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OndselSolver can read and write *.asmt files

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This commit is contained in:
Aik-Siong Koh
2023-10-19 10:51:51 -06:00
parent 95cd91c9d1
commit 4360daddf3
61 changed files with 1383 additions and 107 deletions
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155
OndselSolver/ASMTAssembly.cpp
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@@ -5,7 +5,7 @@
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#include <string>
#include <cassert>
#include <fstream>
@@ -40,6 +40,7 @@
#include "SystemSolver.h"
#include "ASMTItemIJ.h"
#include "ASMTKinematicIJ.h"
#include <iomanip>
using namespace MbD;
@@ -369,15 +370,17 @@ void MbD::ASMTAssembly::runSinglePendulum()
void MbD::ASMTAssembly::runFile(const char* fileName)
{
std::ifstream stream(fileName);
if(stream.fail()) {
throw std::invalid_argument("File not found.");
}
if (stream.fail()) {
throw std::invalid_argument("File not found.");
}
std::string line;
std::vector<std::string> lines;
while (std::getline(stream, line)) {
lines.push_back(line);
}
assert(lines[0] == "freeCAD: 3D CAD with Motion Simulation by askoh.com");
bool bool1 = lines[0] == "freeCAD: 3D CAD with Motion Simulation by askoh.com";
bool bool2 = lines[0] == "OndselSolver";
assert(bool1 || bool2);
lines.erase(lines.begin());
if (lines[0] == "Assembly") {
@@ -386,7 +389,32 @@ void MbD::ASMTAssembly::runFile(const char* fileName)
assembly->parseASMT(lines);
assembly->runKINEMATIC();
}
}
void MbD::ASMTAssembly::readWriteFile(const char* fileName)
{
std::ifstream stream(fileName);
if (stream.fail()) {
throw std::invalid_argument("File not found.");
}
std::string line;
std::vector<std::string> lines;
while (std::getline(stream, line)) {
lines.push_back(line);
}
bool bool1 = lines[0] == "freeCAD: 3D CAD with Motion Simulation by askoh.com";
bool bool2 = lines[0] == "OndselSolver";
assert(bool1 || bool2);
lines.erase(lines.begin());
if (lines[0] == "Assembly") {
lines.erase(lines.begin());
auto assembly = CREATE<ASMTAssembly>::With();
assembly->parseASMT(lines);
assembly->runKINEMATIC();
assembly->outputFile("assembly.asmt");
ASMTAssembly::runFile("assembly.asmt");
}
}
void MbD::ASMTAssembly::initialize()
@@ -906,7 +934,38 @@ void MbD::ASMTAssembly::createMbD(std::shared_ptr<System> mbdSys, std::shared_pt
mbdSysSolver->orderMax = simulationParameters->orderMax;
mbdSysSolver->translationLimit = simulationParameters->translationLimit / mbdUnits->length;
mbdSysSolver->rotationLimit = simulationParameters->rotationLimit;
animationParameters = nullptr;
//animationParameters = nullptr;
}
void MbD::ASMTAssembly::outputFile(std::string filename)
{
std::ofstream os(filename);
os << std::setprecision(std::numeric_limits<double>::digits10 + 1);
// try {
os << "OndselSolver" << std::endl;
storeOnLevel(os, 0);
os.close();
// }
// catch (...) {
// os.close();
// }
}
void MbD::ASMTAssembly::storeOnLevel(std::ofstream& os, int level)
{
storeOnLevelString(os, level, "Assembly");
storeOnLevelNotes(os, level + 1);
storeOnLevelName(os, level + 1);
ASMTSpatialContainer::storeOnLevel(os, level);
storeOnLevelParts(os, level + 1);
storeOnLevelKinematicIJs(os, level + 1);
storeOnLevelConstraintSets(os, level + 1);
storeOnLevelForceTorques(os, level + 1);
constantGravity->storeOnLevel(os, level + 1);
simulationParameters->storeOnLevel(os, level + 1);
animationParameters->storeOnLevel(os, level + 1);
storeOnTimeSeries(os);
}
void MbD::ASMTAssembly::solve()
@@ -1089,4 +1148,88 @@ std::shared_ptr<ASMTPart> MbD::ASMTAssembly::partPartialNamed(std::string partia
return part;
}
void MbD::ASMTAssembly::storeOnLevelNotes(std::ofstream& os, int level)
{
storeOnLevelString(os, level, "Notes");
storeOnLevelString(os, level + 1, notes);
}
void MbD::ASMTAssembly::storeOnLevelParts(std::ofstream& os, int level)
{
storeOnLevelString(os, level, "Parts");
for (auto& part : *parts) {
part->storeOnLevel(os, level + 1);
}
}
void MbD::ASMTAssembly::storeOnLevelKinematicIJs(std::ofstream& os, int level)
{
storeOnLevelString(os, level, "KinematicIJs");
for (auto& kinematicIJ : *kinematicIJs) {
kinematicIJ->storeOnLevel(os, level);
}
}
void MbD::ASMTAssembly::storeOnLevelConstraintSets(std::ofstream& os, int level)
{
storeOnLevelString(os, level, "ConstraintSets");
storeOnLevelJoints(os, level + 1);
storeOnLevelMotions(os, level + 1);
storeOnLevelGeneralConstraintSets(os, level + 1);
}
void MbD::ASMTAssembly::storeOnLevelForceTorques(std::ofstream& os, int level)
{
storeOnLevelString(os, level, "ForceTorques");
for (auto& forceTorque : *forcesTorques) {
forceTorque->storeOnLevel(os, level + 1);
}
}
void MbD::ASMTAssembly::storeOnLevelJoints(std::ofstream& os, int level)
{
storeOnLevelString(os, level, "Joints");
for (auto& joint : *joints) {
joint->storeOnLevel(os, level + 1);
}
}
void MbD::ASMTAssembly::storeOnLevelMotions(std::ofstream& os, int level)
{
storeOnLevelString(os, level, "Motions");
for (auto& motion : *motions) {
motion->storeOnLevel(os, level + 1);
}
}
void MbD::ASMTAssembly::storeOnLevelGeneralConstraintSets(std::ofstream& os, int level)
{
storeOnLevelString(os, level, "GeneralConstraintSets");
//for (auto& generalConstraintSet : *generalConstraintSets) {
// generalConstraintSet->storeOnLevel(os, level);
//}
}
void MbD::ASMTAssembly::storeOnTimeSeries(std::ofstream& os)
{
os << "TimeSeries" << std::endl;
os << "Number\tInput\t";
for (int i = 1; i < times->size(); i++)
{
os << i << '\t';
}
os << std::endl;
os << "Time\tInput\t";
for (int i = 1; i < times->size(); i++)
{
os << times->at(i) << '\t';
}
os << std::endl;
os << "AssemblySeries\t" << fullName("") << std::endl;
ASMTSpatialContainer::storeOnTimeSeries(os);
for (auto& part : *parts) part->storeOnTimeSeries(os);
for (auto& joint : *joints) joint->storeOnTimeSeries(os);
for (auto& motion : *motions) motion->storeOnTimeSeries(os);
}