FiberPrintPARM.cpp

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#include "choreo_task_sequence_planner/FiberPrintPARM.h"

FiberPrintPARM::FiberPrintPARM(
        double Wp, double Wa, double Wi, double seq_D_tol,
        double ADMM_D_tol , double penalty, double pri_tol, double dual_tol,
        double radius, double density, double g, 
        double youngs_modulus, double shear_modulus, double poisson_ratio
        )
{
        /*
        *       FYI; Unit Transfer
        *       Gpa = 10^3Mpa = 10^9pa
        *   1 kg/m^3 = 1e-3 g/cm^3 = 1e-12 Ton/mm^3
        *       1 Pa = 1 N/mm^2
        *       1 N  = kg/(m * s^2)
        *       1 Giga = 10^3 Mega = 10^6
        */
        
        /* 
        * Test case 1: Acrylonitrile Butadiene Styrene (ABS)
        * Data Source : http://www.grantadesign.com/education/datasheets/ABS.htm
        * Density ;                                             1210 * 1e-12 Ton/mm^3
        * Elastic(Young's) Modulus :    1100 Mpa
        * Shear Modulus :                               1032 Mpa
        * radius of the element :               0.6      mm
        * poisson ratio :                               0.39
        */

        /*
        * Gravity acceleration along Z axis:   gZ = -9806.33 mm/s^2
        */

        radius_ = radius;
        density_ = density;
        g_ = g;
        youngs_modulus_ = youngs_modulus;
        shear_modulus_ = shear_modulus;
        poisson_ratio_ = poisson_ratio;

        ADMM_D_tol_ = ADMM_D_tol;
        penalty_ = penalty;
        pri_tol_ = pri_tol;
        dual_tol_ = dual_tol;

        Wp_ = Wp;
        Wa_ = Wa;
        Wi_ = Wi;
        seq_D_tol_ = seq_D_tol;
}


FiberPrintPARM::~FiberPrintPARM()
{
}