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symkit_prog/alpha/pendcouple/penduledesc.cpp
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penduledesc.cpp
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#include "penduledesc.h"
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;
}
#define CHECK_BOUND_INDEX(index) index < 2 && index >= 0
void PenduleDesc::setLength(double l, int index)
{
if (CHECK_BOUND_INDEX(index))
this->l[index] = l;
}
void PenduleDesc::setMass(double m, int index)
{
if (CHECK_BOUND_INDEX(index))
this->m[index] = m;
}
double PenduleDesc::getLength(int index) const
{
if (CHECK_BOUND_INDEX(index))
return l[index];
else
return 0; // TODO, throw error
}
double PenduleDesc::getMass(int index) const
{
if (CHECK_BOUND_INDEX(index))
return m[index];
else
return 0; // TODO, throw error
}
double PenduleDesc::getAngle(int index) const
{
if (CHECK_BOUND_INDEX(index))
return getp()[index];
else
return 0; // TODO, throw error
}
double PenduleDesc::getAngularSpeed(int index) const
{
if (CHECK_BOUND_INDEX(index))
return getp_prime()[index];
else
return 0; // TODO, throw error
}
#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;
}
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