Diff: Inertia.cpp

Revision:

3:74f9d258c276

Parent:

2:3596a3f574f3

Child:

4:20aca0d86990

--- a/Inertia.cpp	Sun Sep 15 17:40:24 2019 +0000
+++ b/Inertia.cpp	Thu Sep 19 13:00:59 2019 +0000
@@ -44,25 +44,25 @@
                    inertia[1] + weight[1] * length[0]*length[0]*4 + 
                    inertia[2] + weight[2] * l_base[0]*l_base[0] + 
                    inertia[3] + weight[3] * l_base[1]*l_base[1] + 
-                   inertia[4] + weight[4] * l_base[2]*l_base[2]) / ratio[0];
+                   inertia[4] + weight[4] * l_base[2]*l_base[2]);
     i_moment[1] = (inertia[5] + weight[0] * length[0]*length[0] + 
                    inertia[6] + weight[1] * length[0]*length[0]*4 + 
                    inertia[7] + weight[2] * l_base[0]*l_base[0] + 
                    inertia[8] + weight[3] * l_base[1]*l_base[1] + 
-                   inertia[9] + weight[4] * l_base[2]*l_base[2]) / ratio[1];
+                   inertia[9] + weight[4] * l_base[2]*l_base[2]);
     i_moment[2] = (inertia[7] + weight[2] * length[1]*length[1] + 
                    inertia[8] + weight[3] * length[1]*length[1]*4 + 
-                   inertia[9] + weight[4] * l_mid*l_mid) / ratio[2];
-    i_moment[3] = (inertia[9] + weight[4] * length[2]*length[2]) / ratio[3];
+                   inertia[9] + weight[4] * l_mid*l_mid);
+    i_moment[3] = (inertia[9] + weight[4] * length[2]*length[2]);
     
-    gravity[0] = 0 / ratio[0];
+    gravity[0] = 0;
     gravity[1] = (weight[0] * G * length[0] * cos(angle[1]) + 
                  weight[1] * G * length[0]*2 * cos(angle[1]) + 
                  weight[2] * G * (length[0]*2 * cos(angle[1]) + length[1] * cos(angle[1]+angle[2])) + 
                  weight[3] * G * (length[0]*2 * cos(angle[1]) + length[1]*2 * cos(angle[1]+angle[2])) + 
-                 weight[4] * G * (length[0]*2 * cos(angle[1]) + length[1]*2 * cos(angle[1]+angle[2]) + length[2] * cos(angle[1] + angle[2] + angle[3]))) / ratio[1];
+                 weight[4] * G * (length[0]*2 * cos(angle[1]) + length[1]*2 * cos(angle[1]+angle[2]) + length[2] * cos(angle[1] + angle[2] + angle[3])));
     gravity[2] = (weight[2] * G * length[1] * cos(angle[1]+angle[2]) + 
                  weight[3] * G * length[1]*2 * cos(angle[1]+angle[2]) + 
-                 weight[4] * G * (length[1]*2 * cos(angle[1]+angle[2]) + length[2] * cos(angle[1] + angle[2] + angle[3]))) / ratio[2];
-    gravity[3] = (weight[4] * G * length[2] * cos(angle[1] + angle[2] + angle[3])) / ratio[3];
+                 weight[4] * G * (length[1]*2 * cos(angle[1]+angle[2]) + length[2] * cos(angle[1] + angle[2] + angle[3])));
+    gravity[3] = (weight[4] * G * length[2] * cos(angle[1] + angle[2] + angle[3]));
 }