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symkit_prog/beta/pendcouple/penduledesc.cpp
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penduledesc.cpp
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#include "penduledesc.h"
#include <cmath>
PenduleDesc::PenduleDesc(double l1, double l2, double m1, double m2,
const Vector &p, const Vector &pp, double g)
: Oscillateur(p, pp), g(g)
{
l[0] = l1;
l[1] = l2;
m[0] = m1;
m[1] = m2;
//corriger dimension position et vitesse
adjust(2);
}
PenduleDesc::PenduleDesc(double l1, double l2, double m1, double m2,
const std::vector<double> &p, const std::vector<double> &pp, double g)
: Oscillateur(p, pp), g(g)
{
l[0] = l1;
l[1] = l2;
m[0] = m1;
m[1] = m2;
//corriger dimension position et vitesse
adjust(2);
}
#define CHECK_BOUND_INDEX(index) index < 2 && index >= 0
#include "skerror.h"
using namespace symkit;
//SKerror pour lancer des erreurs en cas de valeurs physiquement incohèrente... et autre
void PenduleDesc::setLength(double l, int index)
{
if (l<=0)
throw SKError(ERR_NUMERICAL, "setLenght", "PenduleDesc", "trying to set to an incoherent value", false);
if (CHECK_BOUND_INDEX(index))
this->l[index] = l;
else
throw SKError(ERR_BOUND, "setLength", "PenduleDesc", "Looking for a non-existing memory-buffer", false);
}
void PenduleDesc::setMass(double m, int index)
{
if (m<=0)
throw SKError(ERR_NUMERICAL, "setMass", "PenduleRessort", "trying to set to an incoherent value", false);
if (CHECK_BOUND_INDEX(index))
this->m[index] = m;
else
throw SKError(ERR_BOUND, "setMass", "PenduleDesc", "Looking for a non-existing memory-buffer", false);
}
double PenduleDesc::getLength(int index) const
{
if (CHECK_BOUND_INDEX(index))
return l[index];
else
throw SKError(ERR_BOUND, "getLength", "PenduleDesc", "Looking for a non-existing value", false);
}
double PenduleDesc::getMass(int index) const
{
if (CHECK_BOUND_INDEX(index))
return m[index];
else
throw SKError(ERR_BOUND, "getMass", "PenduleDesc", "Looking for a non-existing value", false);
}
double PenduleDesc::getAngle(int index) const
{
if (CHECK_BOUND_INDEX(index))
return getp()[index];
else
throw SKError(ERR_BOUND, "getAngle", "PenduleDesc", "Looking for a non-existing value", false);
}
double PenduleDesc::getAngularSpeed(int index) const
{
if (CHECK_BOUND_INDEX(index))
return getp_prime()[index];
else
throw SKError(ERR_BOUND, "getAngularSpeed", "PenduleDesc", "Looking for a non-existing value", false);
}
double PenduleDesc::getGravity() const
{
return g;
}
double PenduleDesc::kineticEnergy(int index) const
{
double out(0);
if (CHECK_BOUND_INDEX(index))
{
if (index == 0)
out = 0.5 * m[0] * l[0] * l[0] * p_prime[0] * p_prime[0];
else {
out += l[0]*l[0]*p_prime[0]*p_prime[0];
out += l[1]*l[1]*p_prime[1]*p_prime[1];
out += 2*l[0]*l[1]*p_prime[0]*p_prime[1]*cos(p[0]-p[1]);
out *= 0.5 * m[1];
}
} else
throw SKError(ERR_BOUND, "kineticEnergy", "PenduleDesc", "Looking for a non-existing value", false);
return out;
}
#include <cmath>
Vector PenduleDesc::equation() const
{
Vector out = {0, 0};
double dteta = p[0] - p[1];
double M = m[0] + m[1];
double sin_dteta = sin(dteta);
double cos_dteta = cos(dteta);
double denom = m[0] + m[1] * sin_dteta * sin_dteta;
// first angle
out[0] = m[1] * g * cos_dteta * sin(p[1])
- M * g * sin(p[0])
- m[1] * l[0] * p_prime[0] * p_prime[0] * sin_dteta * cos_dteta
- m[1] * l[1] * p_prime[1] * p_prime[1] * sin_dteta;
out[0] /= denom * l[0];
// second angle
out[1] = M * g * cos_dteta * sin(p[0])
- M * g * sin(p[1])
+ m[1] * l[1] * p_prime[1] * p_prime[1] * sin_dteta * cos_dteta
+ M * l[0] * p_prime[0] * p_prime[0] * sin_dteta;
out[1] /= denom * l[1];
return out;
}
void PenduleDesc::setAngle(double l, int index)
{
if (CHECK_BOUND_INDEX(index))
p[index] = l;
}
void PenduleDesc::setAngularSpeed(double l, int index)
{
if (CHECK_BOUND_INDEX(index))
p_prime[index] = l;
}
void PenduleDesc::setGravity(double g)
{
if (g<0)
throw SKError(ERR_NUMERICAL, "setGravity", "PenduleRessort", "trying to set to an incoherent value", false);
this->g = g;
}
double PenduleDesc::energy() const
{
double a(0.5*m[0]*l[0]*l[0]*p_prime[0]*p_prime[0]);
double b(l[0]*l[0]*p_prime[0]*p_prime[0]);
double c(l[1]*l[1]*p_prime[1]*p_prime[1]);
double d(2*l[0]*l[1]*p_prime[0]*p_prime[1]*cos(p[0]-p[1]));
double f(l[0] * m[0] * g * cos(p[0]));
double h((l[1]*cos(p[1]) + l[0]*cos(p[0])) * m[1] * g);
double e(a + 0.5*m[1]*(b + c + d));
double u(-f - h);
return (e+u);
}
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