fix bug of adjust

Author: py0330

CMakeLists.txt

@@ -109,6 +109,13 @@ PREPEND_H(FULL_H src/Aris_Plan ${SOURCE})
 add_library(Aris_Plan STATIC ${FULL_SRC} ${FULL_H})
 set(INCLUDE_HEADER_FILES ${INCLUDE_HEADER_FILES} ${FULL_H})
 
+# Aris_Plan project
+set(SOURCE Aris_Sensor)
+PREPEND_CPP(FULL_SRC src/Aris_Sensor ${SOURCE})
+PREPEND_H(FULL_H src/Aris_Sensor ${SOURCE})
+add_library(Aris_Sensor STATIC ${FULL_SRC} ${FULL_H})
+set(INCLUDE_HEADER_FILES ${INCLUDE_HEADER_FILES} ${FULL_H})
+
 # Aris_Control project only in linux
 if(UNIX)
 set(SOURCE_FILES Aris_Control.cpp Aris_ControlData.cpp Aris_Sensor.cpp Aris_Device.cpp Aris_SysBase.cpp )
@@ -185,7 +192,7 @@ endif(WIN32)
 
 
 
-install(TARGETS Aris_Core Aris_DynKer Aris_ExpCal Aris_Plan ARCHIVE DESTINATION lib)
+install(TARGETS Aris_Core Aris_DynKer Aris_ExpCal Aris_Plan Aris_Sensor ARCHIVE DESTINATION lib)
 install(FILES ${INCLUDE_HEADER_FILES} DESTINATION include)
 install(DIRECTORY src/Aris_Control/resource/ DESTINATION resource/Aris_Control)
 

src/Aris_DynKer/Aris_DynKer.cpp

@@ -1582,6 +1582,17 @@ namespace Aris
 				v_out[i] = v1_in[i] + v2_in[i];
 			}
 		}
+		double s_vn_dot_vn(int N, const double *v1_in, const double *v2_in) noexcept
+		{
+			double ret{0};
+
+			for (int i = 0; i < N; ++i)
+			{
+				ret += v1_in[i] * v2_in[i];
+			}
+
+			return ret;
+		}
 		void s_v_cro_pm(const double *v_in, const double *pm_in, double *vpm_out) noexcept
 		{
 			vpm_out[0] = -v_in[5] * pm_in[4] + v_in[4] * pm_in[8];

src/Aris_DynKer/Aris_DynKer.h

@@ -294,6 +294,7 @@ namespace Aris
 		void s_m6_dot_v6(const double *m6_in, const double *v6_in, double *v6_out) noexcept;
 
 		void s_vn_add_vn(int N, const double *v1_in, const double *v2_in, double *v_out) noexcept;
+		double s_vn_dot_vn(int N, const double *v1_in, const double *v2_in) noexcept;
 
 		void s_v_cro_pm(const double *v_in, const double *pm_in, double *vpm_out) noexcept;
 

src/Aris_DynKer/Aris_DynModel.h

@@ -89,9 +89,6 @@ namespace Aris
 			virtual void Initiate();
 
 		private:
-			/*for adams*/
-			std::unique_ptr<AKIMA> posCurve;
-			std::unique_ptr<AKIMA> fceCurve;
 
 			friend class MODEL_BASE;
 			friend class MODEL;

src/Aris_Sensor/Aris_Sensor.cpp

@@ -0,0 +1,22 @@
+#include"Aris_Sensor.h"
+
+
+namespace Aris
+{
+	namespace Sensor
+	{
+		//SENSOR_BASE::SENSOR_BASE() {};
+		//void SENSOR_BASE::Start()
+		//{
+		//	
+
+
+
+		//}
+		//void SENSOR_BASE::Stop()
+		//{
+
+		//}
+		//
+	}
+}

src/Aris_Sensor/Aris_Sensor.h

@@ -0,0 +1,37 @@
+#ifndef ARIS_SENSOR_H_
+#define ARIS_SENSOR_H_
+
+#include <memory>
+#include <thread>
+
+using namespace std;
+
+namespace Aris
+{
+	namespace Sensor
+	{
+		/*class SENSOR_BASE
+		{
+		public:
+			virtual int GetDataSize() const = 0;
+			void Start();
+			void Stop();
+
+			SENSOR_BASE();
+			virtual ~SENSOR_BASE() = default;
+
+		private:
+			virtual void UpdateData(char *dataAddress) = 0;
+
+			SENSOR_BASE(const SENSOR_BASE&) = delete;
+			SENSOR_BASE & operator=(const SENSOR_BASE&) = delete;
+
+		private:
+			std::unique_ptr<char> data1{ new char[GetDataSize()] }, data2{ new char[GetDataSize()] };
+			std::thread sensor_thread;
+		};*/
+	}
+}
+
+
+#endif