45 lines
826 B
C++
45 lines
826 B
C++
/* SPDX-FileCopyrightText: 2009 Ruben Smits
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*
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* SPDX-License-Identifier: LGPL-2.1-or-later */
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/** \file
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* \ingroup intern_itasc
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*/
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#include "UncontrolledObject.hpp"
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namespace iTaSC{
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UncontrolledObject::UncontrolledObject():Object(UnControlled),
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m_nu(0), m_nf(0), m_xudot()
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{
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}
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UncontrolledObject::~UncontrolledObject()
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{
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}
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void UncontrolledObject::initialize(unsigned int _nu, unsigned int _nf)
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{
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assert (_nf >= 1);
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m_nu = _nu;
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m_nf = _nf;
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if (_nu > 0)
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m_xudot = e_zero_vector(_nu);
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// clear all Jacobian if any
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m_JuArray.clear();
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// reserve one more to have an zero matrix handy
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if (m_nu > 0)
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m_JuArray.resize(m_nf+1, e_zero_matrix(6,m_nu));
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}
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const e_matrix& UncontrolledObject::getJu(unsigned int frameIndex) const
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{
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assert (m_nu > 0);
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return m_JuArray[(frameIndex>m_nf)?m_nf:frameIndex];
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}
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}
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