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body23joint.cpp
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Tue, Oct 8, 00:37
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rLAMMPS lammps
body23joint.cpp
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/*
*_________________________________________________________________________*
* POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE *
* DESCRIPTION: SEE READ-ME *
* FILE NAME: body23joint.cpp *
* AUTHORS: See Author List *
* GRANTS: See Grants List *
* COPYRIGHT: (C) 2005 by Authors as listed in Author's List *
* LICENSE: Please see License Agreement *
* DOWNLOAD: Free at www.rpi.edu/~anderk5 *
* ADMINISTRATOR: Prof. Kurt Anderson *
* Computational Dynamics Lab *
* Rensselaer Polytechnic Institute *
* 110 8th St. Troy NY 12180 *
* CONTACT: anderk5@rpi.edu *
*_________________________________________________________________________*/
#include "body23joint.h"
#include "point.h"
#include "matrixfun.h"
#include "body.h"
#include "fastmatrixops.h"
#include "norm.h"
#include "eulerparameters.h"
#include "matrices.h"
#include <iomanip>
Body23Joint
::
Body23Joint
(){
DimQandU
(
4
,
2
);
}
Body23Joint
::~
Body23Joint
(){
}
JointType
Body23Joint
::
GetType
(){
return
BODY23JOINT
;
}
bool
Body23Joint
::
ReadInJointData
(
std
::
istream
&
in
){
return
true
;
}
void
Body23Joint
::
WriteOutJointData
(
std
::
ostream
&
out
){
}
Matrix
Body23Joint
::
GetForward_sP
(){
Vect3
temp
=
-
(
point2
->
position
);
// This is vector from joint to CM
Matrix
sP
(
6
,
2
);
sP
.
Zeros
();
sP
(
2
,
1
)
=
1.0
;
sP
(
3
,
2
)
=
1.0
;
sP
(
5
,
2
)
=
temp
(
1
);
sP
(
6
,
1
)
=
-
temp
(
1
);
return
sP
;
}
void
Body23Joint
::
UpdateForward_sP
(
Matrix
&
sP
){
// sP is constant, do nothing.
// linear part is not constant
}
Matrix
Body23Joint
::
GetBackward_sP
(){
cout
<<
" -----------"
<<
endl
;
cout
<<
"Am I here "
<<
endl
;
cout
<<
" -----------"
<<
endl
;
Vect3
temp
=
(
point2
->
position
);
// This is vector from CM to joint
Matrix
sP
(
6
,
2
);
sP
.
Zeros
();
sP
(
2
,
1
)
=
1.0
;
sP
(
3
,
2
)
=
1.0
;
sP
(
5
,
2
)
=
temp
(
1
);
sP
(
6
,
1
)
=
-
temp
(
1
);
return
sP
;
}
void
Body23Joint
::
UpdateBackward_sP
(
Matrix
&
sP
){
// sP is constant, do nothing.
}
void
Body23Joint
::
ComputeLocalTransform
(){
Mat3x3
ko_C_k
;
// Obtain the transformation matrix from euler parameters
EP_Transformation
(
q
,
ko_C_k
);
FastMult
(
pk_C_ko
,
ko_C_k
,
pk_C_k
);
}
void
Body23Joint
::
ForwardKinematics
(){
Vect3
result1
,
result2
,
result3
,
result4
,
result5
;
Vect3
pk_w_k
;
//cout<<"Check in spherical "<<q<<" "<<qdot<<endl;
EP_Normalize
(
q
);
// orientations
ComputeForwardTransforms
();
//----------------------------------//
// COMPUTE POSITION VECTOR R12 aka GAMMA
FastNegMult
(
pk_C_k
,
point2
->
position
,
result1
);
// parents basis
FastAdd
(
result1
,
point1
->
position
,
r12
);
// compute position vector r21
FastNegMult
(
k_C_pk
,
r12
,
r21
);
//----------------------------------//
// COMPUTE GLOBAL LOCATION
FastMult
(
body1
->
n_C_k
,(
body1
->
GetPoint
(
2
))
->
position
,
result1
);
FastAdd
(
result1
,
body1
->
r
,
result1
);
FastNegMult
(
body2
->
n_C_k
,(
body2
->
GetPoint
(
1
))
->
position
,
result2
);
FastAdd
(
result1
,
result2
,
body2
->
r
);
ColMatrix
temp_u
(
3
);
qdot_to_u
(
q
,
temp_u
,
qdot
);
temp_u
(
1
)
=
0.0
;
u
(
1
)
=
temp_u
(
2
);
u
(
2
)
=
temp_u
(
3
);
//-----------------------------------
// angular velocities
FastAssign
(
temp_u
,
pk_w_k
);
FastTMult
(
pk_C_k
,
body1
->
omega_k
,
result1
);
FastAdd
(
result1
,
pk_w_k
,
body2
->
omega_k
);
FastMult
(
body2
->
n_C_k
,
body2
->
omega_k
,
body2
->
omega
);
// June 1 checked with Lammps
//-----------------------------------
// compute velocities
FastCross
(
body1
->
omega_k
,(
body1
->
GetPoint
(
2
))
->
position
,
result1
);
FastAdd
(
body1
->
v_k
,
result1
,
result2
);
FastTMult
(
pk_C_k
,
result2
,
result1
);
// In body basis
FastCross
((
body2
->
GetPoint
(
1
))
->
position
,
body2
->
omega_k
,
result2
);
FastAdd
(
result1
,
result2
,
body2
->
v_k
);
// In body basis
FastMult
(
body2
->
n_C_k
,
body2
->
v_k
,
body2
->
v
);
//------------------------------------------
//Compute the KE
Matrix
tempke
;
tempke
=
T
(
body2
->
v_k
)
*
(
body2
->
v_k
);
double
ke
=
0.0
;
ke
=
body2
->
mass
*
tempke
(
1
,
1
);
FastMult
(
body2
->
inertia
,
body2
->
omega_k
,
result1
);
tempke
=
T
(
body2
->
omega_k
)
*
result1
;
ke
=
0.5
*
ke
+
0.5
*
tempke
(
1
,
1
);
body2
->
KE
=
ke
;
//-----------------------------------
// compute state explicit angular acceleration // Has to be in body basis
FastTMult
(
pk_C_k
,
body1
->
alpha_t
,
result2
);
FastCross
(
body2
->
omega_k
,
pk_w_k
,
result1
);
FastAdd
(
result1
,
result2
,
body2
->
alpha_t
);
//-----------------------------------
// compute state explicit acceleration
// NEED TO DO THIS COMPLETELY IN BODY BASIS
FastCross
(
body1
->
omega_k
,(
body1
->
GetPoint
(
2
))
->
position
,
result1
);
FastCross
(
body1
->
omega_k
,
result1
,
result2
);
FastTMult
(
pk_C_k
,
result2
,
result1
);
//FastCross(body2->omega_k,-(body2->GetPoint(1))->position,result3);
FastCross
((
body2
->
GetPoint
(
1
))
->
position
,
body2
->
omega_k
,
result3
);
FastCross
(
body2
->
omega_k
,
result3
,
result2
);
FastAdd
(
result1
,
result2
,
result3
);
//wxwxr in body basis
FastCross
(
body1
->
alpha_t
,(
body1
->
GetPoint
(
2
))
->
position
,
result4
);
FastTMult
(
pk_C_k
,
result4
,
result5
);
FastAssign
(
result5
,
result4
);
FastCross
((
body2
->
GetPoint
(
1
))
->
position
,
body2
->
alpha_t
,
result2
);
FastAdd
(
result2
,
result4
,
result1
);
//alphaxr in body basis
FastTMult
(
pk_C_k
,
body1
->
a_t
,
result2
);
FastTripleSum
(
result3
,
result1
,
result2
,
body2
->
a_t
);
// in body basis
//-----------------------------------
}
// NOTE: NOT USING BACKWARDKINEMATICS AT PRESENT
void
Body23Joint
::
BackwardKinematics
(){
cout
<<
"what about here "
<<
endl
;
Vect3
result1
,
result2
,
result3
,
result4
,
result5
;
Vect3
k_w_pk
;
// orientations
ComputeBackwardTransforms
();
// compute position vector r21
//r21 = point2->position - k_C_pk * point1->position;
FastMult
(
k_C_pk
,
point1
->
position
,
result1
);
FastSubt
(
point2
->
position
,
result1
,
r21
);
// compute position vector r21
FastNegMult
(
pk_C_k
,
r21
,
r12
);
// compute global location
// body1->r = body2->r + body2->n_C_k * r21;
FastMult
(
body2
->
n_C_k
,
r21
,
result1
);
FastAdd
(
body2
->
r
,
result1
,
body1
->
r
);
// compute qdot (for revolute joint qdot = u)
// qdot = u
ColMatrix
us
(
3
);
/*us(1)=0;
us(2)=u(1);
us(3)=u(2);*/
EP_Derivatives
(
q
,
u
,
qdot
);
// angular velocities
FastMult
(
body2
->
n_C_k
,
u
,
result2
);
FastAdd
(
body2
->
omega
,
result2
,
body1
->
omega
);
FastAssign
(
u
,
k_w_pk
);
FastMult
(
pk_C_k
,
body2
->
omega_k
,
result1
);
FastSubt
(
result1
,
k_w_pk
,
body1
->
omega_k
);
cout
<<
"The program was here"
<<
endl
;
// compute velocities
FastCross
(
body2
->
omega_k
,
r21
,
result1
);
FastCross
(
point1
->
position
,
k_w_pk
,
result2
);
FastAdd
(
body2
->
v_k
,
result1
,
result3
);
FastMult
(
pk_C_k
,
result3
,
result4
);
FastAdd
(
result2
,
result4
,
body1
->
v_k
);
FastMult
(
body1
->
n_C_k
,
body1
->
v_k
,
body1
->
v
);
// compute state explicit angular acceleration
FastCross
(
body1
->
omega_k
,
k_w_pk
,
result1
);
FastMult
(
pk_C_k
,
body2
->
alpha_t
,
result2
);
FastAdd
(
result1
,
result2
,
body1
->
alpha_t
);
// compute state explicit acceleration
FastCross
(
body2
->
alpha_t
,
point2
->
position
,
result1
);
FastCross
(
body2
->
omega_k
,
point2
->
position
,
result2
);
FastCross
(
body2
->
omega_k
,
result2
,
result3
);
FastTripleSum
(
body2
->
a_t
,
result1
,
result3
,
result4
);
FastMult
(
pk_C_k
,
result4
,
result5
);
FastCross
(
point1
->
position
,
body1
->
alpha_t
,
result1
);
FastCross
(
point1
->
position
,
body1
->
omega_k
,
result2
);
FastCross
(
body1
->
omega_k
,
result2
,
result3
);
FastTripleSum
(
result5
,
result1
,
result3
,
body1
->
a_t
);
}
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