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CompoundJoints debugged

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This commit is contained in:
Aik-Siong Koh
2023-12-12 14:49:58 -07:00
parent 56bba4e921
commit 2bb83b82c0
32 changed files with 1078 additions and 311 deletions
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8
OndselSolver/ASMTAssembly.cpp
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@@ -718,6 +718,7 @@ void MbD::ASMTAssembly::readAnimationParameters(std::vector<std::string>& lines)
void MbD::ASMTAssembly::readTimeSeries(std::vector<std::string>& lines)
{
if (lines.empty()) return;
assert(lines[0] == "TimeSeries");
lines.erase(lines.begin());
assert(lines[0].find("Number\tInput") != std::string::npos);
@@ -727,6 +728,7 @@ void MbD::ASMTAssembly::readTimeSeries(std::vector<std::string>& lines)
void MbD::ASMTAssembly::readTimes(std::vector<std::string>& lines)
{
if (lines.empty()) return;
std::string str = lines[0];
std::string substr = "Time\tInput";
auto pos = str.find(substr);
@@ -739,6 +741,7 @@ void MbD::ASMTAssembly::readTimes(std::vector<std::string>& lines)
void MbD::ASMTAssembly::readPartSeriesMany(std::vector<std::string>& lines)
{
if (lines.empty()) return;
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;
@@ -752,6 +755,7 @@ void MbD::ASMTAssembly::readPartSeriesMany(std::vector<std::string>& lines)
void MbD::ASMTAssembly::readJointSeriesMany(std::vector<std::string>& lines)
{
if (lines.empty()) return;
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;
@@ -765,6 +769,7 @@ void MbD::ASMTAssembly::readJointSeriesMany(std::vector<std::string>& lines)
void MbD::ASMTAssembly::readAssemblySeries(std::vector<std::string>& lines)
{
if (lines.empty()) return;
std::string str = lines[0];
std::string substr = "AssemblySeries";
auto pos = str.find(substr);
@@ -796,6 +801,7 @@ void MbD::ASMTAssembly::readAssemblySeries(std::vector<std::string>& lines)
void MbD::ASMTAssembly::readPartSeries(std::vector<std::string>& lines)
{
if (lines.empty()) return;
std::string str = lines[0];
std::string substr = "PartSeries";
auto pos = str.find(substr);
@@ -811,6 +817,7 @@ void MbD::ASMTAssembly::readPartSeries(std::vector<std::string>& lines)
void MbD::ASMTAssembly::readJointSeries(std::vector<std::string>& lines)
{
if (lines.empty()) return;
std::string str = lines[0];
std::string substr = "JointSeries";
auto pos = str.find(substr);
@@ -834,6 +841,7 @@ void MbD::ASMTAssembly::readMotionSeriesMany(std::vector<std::string>& lines)
void MbD::ASMTAssembly::readMotionSeries(std::vector<std::string>& lines)
{
if (lines.empty()) return;
std::string str = lines[0];
std::string substr = "MotionSeries";
auto pos = str.find(substr);