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joint.cpp
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Sat, Jul 6, 19:19
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rLAMMPS lammps
joint.cpp
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/*
*_________________________________________________________________________*
* POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE *
* DESCRIPTION: SEE READ-ME *
* FILE NAME: joint.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 "joints.h"
#include "body.h"
#include "point.h"
#include <string>
#include "matrixfun.h"
#include "fastmatrixops.h"
#include <iomanip>
using
namespace
std
;
Joint
::
Joint
(){
body1
=
body2
=
0
;
point1
=
point2
=
0
;
pk_C_ko
.
Identity
();
pk_C_k
.
Identity
();
}
Joint
::~
Joint
(){
}
void
Joint
::
SetBodies
(
Body
*
b1
,
Body
*
b2
){
body1
=
b1
;
body2
=
b2
;
}
void
Joint
::
SetPoints
(
Point
*
p1
,
Point
*
p2
){
point1
=
p1
;
point2
=
p2
;
}
int
Joint
::
GetBodyID1
(){
return
body1
->
GetID
();
}
int
Joint
::
GetBodyID2
(){
return
body2
->
GetID
();
}
int
Joint
::
GetPointID1
(){
return
point1
->
GetID
();
}
int
Joint
::
GetPointID2
(){
return
point2
->
GetID
();
}
bool
Joint
::
ReadIn
(
std
::
istream
&
in
){
in
>>
setprecision
(
20
)
>>
qo
>>
setprecision
(
20
)
>>
qdoto
>>
setprecision
(
20
)
>>
pk_C_ko
;
q
=
qo
;
qdot
=
qdoto
;
EP_Normalize
(
q
);
return
ReadInJointData
(
in
);
}
void
Joint
::
ResetQdot
(){
//EP_Derivatives(q,u,qdot);
qdot_to_u
(
q
,
u
,
qdot
);
}
void
Joint
::
ResetQ
(){
EP_Normalize
(
q
);
}
void
Joint
::
SetInitialState
(
ColMatrix
&
a
,
ColMatrix
&
adot
){
if
(
(
qo
.
GetNumRows
()
!=
a
.
GetNumRows
())
||
(
qdoto
.
GetNumRows
()
!=
adot
.
GetNumRows
())
){
cout
<<
qo
.
GetNumRows
()
<<
" "
<<
a
.
GetNumRows
()
<<
" "
<<
qdoto
.
GetNumRows
()
<<
" "
<<
adot
.
GetNumRows
()
<<
endl
;
cerr
<<
"ERROR::Illegal matrix size for initial condition"
<<
endl
;
exit
(
1
);
}
qo
=
a
;
qdoto
=
adot
;
EP_Normalize
(
qo
);
q
=
qo
;
//////////////////////////Check this ...added May 14 2005
qdot
=
qdoto
;
//////////////////////////Check this ...added May 14 2005
}
void
Joint
::
SetZeroOrientation
(
VirtualMatrix
&
C
){
pk_C_ko
=
C
;
}
void
Joint
::
WriteOut
(
std
::
ostream
&
out
){
out
<<
GetType
()
<<
' '
<<
GetName
()
<<
' '
;
out
<<
GetBodyID1
()
<<
' '
<<
GetBodyID2
()
<<
' '
;
out
<<
GetPointID1
()
<<
' '
<<
GetPointID2
()
<<
endl
;
out
<<
setprecision
(
16
)
<<
qo
<<
setprecision
(
16
)
<<
qdoto
<<
setprecision
(
16
)
<<
pk_C_ko
;
WriteOutJointData
(
out
);
out
<<
endl
;
}
ColMatrix
*
Joint
::
GetQ
(){
return
&
q
;
}
ColMatrix
*
Joint
::
GetU
(){
return
&
u
;
}
ColMatrix
*
Joint
::
GetQdot
(){
return
&
qdot
;
}
ColMatrix
*
Joint
::
GetUdot
(){
return
&
udot
;
}
ColMatrix
*
Joint
::
GetQdotdot
(){
return
&
qdotdot
;
}
void
Joint
::
DimQandU
(
int
i
){
DimQandU
(
i
,
i
);
}
void
Joint
::
DimQandU
(
int
i
,
int
j
){
qo
.
Dim
(
i
);
q
.
Dim
(
i
);
qdot
.
Dim
(
i
);
qdoto
.
Dim
(
i
);
uo
.
Dim
(
j
);
u
.
Dim
(
j
);
udot
.
Dim
(
j
);
qdotdot
.
Dim
(
i
);
// zero them
qo
.
Zeros
();
qdoto
.
Zeros
();
q
.
Zeros
();
qdot
.
Zeros
();
uo
.
Zeros
();
u
.
Zeros
();
udot
.
Zeros
();
qdotdot
.
Zeros
();
}
Body
*
Joint
::
GetBody1
(){
return
body1
;
}
Body
*
Joint
::
GetBody2
(){
return
body2
;
}
Body
*
Joint
::
OtherBody
(
Body
*
body
){
if
(
body1
==
body
)
return
body2
;
if
(
body2
==
body
)
return
body1
;
return
0
;
}
Vect3
*
Joint
::
GetR12
(){
return
&
r12
;
}
Vect3
*
Joint
::
GetR21
(){
return
&
r21
;
}
Mat3x3
*
Joint
::
Get_pkCk
(){
return
&
pk_C_k
;
}
Mat3x3
*
Joint
::
Get_kCpk
(){
return
&
k_C_pk
;
}
Matrix
Joint
::
GetForward_sP
(){
cerr
<<
"ERROR: Forward Spatial Partial Velocity is not suported for joint type "
<<
GetType
()
<<
endl
;
exit
(
0
);
}
Matrix
Joint
::
GetBackward_sP
(){
cerr
<<
"ERROR: Backward Spatial Partial Velocity is not suported for joint type "
<<
GetType
()
<<
endl
;
exit
(
0
);
}
void
Joint
::
UpdateForward_sP
(
Matrix
&
sP
){
cerr
<<
"WARNING: Using default Update sP procedure"
<<
endl
;
sP
=
GetForward_sP
();
}
void
Joint
::
UpdateBackward_sP
(
Matrix
&
sP
){
cerr
<<
"WARNING: Using default Update sP procedure"
<<
endl
;
sP
=
GetBackward_sP
();
}
void
Joint
::
ComputeForwardTransforms
(){
ComputeLocalTransform
();
// k_C_pk = T(pk_C_k);
FastAssignT
(
pk_C_k
,
k_C_pk
);
ComputeForwardGlobalTransform
();
}
void
Joint
::
ComputeBackwardTransforms
(){
ComputeLocalTransform
();
// k_C_pk = pk_C_k^T
FastAssignT
(
pk_C_k
,
k_C_pk
);
ComputeBackwardGlobalTransform
();
}
void
Joint
::
ComputeForwardGlobalTransform
(){
// body2->n_C_k = body1->n_C_k * pk_C_k;
FastMult
(
body1
->
n_C_k
,
pk_C_k
,
body2
->
n_C_k
);
}
void
Joint
::
ComputeBackwardGlobalTransform
(){
// body1->n_C_k = body2->n_C_k * T(pk_C_k);
FastMultT
(
body2
->
n_C_k
,
pk_C_k
,
body1
->
n_C_k
);
}
//
// global joint functions
//
Joint
*
NewJoint
(
int
type
){
switch
(
JointType
(
type
)
)
{
case
FREEBODYJOINT
:
return
new
FreeBodyJoint
;
case
REVOLUTEJOINT
:
return
new
RevoluteJoint
;
case
PRISMATICJOINT
:
return
new
PrismaticJoint
;
case
SPHERICALJOINT
:
return
new
SphericalJoint
;
case
BODY23JOINT
:
return
new
Body23Joint
;
case
MIXEDJOINT
:
return
new
MixedJoint
;
default
:
return
0
;
// error
}
}
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