diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/ATShiftStrategy.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/ATShiftStrategy.cs
index 97353753f7ebee058903b37973eaf122b879ba57..70b3b7a510536dff7d00e9dbe51c71eb07b47ae1 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/ATShiftStrategy.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/ATShiftStrategy.cs
@@ -52,12 +52,12 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
{
protected ATGearbox _gearbox;
protected readonly NextGearState _nextGear = new NextGearState();
+ private KilogramSquareMeter EngineInertia;
public override IGearbox Gearbox
{
get { return _gearbox; }
- set
- {
+ set {
_gearbox = value as ATGearbox;
if (_gearbox == null) {
throw new VectoException("AT Shift strategy can only handle AT gearboxes, given: {0}", value.GetType());
@@ -71,15 +71,23 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
}
public override ShiftPolygon ComputeDeclarationShiftPolygon(
- GearboxType gearboxType, int i, EngineFullLoadCurve engineDataFullLoadCurve, IList<ITransmissionInputData> gearboxGears,
+ GearboxType gearboxType, int i, EngineFullLoadCurve engineDataFullLoadCurve,
+ IList<ITransmissionInputData> gearboxGears,
CombustionEngineData engineData, double axlegearRatio, Meter dynamicTyreRadius)
{
- return DeclarationData.TorqueConverter.ComputeShiftPolygon(engineDataFullLoadCurve, i == 0, i >= gearboxGears.Count - 1);
+ return DeclarationData.TorqueConverter.ComputeShiftPolygon(
+ engineDataFullLoadCurve, i == 0, i >= gearboxGears.Count - 1);
}
- public static string Name { get { return "AT - Classic"; } }
+ public static string Name
+ {
+ get { return "AT - Classic"; }
+ }
- public ATShiftStrategy(VectoRunData data, IDataBus dataBus) : base(data.GearboxData, dataBus) {}
+ public ATShiftStrategy(VectoRunData data, IDataBus dataBus) : base(data.GearboxData, dataBus)
+ {
+ EngineInertia = data.EngineData?.Inertia ?? 0.SI<KilogramSquareMeter>();
+ }
public override uint InitGear(Second absTime, Second dt, NewtonMeter torque, PerSecond outAngularVelocity)
{
@@ -89,6 +97,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
_gearbox.Disengaged = true;
return 1;
}
+
var torqueConverterLocked = true;
for (var gear = ModelData.Gears.Keys.Max(); gear > 1; gear--) {
if (_gearbox.ModelData.Gears[gear].HasTorqueConverter) {
@@ -106,6 +115,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
return gear;
}
}
+
// fallback: start with first gear;
_gearbox.TorqueConverterLocked = false;
_gearbox.Disengaged = false;
@@ -120,6 +130,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
_nextGear.AbsTime = null;
return _nextGear.Gear;
}
+
_nextGear.AbsTime = null;
return _gearbox.Gear;
}
@@ -129,7 +140,9 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
throw new System.NotImplementedException("AT Shift Strategy does not support disengaging.");
}
- public override bool ShiftRequired(Second absTime, Second dt, NewtonMeter outTorque, PerSecond outAngularVelocity, NewtonMeter inTorque, PerSecond inAngularVelocity, uint gear, Second lastShiftTime, IResponse response)
+ public override bool ShiftRequired(
+ Second absTime, Second dt, NewtonMeter outTorque, PerSecond outAngularVelocity, NewtonMeter inTorque,
+ PerSecond inAngularVelocity, uint gear, Second lastShiftTime, IResponse response)
{
// ENGAGE ---------------------------------------------------------
// 0 -> 1C: drive off after disengaged - engage first gear
@@ -170,13 +183,15 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
}
// UPSHIFT --------------------------------------------------------
- if (CheckUpshift(absTime, dt, outTorque, outAngularVelocity, inTorque, inAngularVelocity, gear,
+ if (CheckUpshift(
+ absTime, dt, outTorque, outAngularVelocity, inTorque, inAngularVelocity, gear,
lastShiftTime, response)) {
return true;
}
// DOWNSHIFT ------------------------------------------------------
- if (CheckDownshift(absTime, dt, outTorque, outAngularVelocity, inTorque, inAngularVelocity, gear,
+ if (CheckDownshift(
+ absTime, dt, outTorque, outAngularVelocity, inTorque, inAngularVelocity, gear,
lastShiftTime, response)) {
return true;
}
@@ -184,7 +199,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
return false;
}
- protected virtual bool CheckEmergencyShift(Second absTime, NewtonMeter outTorque, PerSecond outAngularVelocity, PerSecond inAngularVelocity, uint gear)
+ protected virtual bool CheckEmergencyShift(
+ Second absTime, NewtonMeter outTorque, PerSecond outAngularVelocity, PerSecond inAngularVelocity, uint gear)
{
// Emergency Downshift: if lower than engine idle speed
if (inAngularVelocity.IsSmaller(DataBus.EngineIdleSpeed)) {
@@ -192,6 +208,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
Downshift(absTime, gear);
return true;
}
+
// Emergency Upshift: if higher than engine rated speed
if (inAngularVelocity.IsGreaterOrEqual(VectoMath.Min(ModelData.Gears[gear].MaxSpeed, DataBus.EngineN95hSpeed))) {
// check if upshift is possible
@@ -215,11 +232,14 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
return true;
}
}
+
return false;
}
[SuppressMessage("ReSharper", "UnusedParameter.Local")]
- protected virtual bool CheckUpshift(Second absTime, Second dt, NewtonMeter outTorque, PerSecond outAngularVelocity, NewtonMeter inTorque, PerSecond inAngularVelocity, uint gear, Second lastShiftTime, IResponse response)
+ protected virtual bool CheckUpshift(
+ Second absTime, Second dt, NewtonMeter outTorque, PerSecond outAngularVelocity, NewtonMeter inTorque,
+ PerSecond inAngularVelocity, uint gear, Second lastShiftTime, IResponse response)
{
var shiftTimeReached = (absTime - lastShiftTime).IsGreaterOrEqual(ModelData.ShiftTime);
if (!shiftTimeReached) {
@@ -238,7 +258,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
// UPSHIFT - Special rule for 1C -> 2C
if (!_gearbox.TorqueConverterLocked && ModelData.Gears.ContainsKey(gear + 1) &&
ModelData.Gears[gear + 1].HasTorqueConverter && outAngularVelocity.IsGreater(0)) {
- var result = CheckUpshiftTcTc(absTime, dt, outTorque, outAngularVelocity, gear, currentGear);
+ var result = CheckUpshiftTcTc(
+ absTime, dt, outTorque, outAngularVelocity, inTorque, inAngularVelocity, gear, currentGear, response);
if (result.HasValue) {
return result.Value;
}
@@ -255,34 +276,43 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
return false;
}
- protected virtual bool? CheckEarlyUpshift(Second absTime, Second dt, NewtonMeter outTorque, PerSecond outAngularVelocity, NewtonMeter inTorque, PerSecond inAngularVelocity, uint gear, Second lastShiftTime, IResponse response)
+ protected virtual bool? CheckEarlyUpshift(
+ Second absTime, Second dt, NewtonMeter outTorque, PerSecond outAngularVelocity, NewtonMeter inTorque,
+ PerSecond inAngularVelocity, uint gear, Second lastShiftTime, IResponse response)
{
return null;
}
- protected virtual bool? CheckUpshiftTcTc(Second absTime, Second dt, NewtonMeter outTorque, PerSecond outAngularVelocity, uint gear,
- GearData currentGear)
+ protected virtual bool? CheckUpshiftTcTc(
+ Second absTime, Second dt, NewtonMeter outTorque, PerSecond outAngularVelocity, NewtonMeter inTorque,
+ PerSecond inAngularVelocity, uint gear, GearData currentGear, IResponse response)
{
-// C -> C+1
+ // C -> C+1
var nextGear = ModelData.Gears[gear + 1];
var gearRatio = nextGear.TorqueConverterRatio / currentGear.TorqueConverterRatio;
var minEngineSpeed = VectoMath.Min(700.RPMtoRad(), gearRatio * (DataBus.EngineN80hSpeed - 150.RPMtoRad()));
var nextGearboxInSpeed = outAngularVelocity * nextGear.TorqueConverterRatio;
var nextGearboxInTorque = outTorque / nextGear.TorqueConverterRatio;
- var shiftLosses = _gearbox.ComputeShiftLosses(outTorque, outAngularVelocity, gear + 1) / ModelData.PowershiftShiftTime / nextGearboxInSpeed;
+ var shiftLosses = _gearbox.ComputeShiftLosses(outTorque, outAngularVelocity, gear + 1) /
+ ModelData.PowershiftShiftTime / nextGearboxInSpeed;
nextGearboxInTorque += shiftLosses;
- var tcOperatingPoint = _gearbox.TorqueConverter.FindOperatingPoint(absTime, dt, nextGearboxInTorque, nextGearboxInSpeed);
+ var tcOperatingPoint =
+ _gearbox.TorqueConverter.FindOperatingPoint(absTime, dt, nextGearboxInTorque, nextGearboxInSpeed);
var engineSpeedOverMin = tcOperatingPoint.InAngularVelocity.IsGreater(minEngineSpeed);
var avgSpeed = (DataBus.EngineSpeed + tcOperatingPoint.InAngularVelocity) / 2;
var engineMaxTorque = DataBus.EngineStationaryFullPower(avgSpeed) / avgSpeed;
- var engineInertiaTorque = Formulas.InertiaPower(DataBus.EngineSpeed, tcOperatingPoint.InAngularVelocity, _gearbox.EngineInertia, dt) / avgSpeed;
+ var engineInertiaTorque = Formulas.InertiaPower(
+ DataBus.EngineSpeed, tcOperatingPoint.InAngularVelocity, _gearbox.EngineInertia, dt) / avgSpeed;
var engineTorqueBelowMax =
tcOperatingPoint.InTorque.IsSmallerOrEqual(engineMaxTorque - engineInertiaTorque);
- var reachableAcceleration = EstimateAcceleration(outAngularVelocity, outTorque); // EstimateAccelerationForGear(gear + 1, outAngularVelocity);
- var minAcceleration = VectoMath.Min(ModelData.TorqueConverterData.CCUpshiftMinAcceleration,
+ var reachableAcceleration =
+ EstimateAcceleration(
+ outAngularVelocity, outTorque, inAngularVelocity, inTorque, gear, response); // EstimateAccelerationForGear(gear + 1, outAngularVelocity);
+ var minAcceleration = VectoMath.Min(
+ ModelData.TorqueConverterData.CCUpshiftMinAcceleration,
DataBus.DriverAcceleration);
var minAccelerationReachable = reachableAcceleration.IsGreaterOrEqual(minAcceleration);
@@ -290,13 +320,15 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
Upshift(absTime, gear);
return true;
}
+
return null;
}
- protected virtual bool? CheckUpshiftToLocked(Second absTime, PerSecond outAngularVelocity, NewtonMeter inTorque,
+ protected virtual bool? CheckUpshiftToLocked(
+ Second absTime, PerSecond outAngularVelocity, NewtonMeter inTorque,
PerSecond inAngularVelocity, uint gear)
{
-// UPSHIFT - General Rule
+ // UPSHIFT - General Rule
// L -> L+1
// C -> L
var nextGear = _gearbox.TorqueConverterLocked ? gear + 1 : gear;
@@ -319,7 +351,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
var minAcceleration = _gearbox.TorqueConverterLocked
? ModelData.UpshiftMinAcceleration
: ModelData.TorqueConverterData.CLUpshiftMinAcceleration;
- minAcceleration = VectoMath.Min(minAcceleration, VectoMath.Max(0.SI<MeterPerSquareSecond>(), DataBus.DriverAcceleration));
+ minAcceleration = VectoMath.Min(
+ minAcceleration, VectoMath.Max(0.SI<MeterPerSquareSecond>(), DataBus.DriverAcceleration));
minAccelerationReachable = reachableAcceleration.IsGreaterOrEqual(minAcceleration);
}
@@ -327,6 +360,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
Upshift(absTime, gear);
return true;
}
+
return null;
}
@@ -338,7 +372,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
/// <param name="inEngineSpeed">The in engine speed.</param>
/// <param name="torqueConverterLocked">if true, the regular shift polygon is used, otherwise the shift polygon for the torque converter is used</param>
/// <returns><c>true</c> if the operating point is above the up-shift curve; otherwise, <c>false</c>.</returns>
- protected virtual bool IsAboveUpShiftCurve(uint gear, NewtonMeter inTorque, PerSecond inEngineSpeed,
+ protected virtual bool IsAboveUpShiftCurve(
+ uint gear, NewtonMeter inTorque, PerSecond inEngineSpeed,
bool torqueConverterLocked)
{
var shiftPolygon = torqueConverterLocked
@@ -369,7 +404,9 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
}
[SuppressMessage("ReSharper", "UnusedParameter.Local")]
- protected virtual bool CheckDownshift(Second absTime, Second dt, NewtonMeter outTorque, PerSecond outAngularVelocity, NewtonMeter inTorque, PerSecond inAngularVelocity, uint gear, Second lastShiftTime, IResponse response)
+ protected virtual bool CheckDownshift(
+ Second absTime, Second dt, NewtonMeter outTorque, PerSecond outAngularVelocity, NewtonMeter inTorque,
+ PerSecond inAngularVelocity, uint gear, Second lastShiftTime, IResponse response)
{
var shiftTimeReached = (absTime - lastShiftTime).IsGreaterOrEqual(ModelData.ShiftTime);
@@ -379,18 +416,20 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
}
if (shiftTimeReached && DataBus.DrivingAction == DrivingAction.Accelerate) {
- if (DataBus.VehicleSpeed < DataBus.CycleData.LeftSample.VehicleTargetSpeed - 10.KMPHtoMeterPerSecond() && DataBus.DriverAcceleration < 0.SI<MeterPerSquareSecond>()) {
+ if (DataBus.VehicleSpeed < DataBus.CycleData.LeftSample.VehicleTargetSpeed - 10.KMPHtoMeterPerSecond() &&
+ DataBus.DriverAcceleration < 0.SI<MeterPerSquareSecond>()) {
var tmpResponseCurr = (ResponseDryRun)_gearbox.Request(absTime, dt, outTorque, outAngularVelocity, true);
if (_gearbox.Gear > 1 || _gearbox.Gear == 1 && _gearbox.TorqueConverterLocked) {
var tmpCurr = _nextGear.Clone();
var tmpGbxState = new NextGearState(absTime, _gearbox);
-
+
Downshift(absTime, gear);
SetGear(_nextGear);
var tmpResponseDs = (ResponseDryRun)_gearbox.Request(absTime, dt, outTorque, outAngularVelocity, true);
_nextGear.SetState(tmpCurr);
SetGear(tmpGbxState);
- if (tmpResponseDs.DeltaFullLoad < tmpResponseCurr.DeltaFullLoad) {
+ if (tmpResponseDs.DeltaFullLoad - Formulas.InertiaPower(
+ tmpResponseDs.EngineSpeed, DataBus.EngineSpeed, EngineInertia, dt) < tmpResponseCurr.DeltaFullLoad) {
Downshift(absTime, gear);
return true;
}
@@ -398,7 +437,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
}
}
- if (shiftTimeReached && gear > 1 || (gear == 1 && _gearbox.TorqueConverterLocked)) {
+ if (shiftTimeReached && gear > 1 || (gear == 1 && _gearbox.TorqueConverterLocked)) {
var earlyDownshift = CheckEarlyDownshift(
absTime, dt, outTorque, outAngularVelocity, inTorque, inAngularVelocity, gear, lastShiftTime, response);
if (earlyDownshift.HasValue) {
@@ -409,7 +448,9 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
return false;
}
- protected virtual bool? CheckEarlyDownshift(Second absTime, Second dt, NewtonMeter outTorque, PerSecond outAngularVelocity, NewtonMeter inTorque, PerSecond inAngularVelocity, uint gear, Second lastShiftTime, IResponse response)
+ protected virtual bool? CheckEarlyDownshift(
+ Second absTime, Second dt, NewtonMeter outTorque, PerSecond outAngularVelocity, NewtonMeter inTorque,
+ PerSecond inAngularVelocity, uint gear, Second lastShiftTime, IResponse response)
{
return null;
}
@@ -453,6 +494,37 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
"ShiftStrategy wanted to shift down but current gear is locked (L) and has no torque converter (C) and disenganging directly from (L) is not allowed.");
}
+ protected MeterPerSquareSecond EstimateAcceleration(
+ PerSecond gbxOutSpeed, NewtonMeter gbxOutTorque, PerSecond tcInSpeed, NewtonMeter tcInTorque, uint currentGear, IResponse response)
+ {
+ var vehicleSpeed = DataBus.VehicleSpeed;
+ var avgSlope =
+ ((DataBus.CycleLookAhead(Constants.SimulationSettings.GearboxLookaheadForAccelerationEstimation).Altitude -
+ DataBus.Altitude) / Constants.SimulationSettings.GearboxLookaheadForAccelerationEstimation).Value().SI<Radian>();
+
+ var airDragLoss = DataBus.AirDragResistance(vehicleSpeed, vehicleSpeed) * DataBus.VehicleSpeed;
+ var rollResistanceLoss = DataBus.RollingResistance(avgSlope) * DataBus.VehicleSpeed;
+
+ //DataBus.GearboxLoss();
+ var slopeLoss = DataBus.SlopeResistance(avgSlope) * DataBus.VehicleSpeed;
+ var axleLoss = DataBus.AxlegearLoss();
+
+ var tcLossesCurrentGear = tcInSpeed * tcInTorque - gbxOutSpeed * gbxOutTorque;
+
+ var nextTcOutSpeed = gbxOutSpeed * ModelData.Gears[currentGear + 1].TorqueConverterRatio;
+
+ var tcNext = ModelData.TorqueConverterData.LookupOperatingPointOut(
+ nextTcOutSpeed, response.EngineSpeed, response.EngineTorqueDemand);
+ var tcLossesNextGear = tcNext.InAngularVelocity * tcNext.InTorque - tcNext.OutAngularVelocity * tcNext.OutTorque;
+ var deltaTcLosses = tcLossesNextGear - tcLossesCurrentGear;
+
+ var accelerationPower = gbxOutSpeed * gbxOutTorque - deltaTcLosses - axleLoss - airDragLoss - rollResistanceLoss - slopeLoss;
+
+ var acceleration = accelerationPower / DataBus.VehicleSpeed / (DataBus.TotalMass + DataBus.ReducedMassWheels);
+
+ return acceleration.Cast<MeterPerSquareSecond>();
+ }
+
protected class NextGearState
{
public Second AbsTime;
@@ -505,4 +577,4 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
}
}
}
-}
\ No newline at end of file
+}
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/ATShiftStrategyOptimized.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/ATShiftStrategyOptimized.cs
index d9c80470a52b2b24ad11dcbfce4c7bd23adf0d9b..4f7c21adc17da1953f159b66518f1a5b26719025 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/ATShiftStrategyOptimized.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/ATShiftStrategyOptimized.cs
@@ -236,6 +236,11 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
return null;
}
+ if (DataBus.DriverAcceleration < 0) {
+ return null;
+ }
+
+
var minFcGear = new GearshiftPosition(currentGear, _gearbox.TorqueConverterLocked);
var minFc = double.MaxValue;
var fcCurrent = double.NaN;
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/ATShiftStrategyVoith.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/ATShiftStrategyVoith.cs
index 7da17f27da639a6fbae843405cc7f564bfc5ff81..b731a524fb1c28f01889e407fe8955512239191e 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/ATShiftStrategyVoith.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/ATShiftStrategyVoith.cs
@@ -203,7 +203,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
// UPSHIFT - Special rule for 1C -> 2C
if (!_gearbox.TorqueConverterLocked && ModelData.Gears.ContainsKey(gear + 1) &&
ModelData.Gears[gear + 1].HasTorqueConverter && outAngularVelocity.IsGreater(0)) {
- var result = CheckUpshiftTcTc(absTime, dt, outTorque, outAngularVelocity, gear, currentGear);
+ var result = CheckUpshiftTcTc(absTime, dt, outTorque, outAngularVelocity, inTorque, inAngularVelocity, gear, currentGear, response);
if (result.HasValue) {
return result.Value;
}
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/BaseShiftStrategy.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/BaseShiftStrategy.cs
index 5b16a11e871be9edf6c83533c202ad3703800083..1cb40d344553a2930e7da2dbedd80a58525810a8 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/BaseShiftStrategy.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/BaseShiftStrategy.cs
@@ -103,26 +103,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
return acceleration.Cast<MeterPerSquareSecond>();
}
- protected MeterPerSquareSecond EstimateAcceleration(PerSecond gbxOutSpeed, NewtonMeter gbxOutTorque)
- {
- var vehicleSpeed = DataBus.VehicleSpeed;
- var avgSlope =
- ((DataBus.CycleLookAhead(Constants.SimulationSettings.GearboxLookaheadForAccelerationEstimation).Altitude -
- DataBus.Altitude) / Constants.SimulationSettings.GearboxLookaheadForAccelerationEstimation).Value().SI<Radian>();
-
- var airDragLoss = DataBus.AirDragResistance(vehicleSpeed, vehicleSpeed) * DataBus.VehicleSpeed;
- var rollResistanceLoss = DataBus.RollingResistance(avgSlope) * DataBus.VehicleSpeed;
- //DataBus.GearboxLoss();
- var slopeLoss = DataBus.SlopeResistance(avgSlope) * DataBus.VehicleSpeed;
- var axleLoss = DataBus.AxlegearLoss();
-
- var accelerationPower = gbxOutSpeed * gbxOutTorque - axleLoss - airDragLoss - rollResistanceLoss - slopeLoss;
-
- var acceleration = accelerationPower / DataBus.VehicleSpeed / (DataBus.TotalMass + DataBus.ReducedMassWheels);
-
- return acceleration.Cast<MeterPerSquareSecond>();
-
- }
+
}