WIP: fixes mac errors and warnings

CMakeLists.txt

@@ -192,6 +192,7 @@ set(ONDSELSOLVER_SRC
         OndselSolver/IndependentVariable.cpp
         OndselSolver/InLineJoint.cpp
         OndselSolver/InPlaneJoint.cpp
+        OndselSolver/Integral.cpp
         OndselSolver/Integrator.cpp
         OndselSolver/IntegratorInterface.cpp
         OndselSolver/Item.cpp
@@ -220,6 +221,7 @@ set(ONDSELSOLVER_SRC
         OndselSolver/MBDynBody.cpp
         OndselSolver/MBDynControlData.cpp
         OndselSolver/MBDynData.cpp
+        OndselSolver/MBDynDrive.cpp
         OndselSolver/MBDynElement.cpp
         OndselSolver/MBDynInitialValue.cpp
         OndselSolver/MBDynItem.cpp
@@ -244,9 +246,11 @@ set(ONDSELSOLVER_SRC
         OndselSolver/Part.cpp
         OndselSolver/PartFrame.cpp
         OndselSolver/PerpendicularJoint.cpp
+        OndselSolver/PiecewiseFunction.cpp
         OndselSolver/PlanarJoint.cpp
         OndselSolver/PointInLineJoint.cpp
         OndselSolver/PointInPlaneJoint.cpp
+        OndselSolver/Polynomial.cpp
         OndselSolver/PosICKineNewtonRaphson.cpp
         OndselSolver/PosICNewtonRaphson.cpp
         OndselSolver/PosKineNewtonRaphson.cpp
@@ -260,6 +264,7 @@ set(ONDSELSOLVER_SRC
         OndselSolver/RackPinConstraintIqcJc.cpp
         OndselSolver/RackPinConstraintIqcJqc.cpp
         OndselSolver/RackPinJoint.cpp
+        OndselSolver/RampStepFunction.cpp
         OndselSolver/Reciprocal.cpp
         OndselSolver/RedundantConstraint.cpp
         OndselSolver/RevCylJoint.cpp

OndselSolver/ASMTTime.h

@@ -18,7 +18,7 @@ namespace MbD {
         //
     public:
         void deleteMbD();
-        void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits);
+        void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
         Symsptr expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
         Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
         bool isVariable() override;

OndselSolver/AccNewtonRaphson.cpp

@@ -126,18 +126,17 @@ void AccNewtonRaphson::preRun()
 
 void MbD::AccNewtonRaphson::handleSingularMatrix()
 {
-	std::string str = typeid(*matrixSolver).name();
+    auto& r = *matrixSolver;
+	std::string str = typeid(r).name();
 	if (str.find("GESpMatParPvMarkoFast") != std::string::npos) {
 		matrixSolver = CREATE<GESpMatParPvPrecise>::With();
 		this->solveEquations();
-	}
-	else {
-		str = typeid(*matrixSolver).name();
+	} else {
+		str = typeid(r).name();
 		if (str.find("GESpMatParPvPrecise") != std::string::npos) {
 			this->logSingularMatrixMessage();
 			matrixSolver->throwSingularMatrixError("AccAccNewtonRaphson");
-		}
-		else {
+		} else {
 			assert(false);
 		}
 	}

OndselSolver/AngleZIecJec.cpp

@@ -29,7 +29,7 @@ void MbD::AngleZIecJec::calcPostDynCorrectorIteration()
 	auto diffOfSquares = sthez * sthez - (cthez * cthez);
 	auto sumOfSquaresSquared = sumOfSquares * sumOfSquares;
 	auto thez0to2pi = Numeric::arcTan0to2piYoverX(sthez, cthez);
-	thez = std::round(thez - thez0to2pi / (2.0 * M_PI)) * (2.0 * M_PI) + thez0to2pi;
+	thez = std::round(thez - thez0to2pi / (2.0 * OS_M_PI)) * (2.0 * OS_M_PI) + thez0to2pi;
 	cosOverSSq = cthez / sumOfSquares;
 	sinOverSSq = sthez / sumOfSquares;
 	twoCosSinOverSSqSq = 2.0 * cthez * sthez / sumOfSquaresSquared;

OndselSolver/DirectionCosineIecJec.cpp

@@ -9,29 +9,28 @@
 #include <memory>
 
 #include "DirectionCosineIecJec.h"
-#include "FullColumn.h"
 #include "EndFramec.h"
 
-using namespace MbD;
+namespace MbD {
+    DirectionCosineIecJec::DirectionCosineIecJec()
+    = default;
 
-DirectionCosineIecJec::DirectionCosineIecJec()
-{
-}
+    DirectionCosineIecJec::DirectionCosineIecJec(EndFrmsptr frmi, EndFrmsptr frmj, int axisi, int axisj) :
+            KinematicIeJe(frmi, frmj), axisI(axisi), axisJ(axisj)
+    {
 
-DirectionCosineIecJec::DirectionCosineIecJec(EndFrmsptr frmi, EndFrmsptr frmj, int axisi, int axisj) :
-	KinematicIeJe(frmi, frmj), axisI(axisi), axisJ(axisj)
-{
+    }
 
-}
+    void DirectionCosineIecJec::calcPostDynCorrectorIteration()
+    {
+        aAjOIe = frmI->aAjOe(axisI);
+        aAjOJe = frmJ->aAjOe(axisJ);
+        aAijIeJe = aAjOIe->dotVec(aAjOJe);
+    }
 
-void DirectionCosineIecJec::calcPostDynCorrectorIteration()
-{
-	aAjOIe = frmI->aAjOe(axisI);
-	aAjOJe = frmJ->aAjOe(axisJ);
-	aAijIeJe = aAjOIe->dot(aAjOJe);
+    double MbD::DirectionCosineIecJec::value()
+    {
+        return aAijIeJe;
+    }
 }
 
-double MbD::DirectionCosineIecJec::value()
-{
-	return aAijIeJe;
-}

OndselSolver/DirectionCosineIecJec.h

@@ -10,11 +10,10 @@
 
 #include <memory>
 
+#include "FullColumn.h"
 #include "KinematicIeJe.h"
 
 namespace MbD {
-    template<typename T>
-    class FullColumn;
 
     class DirectionCosineIecJec : public KinematicIeJe
     {
@@ -26,8 +25,8 @@ namespace MbD {
         void calcPostDynCorrectorIteration() override;
         double value() override;
 
-        int axisI, axisJ;   //0, 1, 2 = x, y, z
-        double aAijIeJe;
+        int axisI{}, axisJ{};   //0, 1, 2 = x, y, z
+        double aAijIeJe{};
         FColDsptr aAjOIe, aAjOJe;
     };
 }

OndselSolver/DirectionCosineIeqcJec.cpp

@@ -56,7 +56,7 @@ void DirectionCosineIeqcJec::calcPostDynCorrectorIteration()
 		auto& ppAjOIepEIipEI = ppAjOIepEIpEI->at(i);
 		for (int j = 0; j < 4; j++)
 		{
-			ppAijIeJepEIipEI->at(j) = ppAjOIepEIipEI->at(j)->dot(aAjOJe);
+			ppAijIeJepEIipEI->at(j) = ppAjOIepEIipEI->at(j)->dotVec(aAjOJe);
 		}
 	}	
 	ppAijIeJepEIpEI->symLowerWithUpper();

OndselSolver/DirectionCosineIeqcJeqc.cpp

@@ -45,7 +45,7 @@ void DirectionCosineIeqcJeqc::calcPostDynCorrectorIteration()
 	pAjOJepEJT = std::static_pointer_cast<EndFrameqc>(frmJ)->pAjOepET(axisJ);
 	for (int i = 0; i < 4; i++)
 	{
-		pAijIeJepEJ->at(i) = aAjOIe->dot(pAjOJepEJT->at(i));
+		pAijIeJepEJ->at(i) = aAjOIe->dotVec(pAjOJepEJT->at(i));
 	}
 	for (int i = 0; i < 4; i++)
 	{
@@ -61,7 +61,7 @@ void DirectionCosineIeqcJeqc::calcPostDynCorrectorIteration()
 		auto& ppAjOJepEJipEJ = ppAjOJepEJpEJ->at(i);
 		for (int j = 0; j < 4; j++)
 		{
-			ppAijIeJepEJipEJ->at(j) = aAjOIe->dot(ppAjOJepEJipEJ->at(j));
+			ppAijIeJepEJipEJ->at(j) = aAjOIe->dotVec(ppAjOJepEJipEJ->at(j));
 		}
 	}
 	ppAijIeJepEJpEJ->symLowerWithUpper();

OndselSolver/DirectionCosineIeqctJeqc.cpp

@@ -60,7 +60,7 @@ void DirectionCosineIeqctJeqc::preVelIC()
 {
 	Item::preVelIC();
 	auto pAjOIept = std::static_pointer_cast<EndFrameqct>(frmI)->pAjOept(axisI);
-	pAijIeJept = pAjOIept->dot(aAjOJe);
+	pAijIeJept = pAjOIept->dotVec(aAjOJe);
 }
 
 double DirectionCosineIeqctJeqc::pvaluept()
@@ -82,7 +82,7 @@ void DirectionCosineIeqctJeqc::preAccIC()
 	}
 	for (int i = 0; i < 4; i++)
 	{
-		ppAijIeJepEJpt->atiput(i, pAjOIept->dot(pAjOJepEJT->at(i)));
+		ppAijIeJepEJpt->atiput(i, pAjOIept->dotVec(pAjOJepEJT->at(i)));
 	}
-	ppAijIeJeptpt = ppAjOIeptpt->dot(aAjOJe);
+	ppAijIeJeptpt = ppAjOIeptpt->dotVec(aAjOJe);
 }

OndselSolver/DispCompIecJecIe.cpp

@@ -23,7 +23,7 @@ void MbD::DispCompIecJecIe::calc_value()
 {
 	aAjOIe = frmI->aAjOe(axis);
 	rIeJeO = frmJ->rOeO->minusFullColumn(frmI->rOeO);
-	riIeJeIe = aAjOIe->dot(rIeJeO);
+	riIeJeIe = aAjOIe->dotVec(rIeJeO);
 }
 
 void MbD::DispCompIecJecIe::calcPostDynCorrectorIteration()

OndselSolver/DispCompIecJecKeqc.cpp

@@ -37,18 +37,18 @@ void DispCompIecJecKeqc::calcPostDynCorrectorIteration()
 	auto efrmKqc = std::static_pointer_cast<EndFrameqc>(efrmK);
 	aAjOKe = efrmKqc->aAjOe(axisK);
 	rIeJeO = frmJqc->rOeO->minusFullColumn(frmIqc->rOeO);
-	riIeJeKe = aAjOKe->dot(rIeJeO);
+	riIeJeKe = aAjOKe->dotVec(rIeJeO);
 	pAjOKepEKT = efrmKqc->pAjOepET(axisK);
 	ppAjOKepEKpEK = efrmKqc->ppAjOepEpE(axisK);
 	for (int i = 0; i < 4; i++)
 	{
 		priIeJeKepEK->at(i) = ((pAjOKepEKT->at(i))->dot(rIeJeO));
 		auto& ppAjOKepEKipEK = ppAjOKepEKpEK->at(i);
 		auto& ppriIeJeKepEKipEK = ppriIeJeKepEKpEK->at(i);
-		ppriIeJeKepEKipEK->at(i) = ((ppAjOKepEKipEK->at(i))->dot(rIeJeO));
+		ppriIeJeKepEKipEK->at(i) = ((ppAjOKepEKipEK->at(i))->dotVec(rIeJeO));
 		for (int j = i + 1; j < 4; j++)
 		{
-			auto ppriIeJeKepEKipEKj = (ppAjOKepEKipEK->at(i))->dot(rIeJeO);
+			auto ppriIeJeKepEKipEKj = (ppAjOKepEKipEK->at(i))->dotVec(rIeJeO);
 			ppriIeJeKepEKipEK->at(j) = ppriIeJeKepEKipEKj;
 			ppriIeJeKepEKpEK->at(j)->at(i) = ppriIeJeKepEKipEKj;
 		}

OndselSolver/DispCompIeqcJecIe.cpp

@@ -31,10 +31,10 @@ void MbD::DispCompIeqcJecIe::calc_ppvaluepEIpEI()
 		auto ppriIeJeIepEIipEI = ppriIeJeIepEIpEI->at(i);
 		for (int j = i; j < 4; j++)
 		{
-			auto term1 = ppAjOIepEIipEI->at(j)->dot(rIeJeO);
+			auto term1 = ppAjOIepEIipEI->at(j)->dotVec(rIeJeO);
 			auto mterm2 = pAjOIepEIT->at(i)->dot(mprIeJeOpEIT->at(j));
 			auto mterm3 = (i == j) ? mterm2 : pAjOIepEIT->at(j)->dot(mprIeJeOpEIT->at(i));
-			auto mterm4 = aAjOIe->dot(mpprIeJeOpEIipEI->at(j));
+			auto mterm4 = aAjOIe->dotVec(mpprIeJeOpEIipEI->at(j));
 			ppriIeJeIepEIipEI->atiput(j, term1 - mterm2 - mterm3 - mterm4);
 		}
 	}
@@ -60,7 +60,7 @@ void MbD::DispCompIeqcJecIe::calc_pvaluepEI()
 	auto mprIeJeOpEIT = frmIeqc->prOeOpE->transpose();
 	for (int i = 0; i < 4; i++)
 	{
-		priIeJeIepEI->atiput(i, pAjOIepEIT->at(i)->dot(rIeJeO) - aAjOIe->dot(mprIeJeOpEIT->at(i)));
+		priIeJeIepEI->atiput(i, pAjOIepEIT->at(i)->dot(rIeJeO) - aAjOIe->dotVec(mprIeJeOpEIT->at(i)));
 	}
 }
 

OndselSolver/DispCompIeqcJecKeqc.cpp

@@ -41,7 +41,7 @@ void DispCompIeqcJecKeqc::calcPostDynCorrectorIteration()
 	}
 	for (int i = 0; i < 4; i++)
 	{
-		priIeJeKepEI->at(i) = 0.0 - (aAjOKe->dot(mprIeJeOpEIT->at(i)));
+		priIeJeKepEI->at(i) = 0.0 - (aAjOKe->dotVec(mprIeJeOpEIT->at(i)));
 	}
 	for (int i = 0; i < 3; i++)
 	{
@@ -55,10 +55,10 @@ void DispCompIeqcJecKeqc::calcPostDynCorrectorIteration()
 	{
 		auto& mpprIeJeOpEIipEI = mpprIeJeOpEIpEI->at(i);
 		auto& ppriIeJeKepEIipEI = ppriIeJeKepEIpEI->at(i);
-		ppriIeJeKepEIipEI->at(i) = 0.0 - (aAjOKe->dot(mpprIeJeOpEIipEI->at(i)));
+		ppriIeJeKepEIipEI->at(i) = 0.0 - (aAjOKe->dotVec(mpprIeJeOpEIipEI->at(i)));
 		for (int j = 0; j < 4; j++)
 		{
-			auto ppriIeJeKepEIipEIj = 0.0 - (aAjOKe->dot(mpprIeJeOpEIipEI->at(j)));
+			auto ppriIeJeKepEIipEIj = 0.0 - (aAjOKe->dotVec(mpprIeJeOpEIipEI->at(j)));
 			ppriIeJeKepEIipEI->at(j) = ppriIeJeKepEIipEIj;
 			ppriIeJeKepEIpEI->at(j)->at(i) = ppriIeJeKepEIipEIj;
 		}

OndselSolver/DispCompIeqcJeqcIe.cpp

@@ -41,7 +41,7 @@ void MbD::DispCompIeqcJeqcIe::calc_ppvaluepEJpEJ()
 		auto ppriIeJeIepEJipEJ = ppriIeJeIepEJpEJ->at(i);
 		for (int j = i; j < 4; j++)
 		{
-			auto term1 = aAjOIe->dot(pprIeJeOpEJipEJ->at(j));
+			auto term1 = aAjOIe->dotVec(pprIeJeOpEJipEJ->at(j));
 			ppriIeJeIepEJipEJ->atiput(j, term1);
 		}
 	}
@@ -54,7 +54,7 @@ void MbD::DispCompIeqcJeqcIe::calc_pvaluepEJ()
 	auto prIeJeOpEJT = frmJeqc->prOeOpE->transpose();
 	for (int i = 0; i < 4; i++)
 	{
-		priIeJeIepEJ->atiput(i, aAjOIe->dot(prIeJeOpEJT->at(i)));
+		priIeJeIepEJ->atiput(i, aAjOIe->dotVec(prIeJeOpEJT->at(i)));
 	}
 }
 

OndselSolver/DispCompIeqcJeqcKeqc.cpp

@@ -41,7 +41,7 @@ void DispCompIeqcJeqcKeqc::calcPostDynCorrectorIteration()
 	}
 	for (int i = 0; i < 4; i++)
 	{
-		priIeJeKepEJ->atiput(i, aAjOKe->dot(prIeJeOpEJT->at(i)));
+		priIeJeKepEJ->atiput(i, aAjOKe->dotVec(prIeJeOpEJT->at(i)));
 	}
 	for (int i = 0; i < 3; i++)
 	{
@@ -55,10 +55,10 @@ void DispCompIeqcJeqcKeqc::calcPostDynCorrectorIteration()
 	{
 		auto& pprIeJeOpEJipEJ = pprIeJeOpEJpEJ->at(i);
 		auto& ppriIeJeKepEJipEJ = ppriIeJeKepEJpEJ->at(i);
-		ppriIeJeKepEJipEJ->atiput(i, aAjOKe->dot(pprIeJeOpEJipEJ->at(i)));
+		ppriIeJeKepEJipEJ->atiput(i, aAjOKe->dotVec(pprIeJeOpEJipEJ->at(i)));
 		for (int j = 0; j < 4; j++)
 		{
-			auto ppriIeJeKepEJipEJj = (aAjOKe->dot(pprIeJeOpEJipEJ->at(j)));
+			auto ppriIeJeKepEJipEJj = (aAjOKe->dotVec(pprIeJeOpEJipEJ->at(j)));
 			ppriIeJeKepEJipEJ->atiput(j, ppriIeJeKepEJipEJj);
 			ppriIeJeKepEJpEJ->atijput(j, i, ppriIeJeKepEJipEJj);
 		}

OndselSolver/DispCompIeqcJeqcKeqct.cpp

@@ -47,7 +47,7 @@ void DispCompIeqcJeqcKeqct::preVelIC()
 {
 	Item::preVelIC();
 	auto pAjOKept = std::static_pointer_cast<EndFrameqct>(efrmK)->pAjOept(axisK);
-	priIeJeKept = pAjOKept->dot(rIeJeO);
+	priIeJeKept = pAjOKept->dotVec(rIeJeO);
 }
 
 double DispCompIeqcJeqcKeqct::pvaluept()
@@ -100,9 +100,9 @@ void DispCompIeqcJeqcKeqct::preAccIC()
 	}
 	for (int i = 0; i < 4; i++)
 	{
-		ppriIeJeKepEIpt->atiput(i, pAjOKept->dot(prIeJeOpEIT->at(i)));
-		ppriIeJeKepEJpt->atiput(i, pAjOKept->dot(prIeJeOpEJT->at(i)));
+		ppriIeJeKepEIpt->atiput(i, pAjOKept->dotVec(prIeJeOpEIT->at(i)));
+		ppriIeJeKepEJpt->atiput(i, pAjOKept->dotVec(prIeJeOpEJT->at(i)));
 		ppriIeJeKepEKpt->atiput(i, ppAjOKepEKTpt->at(i)->dot(rIeJeO));
 	}
-	ppriIeJeKeptpt = ppAjOKeptpt->dot(rIeJeO);
+	ppriIeJeKeptpt = ppAjOKeptpt->dotVec(rIeJeO);
 }

OndselSolver/DispCompIeqctJeqcIe.cpp

@@ -33,7 +33,9 @@ void MbD::DispCompIeqctJeqcIe::calc_ppvaluepEIpt()
 		auto pAjOIepEITi = pAjOIepEIT->at(i);
 		auto mprIeJeOpEITi = mprIeJeOpEIT->at(i);
 		auto mpprIeJeOpEITpti = mpprIeJeOpEITpt->at(i);
-		auto ppriIeJeIepEIpti = ppAjOIepEITpti->dot(rIeJeO) - pAjOIepEITi->dot(mprIeJeOpt) - pAjOIept->dot(mprIeJeOpEITi) - aAjOIe->dot(mpprIeJeOpEITpti);
+		auto ppriIeJeIepEIpti = ppAjOIepEITpti->dot(rIeJeO) - pAjOIepEITi->dot(mprIeJeOpt) -
+                pAjOIept->dotVec(mprIeJeOpEITi) -
+                                aAjOIe->dotVec(mpprIeJeOpEITpti);
 		ppriIeJeIepEIpt->atiput(i, ppriIeJeIepEIpti);
 	}
 }
@@ -46,7 +48,7 @@ void MbD::DispCompIeqctJeqcIe::calc_ppvaluepEJpt()
 	auto prIeJeOpEJT = frmJeqct->prOeOpE->transpose();
 	for (int i = 0; i < 4; i++)
 	{
-		ppriIeJeIepEJpt->atiput(i, pAjOIept->dot(prIeJeOpEJT->at(i)));
+		ppriIeJeIepEJpt->atiput(i, pAjOIept->dotVec(prIeJeOpEJT->at(i)));
 	}
 }
 
@@ -57,7 +59,8 @@ void MbD::DispCompIeqctJeqcIe::calc_ppvalueptpt()
 	auto ppAjOIeptpt = frmIeqct->ppAjOeptpt(axis);
 	auto mprIeJeOpt = frmIeqct->prOeOpt;
 	auto mpprIeJeOptpt = frmIeqct->pprOeOptpt;
-	ppriIeJeIeptpt = ppAjOIeptpt->dot(rIeJeO) - pAjOIept->dot(mprIeJeOpt) - pAjOIept->dot(mprIeJeOpt) - aAjOIe->dot(mpprIeJeOptpt);
+	ppriIeJeIeptpt = ppAjOIeptpt->dotVec(rIeJeO) - pAjOIept->dotVec(mprIeJeOpt) - pAjOIept->dotVec(mprIeJeOpt) -
+                     aAjOIe->dotVec(mpprIeJeOptpt);
 }
 
 void MbD::DispCompIeqctJeqcIe::calc_ppvaluepXIpt()
@@ -85,7 +88,7 @@ void MbD::DispCompIeqctJeqcIe::calc_pvaluept()
 	auto frmIeqct = std::static_pointer_cast<EndFrameqct>(frmI);
 	auto pAjOIept = frmIeqct->pAjOept(axis);
 	auto mprIeJeOpt = frmIeqct->prOeOpt;
-	priIeJeIept = pAjOIept->dot(rIeJeO) - aAjOIe->dot(mprIeJeOpt);
+	priIeJeIept = pAjOIept->dotVec(rIeJeO) - aAjOIe->dotVec(mprIeJeOpt);
 }
 
 void MbD::DispCompIeqctJeqcIe::calcPostDynCorrectorIteration()

OndselSolver/DispCompIeqctJeqcKeqct.cpp

@@ -23,7 +23,7 @@ void DispCompIeqctJeqcKeqct::preVelIC()
 {
 	DispCompIeqcJeqcKeqct::preVelIC();
 	auto& mprIeJeOpt = std::static_pointer_cast<EndFrameqct>(frmI)->prOeOpt;
-	priIeJeKept -= aAjOKe->dot(mprIeJeOpt);
+	priIeJeKept -= aAjOKe->dotVec(mprIeJeOpt);
 }
 
 void DispCompIeqctJeqcKeqct::preAccIC()
@@ -36,8 +36,8 @@ void DispCompIeqctJeqcKeqct::preAccIC()
 	auto& mpprIeJeOptpt = efrmIqct->pprOeOptpt;
 	for (int i = 0; i < 4; i++)
 	{
-		ppriIeJeKepEIpt->atiminusNumber(i, aAjOKe->dot(mpprIeJeOpEITpt->at(i)));
+		ppriIeJeKepEIpt->atiminusNumber(i, aAjOKe->dotVec(mpprIeJeOpEITpt->at(i)));
 		ppriIeJeKepEKpt->atiminusNumber(i, pAjOKepEKT->at(i)->dot(mprIeJeOpt));
 	}
-	ppriIeJeKeptpt +=  -(2.0 * pAjOKept->dot(mprIeJeOpt)) - aAjOKe->dot(mpprIeJeOptpt);
+	ppriIeJeKeptpt += -(2.0 * pAjOKept->dotVec(mprIeJeOpt)) - aAjOKe->dotVec(mpprIeJeOptpt);
 }

OndselSolver/DistIeqcJec.cpp

@@ -63,7 +63,7 @@ void MbD::DistIeqcJec::calcPrivate()
 		for (int j = 0; j < 4; j++)
 		{
 			auto element = mprIeJeOpEIiT->dot(mprIeJeOpEIT->at(j))
-				- mpprIeJeOpEIipEI->at(j)->dot(rIeJeO) - prIeJepEIi * prIeJepEI->at(j);
+                           - mpprIeJeOpEIipEI->at(j)->dotVec(rIeJeO) - prIeJepEIi * prIeJepEI->at(j);
 			pprIeJepEIipEI->atiput(j, element / rIeJe);
 		}
 	}