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joint.cpp
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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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