK->at(i);
|
|
ppriIeJeKepEKipEK->at(i) = ((ppAjOKepEKipEK->at(i))->dot(rIeJeO));
|
|
for (int j = i + 1; j < 4; j++)
|
|
{
|
|
auto ppriIeJeKepEKipEKj = (ppAjOKepEKipEK->at(i))->dot(rIeJeO);
|
|
ppriIeJeKepEKipEK->at(j) = ppriIeJeKepEKipEKj;
|
|
ppriIeJeKepEKpEK->at(j)->at(i) = ppriIeJeKepEKipEKj;
|
|
}
|
|
}
|
|
}
|
|
|
|
FMatDsptr DispCompIecJecKeqc::ppvaluepEKpEK()
|
|
{
|
|
return ppriIeJeKepEKpEK;
|
|
}
|
|
|
|
FRowDsptr MbD::DispCompIecJecKeqc::pvaluepEK()
|
|
{
|
|
return priIeJeKepEK;
|
|
}
|