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mixedjoint.cpp
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Created
Sat, Oct 12, 08:00
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4 KB
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text/x-c
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Mon, Oct 14, 08:00 (2 d)
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rLAMMPS lammps
mixedjoint.cpp
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/*
*_________________________________________________________________________*
* POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE *
* DESCRIPTION: SEE READ-ME *
* FILE NAME: mixedjoint.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 "mixedjoint.h"
#include "point.h"
#include "matrixfun.h"
#include "body.h"
#include "fastmatrixops.h"
#include "norm.h"
#include "eulerparameters.h"
#include "matrices.h"
MixedJoint
::
MixedJoint
(){
}
MixedJoint
::~
MixedJoint
(){
}
JointType
MixedJoint
::
GetType
(){
return
MIXEDJOINT
;
}
bool
MixedJoint
::
ReadInJointData
(
std
::
istream
&
in
){
return
true
;
}
void
MixedJoint
::
WriteOutJointData
(
std
::
ostream
&
out
){
}
void
MixedJoint
::
SetsP
(
Matrix
&
sPr
,
Vect6
&
temp_dofs
,
int
i
,
int
j
){
const_sP
=
sPr
;
dofs
=
temp_dofs
;
numrots
=
i
;
numtrans
=
j
;
if
(
numrots
<
2
)
DimQandU
(
numrots
+
numtrans
,
numrots
+
numtrans
);
else
DimQandU
((
4
+
numtrans
),(
numrots
+
numtrans
));
cout
<<
"Check "
<<
4
+
numtrans
<<
" "
<<
numrots
+
numtrans
<<
" "
<<
i
<<
" "
<<
j
<<
endl
;
}
void
MixedJoint
::
ComputeLocalTransform
(){
Mat3x3
ko_C_k
;
EP_Transformation
(
q
,
ko_C_k
);
FastMult
(
pk_C_ko
,
ko_C_k
,
pk_C_k
);
}
Matrix
MixedJoint
::
GetForward_sP
(){
Mat6x6
temp_sP
;
Matrix
sP
;
temp_sP
.
Zeros
();
Mat3x3
temp0
=
T
(
pk_C_k
);
for
(
int
i
=
1
;
i
<
4
;
i
++
){
temp_sP
(
i
,
i
)
=
1.0
;
for
(
int
j
=
1
;
j
<
4
;
j
++
){
temp_sP
(
3
+
i
,
3
+
j
)
=
temp0
(
i
,
j
);
}
}
sP
=
temp_sP
*
const_sP
;
return
sP
;
}
Matrix
MixedJoint
::
GetBackward_sP
(){
Mat6x6
sP
;
sP
.
Identity
();
sP
=-
1.0
*
sP
;
cout
<<
"Did I come here in "
<<
endl
;
return
sP
;
}
void
MixedJoint
::
UpdateForward_sP
(
Matrix
&
sP
){
// do nothing
}
void
MixedJoint
::
UpdateBackward_sP
(
Matrix
&
sP
){
// do nothing
}
void
MixedJoint
::
ForwardKinematics
(){
if
(
numrots
>
1
)
EP_Normalize
(
q
);
// COMMENT STEP1: CALCULATE ORIENTATIONS
ComputeForwardTransforms
();
//COMMENT STEP2: CALCULATE POSITION VECTORS
Vect3
result1
,
result2
,
result3
,
result4
;
result1
.
Zeros
();
for
(
int
k
=
0
;
k
<
3
;
k
++
){
if
(
dofs
(
3
+
k
)
!=
0.0
){
if
(
numrots
>
1
)
result1
.
BasicSet
(
k
,
q
.
BasicGet
(
4
+
k
));
else
result1
.
BasicSet
(
k
,
q
.
BasicGet
(
numrots
+
k
));
}
}
FastAssign
(
result1
,
r12
);
// r12 in parents basis i.e. Newtonian
FastNegMult
(
k_C_pk
,
r12
,
r21
);
// r21 in body basis
FastAssign
(
r12
,
body2
->
r
);
// This is right
//COMMENT STEP3: CALCULATE QDOT
int
pp
=
0
;
if
(
numrots
>
1
){
ColMatrix
temp_u
(
3
+
numtrans
);
qdot_to_u
(
q
,
temp_u
,
qdot
);
for
(
int
k
=
1
;
k
<=
6
;
k
++
){
if
(
dofs
(
k
)
!=
0.0
){
u
.
BasicSet
(
pp
,
temp_u
.
BasicGet
(
k
-
1
));
pp
=
pp
+
1
;
}
}
}
else
u
=
qdot
;
Vect3
WN
;
WN
.
Zeros
();
int
p
=
0
;
for
(
int
k
=
0
;
k
<
3
;
k
++
){
if
(
dofs
(
k
+
1
)
!=
0.0
){
WN
.
BasicSet
(
k
,
u
.
BasicGet
(
p
));
p
=
p
+
1
;
}
}
// WN is in body basis
Vect3
VN
;
VN
.
Zeros
();
for
(
int
k
=
0
;
k
<
3
;
k
++
){
if
(
dofs
(
3
+
k
+
1
)
!=
0.0
)
{
VN
.
BasicSet
(
k
,
u
.
BasicGet
(
p
));
p
=
p
+
1
;
}
}
// VN is the vector of translational velocities in Newtonian basis
FastAssign
(
WN
,
body2
->
omega_k
);
// cout<<"Angular Velocity "<<WN<<endl;
Vect3
pk_w_k
;
FastMult
(
body2
->
n_C_k
,
WN
,
pk_w_k
);
FastAssign
(
pk_w_k
,
body2
->
omega
);
//COMMENT STEP5: CALCULATE VELOCITES
FastAssign
(
VN
,
body2
->
v
);
FastTMult
(
body2
->
n_C_k
,
body2
->
v
,
body2
->
v_k
);
//CALCULATE KE
Matrix
tempke
;
tempke
=
T
(
body2
->
v
)
*
(
body2
->
v
);
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
;
//COMMENT STEP6: CALCULATE STATE EXPLICIT ANGULAR ACCELERATIONS
body2
->
alpha_t
.
Zeros
();
//COMMENT STEP7: CALCULATE STATE EXPLICIT ACCELERATIONS
body2
->
a_t
.
Zeros
();
}
void
MixedJoint
::
BackwardKinematics
(){
cout
<<
"Did I come here "
<<
endl
;
}
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