/dports/science/simbody/simbody-Simbody-3.7/Simbody/src/ |
H A D | RigidBodyNode_LoneParticle.cpp | 299 SpatialVec& A_GB = allA_GB[nodeNum]; in calcUDotPass2Outward() local 313 A_GB = SpatialVec(Vec3(0), udot); in calcUDotPass2Outward() 349 SpatialVec& A_GB = allA_GB[nodeNum]; in multiplyByMInvPass2Outward() local 354 A_GB = SpatialVec(Vec3(0), Vec3(0)); in multiplyByMInvPass2Outward() 357 A_GB = SpatialVec(Vec3(0), udot); in multiplyByMInvPass2Outward() 368 SpatialVec& A_GB = allA_GB[nodeNum]; in calcBodyAccelerationsFromUdotOutward() local 369 A_GB = SpatialVec(Vec3(0), udot); in calcBodyAccelerationsFromUdotOutward() 384 F = getMk_G(pc)*A_GB - myBodyForce; in calcInverseDynamicsPass2Inward() 393 SpatialVec& A_GB = allA_GB[nodeNum]; in multiplyByMPass1Outward() local 394 A_GB = SpatialVec(Vec3(0), udot); in multiplyByMPass1Outward() [all …]
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H A D | RigidBodyNodeSpec.cpp | 421 SpatialVec& A_GB = allA_GB[nodeNum]; in calcUDotPass2Outward() local 445 A_GB = APlus + H*udot + a; in calcUDotPass2Outward() 531 SpatialVec& A_GB = allA_GB[nodeNum]; in multiplyByMInvPass2Outward() local 547 A_GB = APlus; in multiplyByMInvPass2Outward() 550 A_GB = APlus + H*udot; // 12 dof flops in multiplyByMInvPass2Outward() 575 SpatialVec& A_GB = allA_GB[nodeNum]; in calcBodyAccelerationsFromUdotOutward() local 622 const SpatialVec& A_GB = allA_GB[nodeNum]; in calcInverseDynamicsPass2Inward() local 664 SpatialVec& A_GB = allA_GB[nodeNum]; in multiplyByMPass1Outward() local 669 A_GB = A_GP + getH(pc)*udot; // 12*dof flops in multiplyByMPass1Outward() 681 const SpatialVec& A_GB = allA_GB[nodeNum]; in multiplyByMPass2Inward() local [all …]
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H A D | RigidBodyNode_Weld.cpp | 511 SpatialVec& A_GB = allA_GB[nodeNum]; in calcUDotPass2Outward() local 520 A_GB = APlus + a; // no udot for weld in calcUDotPass2Outward() 557 SpatialVec& A_GB = allA_GB[nodeNum]; in multiplyByMInvPass2Outward() local 564 A_GB = APlus; in multiplyByMInvPass2Outward() 574 SpatialVec& A_GB = allA_GB[nodeNum]; in calcBodyAccelerationsFromUdotOutward() local 592 const SpatialVec& A_GB = allA_GB[nodeNum]; in calcInverseDynamicsPass2Inward() local 598 F = getMk_G(pc)*A_GB + getGyroscopicForce(vc) - myBodyForce; in calcInverseDynamicsPass2Inward() 615 SpatialVec& A_GB = allA_GB[nodeNum]; in multiplyByMPass1Outward() local 620 A_GB = A_GP; in multiplyByMPass1Outward() 629 const SpatialVec& A_GB = allA_GB[nodeNum]; in multiplyByMPass2Inward() local [all …]
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H A D | SimbodyMatterSubsystem.cpp | 156 Vector_<SpatialVec>& A_GB) const in calcAcceleration() 187 A_GB = tac.bodyAccelerationInGround; in calcAcceleration() 201 Vector_<SpatialVec>& A_GB) const in calcAccelerationIgnoringConstraints() 225 A_GB, udot, qdotdot, tau); in calcAccelerationIgnoringConstraints() 300 A_GB, *cresid); in calcResidualForceIgnoringConstraints() 812 Vector_<SpatialVec> A_GB; in calcConstraintAccelerationErrors() local 943 A_GB = AC_GB; in calcBodyAccelerationFromUDot() 956 A_GB.resize(nb); in calcBodyAccelerationFromUDot() 976 if (A_GB.hasContiguousData()) { in calcBodyAccelerationFromUDot() 977 Ap = &A_GB; in calcBodyAccelerationFromUDot() [all …]
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H A D | SimbodyMatterSubsystemRep.cpp | 3602 A_GB.setToZero(); in calcBodyAccelerationFromUDot() 3668 assert(A_GB.size() == nb); in calcConstraintAccelerationErrors() 3686 allA_GB (&A_GB[0], &A_GB[0] + nb); in calcConstraintAccelerationErrors() 5023 A_GB, udot, qdotdot, tau); in calcTreeForwardDynamicsOperator() 5265 Vector_<SpatialVec>& A_GB, in calcTreeAccelerations() argument 5293 A_GB.resize(getNumBodies()); in calcTreeAccelerations() 5301 assert(A_GB.hasContiguousData()); in calcTreeAccelerations() 5312 SpatialVec* aPtr = A_GB.size() ? &A_GB[0] : nullptr; in calcTreeAccelerations() 5536 Vector_<SpatialVec>& A_GB, in calcTreeResidualForces() argument 5577 A_GB.resize(getNumBodies()); in calcTreeResidualForces() [all …]
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H A D | SimbodyMatterSubtree.cpp | 1247 const SpatialVec& A_GB = matter.getBodyAcceleration(s,mb); in copyAccelerationsFromState() local 1248 sr.setSubtreeBodyAcceleration(sb, A_GB); // =A_AB in copyAccelerationsFromState() 1260 const SpatialVec& A_GB = matter.getBodyAcceleration(s,mb); in copyAccelerationsFromState() local 1264 const Vec3 p_AB_G_dotdot = A_GB[1] - A_GA[1]; // taken in G in copyAccelerationsFromState() 1267 const Vec3 b_AB_G = A_GB[0] - A_GA[0]; // relative angular acceleration in copyAccelerationsFromState()
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H A D | SimbodyMatterSubsystemRep.h | 581 Vector_<SpatialVec>& A_GB, 615 Vector_<SpatialVec>& A_GB, 955 Vector_<SpatialVec>& A_GB) const; 968 const Vector_<SpatialVec>& A_GB,
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H A D | Constraint.cpp | 3547 const SpatialVec& A_GB = allA_GB[mbx]; // from input arg in convertBodyAccelToConstrainedBodyAccel() local 3549 X_GB, V_GB, A_GB); in convertBodyAccelToConstrainedBodyAccel()
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H A D | ConstraintImpl.h | 165 const Array_<SpatialVec, MobilizedBodyIndex>& A_GB,
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/dports/science/opensim-core/opensim-core-4.1/Bindings/SWIGSimTK/ |
H A D | SimbodyMatterSubsystem.h | 1972 Vector_<SpatialVec>& A_GB) const; 2002 Vector_<SpatialVec>& A_GB) const; 2193 Vector_<SpatialVec>& A_GB) const;
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/dports/science/simbody/simbody-Simbody-3.7/Simbody/include/simbody/internal/ |
H A D | SimbodyMatterSubsystem.h | 2006 Vector_<SpatialVec>& A_GB) const; 2036 Vector_<SpatialVec>& A_GB) const; 2227 Vector_<SpatialVec>& A_GB) const;
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H A D | MobilizedBody.h | 824 const SpatialVec& A_GB = this->getBodyAcceleration(state); in findBodyAccelerationInAnotherBody() local 827 X_GB, V_GB, A_GB); in findBodyAccelerationInAnotherBody()
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/dports/science/simbody/simbody-Simbody-3.7/Simbody/tests/ |
H A D | TestMassMatrix.cpp | 791 Vector_<SpatialVec> A_GB, AC_GB; in testUnconstrainedSystem() local 792 matter.calcBodyAccelerationFromUDot(state, udots, A_GB); in testUnconstrainedSystem() 793 SimTK_TEST_EQ_TOL(A_GB, bodyAccels, Slop); in testUnconstrainedSystem() 802 matter.calcBodyAccelerationFromUDot(state, Vector(), A_GB); in testUnconstrainedSystem() 803 SimTK_TEST_EQ_TOL(A_GB, AC_GB, Slop); in testUnconstrainedSystem() 806 matter.calcBodyAccelerationFromUDot(state, allZeroUdot, A_GB); in testUnconstrainedSystem() 807 SimTK_TEST_EQ_TOL(A_GB, AC_GB, Slop); in testUnconstrainedSystem()
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/dports/science/simbody/simbody-Simbody-3.7/examples/ |
H A D | ExampleMotor-TorqueLimited-Motion.cpp | 405 Vector_<SpatialVec> A_GB; // unneeded output in tryToSwitchToSpeedControl() local 408 deltaU, A_GB); in tryToSwitchToSpeedControl()
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/dports/science/simbody/simbody-Simbody-3.7/Simbody/tests/adhoc/ |
H A D | TimsBoxPGS.cpp | 1406 Vector udotExt; Vector_<SpatialVec> A_GB; in stepToOLD() local 1407 matter.calcAccelerationIgnoringConstraints(s,f,F,udotExt,A_GB); in stepToOLD() 1467 matter.calcAccelerationIgnoringConstraints(s,f-fc,F-Fc,udot,A_GB); in stepToOLD() 1672 Vector udotExt; Vector_<SpatialVec> A_GB; in stepTo() local 1673 matter.calcAccelerationIgnoringConstraints(s,f,F,udotExt,A_GB); in stepTo() 1693 matter.calcAccelerationIgnoringConstraints(s,f-fc,F-Fc,udot,A_GB); in stepTo()
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/dports/math/gap/gap-4.11.0/pkg/digraphs-1.1.1/data/ |
H A D | test-1.d6 | 1 …S_??__CC?O??c???o??C?Q@C_G?A??E_??_?P@??@a?????A???W???C?S??K?O_A?C??OOR??A_GB?O?G?????????C?@C?oC…
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