ExternalSystem class
This commit is contained in:
Aik-Siong Koh
@@ -33,259 +33,334 @@ void MbD::ASMTAssembly::runFile(const char* chars)
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void MbD::ASMTAssembly::parseASMT(std::vector<std::string>& lines)
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{
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size_t pos = lines[0].find_first_not_of("\t");
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auto leadingTabs = lines[0].substr(0, pos);
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while (!lines.empty()) {
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if (lines[0] == (leadingTabs + "Notes")) {
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lines.erase(lines.begin());
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notes = lines[0];
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lines.erase(lines.begin());
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readNotes(lines);
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readName(lines);
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readPosition3D(lines);
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readRotationMatrix(lines);
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readVelocity3D(lines);
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readOmega3D(lines);
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readRefPoints(lines);
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readRefCurves(lines);
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readRefSurfaces(lines);
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readParts(lines);
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readKinematicIJs(lines);
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readConstraintSets(lines);
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readForceTorques(lines);
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readConstantGravity(lines);
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readSimulationParameters(lines);
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readAnimationParameters(lines);
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readTimeSeries(lines);
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readAssemblySeries(lines);
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readPartSeriesMany(lines);
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readJointSeriesMany(lines);
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readMotionSeriesMany(lines);
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}
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void MbD::ASMTAssembly::readNotes(std::vector<std::string>& lines)
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{
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assert(lines[0] == "\tNotes");
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lines.erase(lines.begin());
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notes = readString(lines[0]);
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lines.erase(lines.begin());
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}
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void MbD::ASMTAssembly::readParts(std::vector<std::string>& lines)
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{
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assert(lines[0] == "\tParts");
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lines.erase(lines.begin());
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parts = std::make_shared<std::vector<std::shared_ptr<ASMTPart>>>();
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auto it = std::find(lines.begin(), lines.end(), "\tKinematicIJs");
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std::vector<std::string> partsLines(lines.begin(), it);
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while (!partsLines.empty()) {
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readPart(partsLines);
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}
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lines.erase(lines.begin(), it);
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}
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void MbD::ASMTAssembly::readPart(std::vector<std::string>& lines)
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{
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assert(lines[0] == "\t\tPart");
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lines.erase(lines.begin());
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auto part = CREATE<ASMTPart>::With();
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part->parseASMT(lines);
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parts->push_back(part);
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part->owner = this;
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}
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void MbD::ASMTAssembly::readKinematicIJs(std::vector<std::string>& lines)
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{
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assert(lines[0] == "\tKinematicIJs");
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lines.erase(lines.begin());
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kinematicIJs = std::make_shared<std::vector<std::shared_ptr<ASMTKinematicIJ>>>();
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auto it = std::find(lines.begin(), lines.end(), "\tConstraintSets");
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std::vector<std::string> kinematicIJsLines(lines.begin(), it);
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while (!kinematicIJsLines.empty()) {
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readKinematicIJ(kinematicIJsLines);
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}
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lines.erase(lines.begin(), it);
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}
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void MbD::ASMTAssembly::readKinematicIJ(std::vector<std::string>& lines)
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{
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assert(false);
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}
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void MbD::ASMTAssembly::readConstraintSets(std::vector<std::string>& lines)
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{
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assert(lines[0] == "\tConstraintSets");
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lines.erase(lines.begin());
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readJoints(lines);
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readMotions(lines);
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readGeneralConstraintSets(lines);
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}
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void MbD::ASMTAssembly::readJoints(std::vector<std::string>& lines)
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{
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assert(lines[0] == "\t\tJoints");
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lines.erase(lines.begin());
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joints = std::make_shared<std::vector<std::shared_ptr<ASMTJoint>>>();
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auto it = std::find(lines.begin(), lines.end(), "\t\tMotions");
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std::vector<std::string> jointsLines(lines.begin(), it);
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std::shared_ptr<ASMTJoint> joint;
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while (!jointsLines.empty()) {
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if (jointsLines[0] == "\t\t\tRevoluteJoint") {
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joint = CREATE<ASMTRevoluteJoint>::With();
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}
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else if (lines[0] == (leadingTabs + "Name")) {
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lines.erase(lines.begin());
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name = lines[0];
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lines.erase(lines.begin());
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else if (jointsLines[0] == "\t\t\tCylindricalJoint") {
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joint = CREATE<ASMTCylindricalJoint>::With();
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}
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else if (lines[0] == (leadingTabs + "Position3D")) {
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lines.erase(lines.begin());
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std::istringstream iss(lines[0]);
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position3D = std::make_shared<FullColumn<double>>();
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double d;
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while (iss >> d) {
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position3D->push_back(d);
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}
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lines.erase(lines.begin());
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else {
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assert(false);
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}
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else if (lines[0] == (leadingTabs + "RotationMatrix")) {
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lines.erase(lines.begin());
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rotationMatrix = std::make_shared<FullMatrix<double>>(3, 0);
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for (int i = 0; i < 3; i++)
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{
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auto& row = rotationMatrix->at(i);
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std::istringstream iss(lines[0]);
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double d;
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while (iss >> d) {
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row->push_back(d);
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}
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lines.erase(lines.begin());
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}
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jointsLines.erase(jointsLines.begin());
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joint->parseASMT(jointsLines);
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joints->push_back(joint);
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joint->owner = this;
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}
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lines.erase(lines.begin(), it);
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}
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void MbD::ASMTAssembly::readMotions(std::vector<std::string>& lines)
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{
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assert(lines[0] == "\t\tMotions");
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lines.erase(lines.begin());
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motions = std::make_shared<std::vector<std::shared_ptr<ASMTMotion>>>();
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auto it = std::find(lines.begin(), lines.end(), "\t\tGeneralConstraintSets");
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std::vector<std::string> motionsLines(lines.begin(), it);
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std::shared_ptr<ASMTMotion> motion;
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while (!motionsLines.empty()) {
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if (motionsLines[0] == "\t\t\tRotationalMotion") {
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motion = CREATE<ASMTRotationalMotion>::With();
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}
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else if (lines[0] == (leadingTabs + "Velocity3D")) {
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lines.erase(lines.begin());
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std::istringstream iss(lines[0]);
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velocity3D = std::make_shared<FullColumn<double>>();
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double d;
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while (iss >> d) {
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velocity3D->push_back(d);
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}
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lines.erase(lines.begin());
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else if (motionsLines[0] == "\t\t\tTranslationalMotion") {
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motion = CREATE<ASMTTranslationalMotion>::With();
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}
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else if (lines[0] == (leadingTabs + "Omega3D")) {
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lines.erase(lines.begin());
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std::istringstream iss(lines[0]);
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omega3D = std::make_shared<FullColumn<double>>();
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double d;
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while (iss >> d) {
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omega3D->push_back(d);
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}
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lines.erase(lines.begin());
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else {
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assert(false);
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}
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else if (lines[0] == (leadingTabs + "RefPoints")) {
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lines.erase(lines.begin());
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refPoints = std::make_shared<std::vector<std::shared_ptr<ASMTRefPoint>>>();
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auto it = std::find(lines.begin(), lines.end(), (leadingTabs + "RefCurves"));
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std::vector<std::string> refPointsLines(lines.begin(), it);
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while (!refPointsLines.empty()) {
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if (refPointsLines[0] == (leadingTabs + "\tRefPoint")) {
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refPointsLines.erase(refPointsLines.begin());
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auto refPoint = CREATE<ASMTRefPoint>::With();
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refPoint->parseASMT(refPointsLines);
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refPoints->push_back(refPoint);
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refPoint->owner = this;
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}
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else {
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assert(false);
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}
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}
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lines.erase(lines.begin(), it);
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}
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else if (lines[0] == (leadingTabs + "RefCurves")) {
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lines.erase(lines.begin());
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refCurves = std::make_shared<std::vector<std::shared_ptr<ASMTRefCurve>>>();
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auto it = std::find(lines.begin(), lines.end(), (leadingTabs + "RefSurfaces"));
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std::vector<std::string> refCurvesLines(lines.begin(), it);
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while (!refCurvesLines.empty()) {
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if (refCurvesLines[0] == (leadingTabs + "\tRefCurve")) {
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refCurvesLines.erase(refCurvesLines.begin());
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auto refCurve = CREATE<ASMTRefCurve>::With();
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refCurve->parseASMT(refCurvesLines);
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refCurves->push_back(refCurve);
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refCurve->owner = this;
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}
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else {
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assert(false);
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}
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}
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lines.erase(lines.begin(), it);
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}
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else if (lines[0] == (leadingTabs + "RefSurfaces")) {
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lines.erase(lines.begin());
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refSurfaces = std::make_shared<std::vector<std::shared_ptr<ASMTRefSurface>>>();
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auto it = std::find(lines.begin(), lines.end(), (leadingTabs + "Parts"));
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std::vector<std::string> refSurfacesLines(lines.begin(), it);
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while (!refSurfacesLines.empty()) {
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if (refSurfacesLines[0] == (leadingTabs + "\tRefSurface")) {
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refSurfacesLines.erase(refSurfacesLines.begin());
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auto refSurface = CREATE<ASMTRefSurface>::With();
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refSurface->parseASMT(refSurfacesLines);
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refSurfaces->push_back(refSurface);
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refSurface->owner = this;
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}
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else {
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assert(false);
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}
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}
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lines.erase(lines.begin(), it);
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}
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else if (lines[0] == (leadingTabs + "Parts")) {
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lines.erase(lines.begin());
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parts = std::make_shared<std::vector<std::shared_ptr<ASMTPart>>>();
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auto it = std::find(lines.begin(), lines.end(), (leadingTabs + "KinematicIJs"));
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std::vector<std::string> partsLines(lines.begin(), it);
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while (!partsLines.empty()) {
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if (partsLines[0] == (leadingTabs + "\tPart")) {
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partsLines.erase(partsLines.begin());
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auto part = CREATE<ASMTPart>::With();
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part->parseASMT(partsLines);
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parts->push_back(part);
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part->owner = this;
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}
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else {
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assert(false);
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}
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}
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lines.erase(lines.begin(), it);
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}
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else if (lines[0] == (leadingTabs + "KinematicIJs")) {
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lines.erase(lines.begin());
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kinematicIJs = std::make_shared<std::vector<std::shared_ptr<ASMTKinematicIJ>>>();
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auto it = std::find(lines.begin(), lines.end(), (leadingTabs + "ConstraintSets"));
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std::vector<std::string> kinematicIJsLines(lines.begin(), it);
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while (!kinematicIJsLines.empty()) {
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if (kinematicIJsLines[0] == (leadingTabs + "\tKinematicIJ")) {
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kinematicIJsLines.erase(kinematicIJsLines.begin());
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auto kinematicIJ = CREATE<ASMTKinematicIJ>::With();
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kinematicIJ->parseASMT(kinematicIJsLines);
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kinematicIJs->push_back(kinematicIJ);
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kinematicIJ->owner = this;
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}
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else {
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assert(false);
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}
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}
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lines.erase(lines.begin(), it);
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}
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else if (lines[0] == (leadingTabs + "ConstraintSets")) {
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lines.erase(lines.begin());
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assert(lines[0] == (leadingTabs + "\tJoints"));
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lines.erase(lines.begin());
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joints = std::make_shared<std::vector<std::shared_ptr<ASMTJoint>>>();
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auto it = std::find(lines.begin(), lines.end(), (leadingTabs + "\tMotions"));
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std::vector<std::string> jointsLines(lines.begin(), it);
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while (!jointsLines.empty()) {
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if (jointsLines[0] == (leadingTabs + "\t\tRevoluteJoint")) {
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jointsLines.erase(jointsLines.begin());
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auto joint = CREATE<ASMTRevoluteJoint>::With();
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joint->parseASMT(jointsLines);
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joints->push_back(joint);
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joint->owner = this;
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}
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else if (jointsLines[0] == (leadingTabs + "\t\tCylindricalJoint")) {
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jointsLines.erase(jointsLines.begin());
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auto joint = CREATE<ASMTCylindricalJoint>::With();
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joint->parseASMT(jointsLines);
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joints->push_back(joint);
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joint->owner = this;
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}
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else {
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assert(false);
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}
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}
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lines.erase(lines.begin(), it);
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assert(lines[0] == (leadingTabs + "\tMotions"));
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lines.erase(lines.begin());
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motions = std::make_shared<std::vector<std::shared_ptr<ASMTMotion>>>();
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it = std::find(lines.begin(), lines.end(), (leadingTabs + "\tGeneralConstraintSets"));
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std::vector<std::string> motionsLines(lines.begin(), it);
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while (!motionsLines.empty()) {
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if (motionsLines[0] == (leadingTabs + "\t\tRotationalMotion")) {
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motionsLines.erase(motionsLines.begin());
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auto motion = CREATE<ASMTRotationalMotion>::With();
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motion->parseASMT(motionsLines);
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motions->push_back(motion);
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motion->owner = this;
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}
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else if (motionsLines[0] == (leadingTabs + "\t\tTranslationalMotion")) {
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motionsLines.erase(motionsLines.begin());
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auto motion = CREATE<ASMTTranslationalMotion>::With();
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motion->parseASMT(motionsLines);
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motions->push_back(motion);
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motion->owner = this;
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}
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else {
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assert(false);
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}
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}
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lines.erase(lines.begin(), it);
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assert(lines[0] == (leadingTabs + "\tGeneralConstraintSets"));
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lines.erase(lines.begin());
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constraintSets = std::make_shared<std::vector<std::shared_ptr<ASMTConstraintSet>>>();
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it = std::find(lines.begin(), lines.end(), (leadingTabs + "ForceTorques"));
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std::vector<std::string> generalConstraintSetsLines(lines.begin(), it);
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while (!generalConstraintSetsLines.empty()) {
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assert(false);
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}
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lines.erase(lines.begin(), it);
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}
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else if (lines[0] == (leadingTabs + "ForceTorques")) {
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lines.erase(lines.begin());
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forceTorques = std::make_shared<std::vector<std::shared_ptr<ASMTForceTorque>>>();
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auto it = std::find(lines.begin(), lines.end(), (leadingTabs + "ConstantGravity"));
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std::vector<std::string> forceTorquesLines(lines.begin(), it);
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while (!forceTorquesLines.empty()) {
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if (forceTorquesLines[0] == (leadingTabs + "\tForceTorque")) {
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forceTorquesLines.erase(forceTorquesLines.begin());
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auto forceTorque = CREATE<ASMTForceTorque>::With();
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forceTorque->parseASMT(forceTorquesLines);
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forceTorques->push_back(forceTorque);
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forceTorque->owner = this;
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}
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else {
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assert(false);
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}
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}
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lines.erase(lines.begin(), it);
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}
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else if (lines[0] == (leadingTabs + "ConstantGravity")) {
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lines.erase(lines.begin());
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constantGravity = CREATE<ASMTConstantGravity>::With();
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constantGravity->parseASMT(lines);
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constantGravity->owner = this;
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}
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else if (lines[0] == (leadingTabs + "SimulationParameters")) {
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lines.erase(lines.begin());
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simulationParameters = CREATE<ASMTSimulationParameters>::With();
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simulationParameters->parseASMT(lines);
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simulationParameters->owner = this;
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}
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else if (lines[0] == (leadingTabs + "AnimationParameters")) {
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lines.erase(lines.begin());
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animationParameters = CREATE<ASMTAnimationParameters>::With();
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animationParameters->parseASMT(lines);
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animationParameters->owner = this;
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motionsLines.erase(motionsLines.begin());
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motion->parseASMT(motionsLines);
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motions->push_back(motion);
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motion->owner = this;
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}
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lines.erase(lines.begin(), it);
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}
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void MbD::ASMTAssembly::readGeneralConstraintSets(std::vector<std::string>& lines)
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{
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assert(lines[0] == "\t\tGeneralConstraintSets");
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lines.erase(lines.begin());
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constraintSets = std::make_shared<std::vector<std::shared_ptr<ASMTConstraintSet>>>();
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auto it = std::find(lines.begin(), lines.end(), "\tForceTorques");
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std::vector<std::string> generalConstraintSetsLines(lines.begin(), it);
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while (!generalConstraintSetsLines.empty()) {
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assert(false);
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}
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lines.erase(lines.begin(), it);
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}
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void MbD::ASMTAssembly::readForceTorques(std::vector<std::string>& lines)
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{
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assert(lines[0] == "\tForceTorques");
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lines.erase(lines.begin());
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forceTorques = std::make_shared<std::vector<std::shared_ptr<ASMTForceTorque>>>();
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auto it = std::find(lines.begin(), lines.end(), "\tConstantGravity");
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std::vector<std::string> forceTorquesLines(lines.begin(), it);
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while (!forceTorquesLines.empty()) {
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if (forceTorquesLines[0] == "\t\tForceTorque") {
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forceTorquesLines.erase(forceTorquesLines.begin());
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auto forceTorque = CREATE<ASMTForceTorque>::With();
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forceTorque->parseASMT(forceTorquesLines);
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forceTorques->push_back(forceTorque);
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forceTorque->owner = this;
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}
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else {
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assert(false);
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}
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}
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lines.erase(lines.begin(), it);
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}
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void MbD::ASMTAssembly::readConstantGravity(std::vector<std::string>& lines)
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{
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assert(lines[0] == "\tConstantGravity");
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lines.erase(lines.begin());
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constantGravity = CREATE<ASMTConstantGravity>::With();
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constantGravity->parseASMT(lines);
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constantGravity->owner = this;
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}
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void MbD::ASMTAssembly::readSimulationParameters(std::vector<std::string>& lines)
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{
|
||||
assert(lines[0] == "\tSimulationParameters");
|
||||
lines.erase(lines.begin());
|
||||
simulationParameters = CREATE<ASMTSimulationParameters>::With();
|
||||
simulationParameters->parseASMT(lines);
|
||||
simulationParameters->owner = this;
|
||||
}
|
||||
|
||||
void MbD::ASMTAssembly::readAnimationParameters(std::vector<std::string>& lines)
|
||||
{
|
||||
assert(lines[0] == "\tAnimationParameters");
|
||||
lines.erase(lines.begin());
|
||||
animationParameters = CREATE<ASMTAnimationParameters>::With();
|
||||
animationParameters->parseASMT(lines);
|
||||
animationParameters->owner = this;
|
||||
}
|
||||
|
||||
void MbD::ASMTAssembly::readTimeSeries(std::vector<std::string>& lines)
|
||||
{
|
||||
assert(lines[0] == "TimeSeries");
|
||||
lines.erase(lines.begin());
|
||||
assert(lines[0].find("Number\tInput") != std::string::npos);
|
||||
lines.erase(lines.begin());
|
||||
readTimes(lines);
|
||||
}
|
||||
|
||||
void MbD::ASMTAssembly::readTimes(std::vector<std::string>& lines)
|
||||
{
|
||||
std::string str = lines[0];
|
||||
std::string substr = "Time\tInput";
|
||||
auto pos = str.find(substr);
|
||||
assert(pos != std::string::npos);
|
||||
str.erase(0, pos + substr.length());
|
||||
times = readRowOfDoubles(str);
|
||||
times->insert(times->begin(), times->at(0)); //The first element is the input state.
|
||||
lines.erase(lines.begin());
|
||||
}
|
||||
|
||||
void MbD::ASMTAssembly::readPartSeriesMany(std::vector<std::string>& lines)
|
||||
{
|
||||
assert(lines[0].find("PartSeries") != std::string::npos);
|
||||
auto it = std::find_if(lines.begin(), lines.end(), [](const std::string& s) {
|
||||
return s.find("JointSeries") != std::string::npos;
|
||||
});
|
||||
std::vector<std::string> partSeriesLines(lines.begin(), it);
|
||||
while (!partSeriesLines.empty()) {
|
||||
readPartSeries(partSeriesLines);
|
||||
}
|
||||
lines.erase(lines.begin(), it);
|
||||
}
|
||||
|
||||
void MbD::ASMTAssembly::readJointSeriesMany(std::vector<std::string>& lines)
|
||||
{
|
||||
assert(lines[0].find("JointSeries") != std::string::npos);
|
||||
auto it = std::find_if(lines.begin(), lines.end(), [](const std::string& s) {
|
||||
return s.find("MotionSeries") != std::string::npos;
|
||||
});
|
||||
std::vector<std::string> jointSeriesLines(lines.begin(), it);
|
||||
while (!jointSeriesLines.empty()) {
|
||||
readJointSeries(jointSeriesLines);
|
||||
}
|
||||
lines.erase(lines.begin(), it);
|
||||
}
|
||||
|
||||
void MbD::ASMTAssembly::readAssemblySeries(std::vector<std::string>& lines)
|
||||
{
|
||||
std::string str = lines[0];
|
||||
std::string substr = "AssemblySeries";
|
||||
auto pos = str.find(substr);
|
||||
assert(pos != std::string::npos);
|
||||
str.erase(0, pos + substr.length());
|
||||
auto seriesName = readString(str);
|
||||
assert(fullName("") == seriesName);
|
||||
lines.erase(lines.begin());
|
||||
//xs, ys, zs, bryxs, bryys, bryzs
|
||||
readXs(lines);
|
||||
readYs(lines);
|
||||
readZs(lines);
|
||||
readBryantxs(lines);
|
||||
readBryantys(lines);
|
||||
readBryantzs(lines);
|
||||
readVXs(lines);
|
||||
readVYs(lines);
|
||||
readVZs(lines);
|
||||
readOmegaXs(lines);
|
||||
readOmegaYs(lines);
|
||||
readOmegaZs(lines);
|
||||
readAXs(lines);
|
||||
readAYs(lines);
|
||||
readAZs(lines);
|
||||
readAlphaXs(lines);
|
||||
readAlphaYs(lines);
|
||||
readAlphaZs(lines);
|
||||
}
|
||||
|
||||
void MbD::ASMTAssembly::readPartSeries(std::vector<std::string>& lines)
|
||||
{
|
||||
std::string str = lines[0];
|
||||
std::string substr = "PartSeries";
|
||||
auto pos = str.find(substr);
|
||||
assert(pos != std::string::npos);
|
||||
str.erase(0, pos + substr.length());
|
||||
auto seriesName = readString(str);
|
||||
auto it = std::find_if(parts->begin(), parts->end(), [&](const std::shared_ptr<ASMTPart>& prt) {
|
||||
return prt->fullName("") == seriesName;
|
||||
});
|
||||
auto part = *it;
|
||||
part->readPartSeries(lines);
|
||||
}
|
||||
|
||||
void MbD::ASMTAssembly::readJointSeries(std::vector<std::string>& lines)
|
||||
{
|
||||
std::string str = lines[0];
|
||||
std::string substr = "JointSeries";
|
||||
auto pos = str.find(substr);
|
||||
assert(pos != std::string::npos);
|
||||
str.erase(0, pos + substr.length());
|
||||
auto seriesName = readString(str);
|
||||
auto it = std::find_if(joints->begin(), joints->end(), [&](const std::shared_ptr<ASMTJoint>& jt) {
|
||||
return jt->fullName("") == seriesName;
|
||||
});
|
||||
auto joint = *it;
|
||||
joint->readJointSeries(lines);
|
||||
}
|
||||
|
||||
void MbD::ASMTAssembly::readMotionSeriesMany(std::vector<std::string>& lines)
|
||||
{
|
||||
assert(lines[0].find("MotionSeries") != std::string::npos);
|
||||
while (!lines.empty()) {
|
||||
readMotionSeries(lines);
|
||||
}
|
||||
}
|
||||
|
||||
void MbD::ASMTAssembly::readMotionSeries(std::vector<std::string>& lines)
|
||||
{
|
||||
std::string str = lines[0];
|
||||
std::string substr = "MotionSeries";
|
||||
auto pos = str.find(substr);
|
||||
assert(pos != std::string::npos);
|
||||
str.erase(0, pos + substr.length());
|
||||
auto seriesName = readString(str);
|
||||
auto it = std::find_if(motions->begin(), motions->end(), [&](const std::shared_ptr<ASMTMotion>& jt) {
|
||||
return jt->fullName("") == seriesName;
|
||||
});
|
||||
auto motion = *it;
|
||||
motion->readMotionSeries(lines);
|
||||
}
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user