Merge pull request #18 from Ondsel-Development/OutputASMT

OndselSolver can read and write *.asmt files

OndselSolver/ASMTAnimationParameters.cpp

@@ -42,3 +42,20 @@ void MbD::ASMTAnimationParameters::parseASMT(std::vector<std::string>& lines)
 	lines.erase(lines.begin());
 
 }
+
+void MbD::ASMTAnimationParameters::storeOnLevel(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "AnimationParameters");
+	storeOnLevelString(os, level + 1, "nframe");
+	storeOnLevelInt(os, level + 2, nframe);
+	storeOnLevelString(os, level + 1, "icurrent");
+	storeOnLevelInt(os, level + 2, icurrent);
+	storeOnLevelString(os, level + 1, "istart");
+	storeOnLevelInt(os, level + 2, istart);
+	storeOnLevelString(os, level + 1, "iend");
+	storeOnLevelInt(os, level + 2, iend);
+	storeOnLevelString(os, level + 1, "isForward");
+	storeOnLevelBool(os, level + 2, isForward);
+	storeOnLevelString(os, level + 1, "framesPerSecond");
+	storeOnLevelInt(os, level + 2, framesPerSecond);
+}

OndselSolver/ASMTAnimationParameters.h

@@ -16,6 +16,7 @@ namespace MbD {
         //
     public:
         void parseASMT(std::vector<std::string>& lines) override;
+        void storeOnLevel(std::ofstream& os, int level) override;
 
 		int nframe = 1000000, icurrent = 0, istart = 0, iend = 1000000, framesPerSecond = 30;
         bool isForward = true;

OndselSolver/ASMTAssembly.cpp

@@ -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);
+}
+
 

OndselSolver/ASMTAssembly.h

@@ -44,6 +44,7 @@ namespace MbD {
 		static void runSinglePendulumSimplified();
 		static void runSinglePendulum();
 		static void runFile(const char* chars);
+		static void readWriteFile(const char* chars);
 		void initialize() override;
 		ASMTAssembly* root() override;
 		void setNotes(std::string str);
@@ -84,6 +85,8 @@ namespace MbD {
 		std::shared_ptr<std::map<std::string, std::shared_ptr<ASMTMarker>>>markerMap();
 		void deleteMbD();
 		void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
+		void outputFile(std::string filename);
+		void storeOnLevel(std::ofstream& os, int level) override;
 
 		/* This function performs a one shot solve of the assembly.*/
 		void solve();
@@ -108,6 +111,15 @@ namespace MbD {
 		void setSimulationParameters(std::shared_ptr<ASMTSimulationParameters> simulationParameters);
 		std::shared_ptr<ASMTPart> partNamed(std::string partName);
 		std::shared_ptr<ASMTPart> partPartialNamed(std::string partialName);
+		void storeOnLevelNotes(std::ofstream& os, int level);
+		void storeOnLevelParts(std::ofstream& os, int level);
+		void storeOnLevelKinematicIJs(std::ofstream& os, int level);
+		void storeOnLevelConstraintSets(std::ofstream& os, int level);
+		void storeOnLevelForceTorques(std::ofstream& os, int level);
+		void storeOnLevelJoints(std::ofstream& os, int level);
+		void storeOnLevelMotions(std::ofstream& os, int level);
+		void storeOnLevelGeneralConstraintSets(std::ofstream& os, int level);
+		void storeOnTimeSeries(std::ofstream& os) override;
 
 		std::string notes;
 		std::shared_ptr<std::vector<std::shared_ptr<ASMTPart>>> parts = std::make_shared<std::vector<std::shared_ptr<ASMTPart>>>();

OndselSolver/ASMTConstantGravity.cpp

@@ -38,3 +38,9 @@ void MbD::ASMTConstantGravity::setg(double a, double b, double c)
 {
 	g = std::make_shared<FullColumn<double>>(ListD{ a, b, c });
 }
+
+void MbD::ASMTConstantGravity::storeOnLevel(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "ConstantGravity");
+	storeOnLevelArray(os, level + 1, *g);
+}

OndselSolver/ASMTConstantGravity.h

@@ -24,6 +24,7 @@ namespace MbD {
         void setg(FColDsptr g);
 
         void setg(double a, double b, double c);
+        void storeOnLevel(std::ofstream& os, int level) override;
 
         FColDsptr g = std::make_shared<FullColumn<double>>(ListD{ 0.,0.,0. });
     };

OndselSolver/ASMTCylindricalJoint.cpp

@@ -5,7 +5,8 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+#include <fstream>	
+
 #include "ASMTCylindricalJoint.h"
 
 using namespace MbD;
@@ -14,3 +15,17 @@ std::shared_ptr<Joint> MbD::ASMTCylindricalJoint::mbdClassNew()
 {
     return CREATE<CylindricalJoint>::With();
 }
+
+void MbD::ASMTCylindricalJoint::storeOnLevel(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "CylindricalJoint");
+	storeOnLevelString(os, level + 1, "Name");
+	storeOnLevelString(os, level + 2, name);
+	ASMTItemIJ::storeOnLevel(os, level);
+}
+
+void MbD::ASMTCylindricalJoint::storeOnTimeSeries(std::ofstream& os)
+{
+	os << "CylindricalJointSeries\t" << fullName("") << std::endl;
+	ASMTItemIJ::storeOnTimeSeries(os);
+}

OndselSolver/ASMTCylindricalJoint.h

@@ -17,7 +17,8 @@ namespace MbD {
         //
     public:
         std::shared_ptr<Joint> mbdClassNew() override;
-
+        void storeOnLevel(std::ofstream& os, int level) override;
+        void storeOnTimeSeries(std::ofstream& os) override;
 
     };
 }

OndselSolver/ASMTFixedJoint.cpp

@@ -5,7 +5,8 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+#include <fstream>	
+
 #include "ASMTFixedJoint.h"
 
 using namespace MbD;
@@ -14,3 +15,17 @@ std::shared_ptr<Joint> MbD::ASMTFixedJoint::mbdClassNew()
 {
     return CREATE<FixedJoint>::With();
 }
+
+void MbD::ASMTFixedJoint::storeOnLevel(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "FixedJoint");
+	storeOnLevelString(os, level + 1, "Name");
+	storeOnLevelString(os, level + 2, name);
+	ASMTItemIJ::storeOnLevel(os, level);
+}
+
+void MbD::ASMTFixedJoint::storeOnTimeSeries(std::ofstream& os)
+{
+	os << "FixedJointSeries\t" << fullName("") << std::endl;
+	ASMTItemIJ::storeOnTimeSeries(os);
+}

OndselSolver/ASMTFixedJoint.h

@@ -17,6 +17,8 @@ namespace MbD {
         //
     public:
         std::shared_ptr<Joint> mbdClassNew() override;
+        void storeOnLevel(std::ofstream& os, int level) override;
+        void storeOnTimeSeries(std::ofstream& os) override;
 
     };
 }

OndselSolver/ASMTGeneralMotion.cpp

@@ -5,7 +5,8 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+#include <fstream>	
+
 #include "ASMTGeneralMotion.h"
 #include "ASMTAssembly.h"
 #include "SymbolicParser.h"
@@ -147,3 +148,17 @@ void MbD::ASMTGeneralMotion::createMbD(std::shared_ptr<System> mbdSys, std::shar
 	fangIJJ->rotOrder = rotOrder;
 	fullMotion->fangIJJ = fangIJJ;
 }
+
+void MbD::ASMTGeneralMotion::storeOnLevel(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "GeneralMotion");
+	storeOnLevelString(os, level + 1, "Name");
+	storeOnLevelString(os, level + 2, name);
+	ASMTItemIJ::storeOnLevel(os, level);
+}
+
+void MbD::ASMTGeneralMotion::storeOnTimeSeries(std::ofstream& os)
+{
+	os << "GeneralMotionSeries\t" << fullName("") << std::endl;
+	ASMTItemIJ::storeOnTimeSeries(os);
+}

OndselSolver/ASMTGeneralMotion.h

@@ -21,6 +21,8 @@ namespace MbD {
         void readRotationOrder(std::vector<std::string>& lines);
         std::shared_ptr<Joint> mbdClassNew() override;
         void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
+        void storeOnLevel(std::ofstream& os, int level) override;
+        void storeOnTimeSeries(std::ofstream& os) override;
 
         std::shared_ptr<FullColumn<std::string>> rIJI, angIJJ;
         std::string rotationOrder;

OndselSolver/ASMTItem.cpp

@@ -5,7 +5,7 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+
 #include "ASMTItem.h"
 #include "CREATE.h"
 #include "ASMTSpatialContainer.h"
@@ -173,3 +173,66 @@ std::shared_ptr<Constant> MbD::ASMTItem::sptrConstant(double value)
 {
 	return std::make_shared<Constant>(value);
 }
+
+void MbD::ASMTItem::storeOnLevel(std::ofstream& os, int level)
+{
+	assert(false);
+}
+
+void MbD::ASMTItem::storeOnLevelTabs(std::ofstream& os, int level)
+{
+	for (int i = 0; i < level; i++)
+	{
+		os << '\t';
+	}
+}
+
+void MbD::ASMTItem::storeOnLevelString(std::ofstream& os, int level, std::string str)
+{
+	storeOnLevelTabs(os, level);
+	os << str << std::endl;
+}
+
+void MbD::ASMTItem::storeOnLevelDouble(std::ofstream& os, int level, double value)
+{
+	storeOnLevelTabs(os, level);
+	os << value << std::endl;
+}
+
+void MbD::ASMTItem::storeOnLevelInt(std::ofstream& os, int level, int i)
+{
+	storeOnLevelTabs(os, level);
+	os << i << std::endl;
+}
+
+void MbD::ASMTItem::storeOnLevelBool(std::ofstream& os, int level, bool value)
+{
+	storeOnLevelTabs(os, level);
+	if (value) {
+		os << "true" << std::endl;
+	}
+	else {
+		os << "false" << std::endl;
+	}
+}
+
+void MbD::ASMTItem::storeOnLevelArray(std::ofstream& os, int level, std::vector<double> array)
+{
+	storeOnLevelTabs(os, level);
+	for (int i = 0; i < array.size(); i++)
+	{
+		os << array[i] << '\t';
+	}
+	os << std::endl;
+}
+
+void MbD::ASMTItem::storeOnLevelName(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "Name");
+	storeOnLevelString(os, level + 1, name);
+}
+
+void MbD::ASMTItem::storeOnTimeSeries(std::ofstream& os)
+{
+	assert(false);
+}

OndselSolver/ASMTItem.h

@@ -44,10 +44,31 @@ namespace MbD {
 		virtual void outputResults(AnalysisType type);
 		std::shared_ptr<Units> mbdUnits();
 		std::shared_ptr<Constant> sptrConstant(double value);
+		virtual void storeOnLevel(std::ofstream& os, int level);
+		virtual void storeOnLevelTabs(std::ofstream& os, int level);
+		virtual void storeOnLevelString(std::ofstream& os, int level, std::string str);
+		virtual void storeOnLevelDouble(std::ofstream& os, int level, double value);
+		virtual void storeOnLevelInt(std::ofstream& os, int level, int i);
+		virtual void storeOnLevelBool(std::ofstream& os, int level, bool value);
+		//template<typename T>
+		//void storeOnLevelArray(std::ofstream& os, int level, std::vector<T> array);
+		void storeOnLevelArray(std::ofstream& os, int level, std::vector<double> array);
+		void storeOnLevelName(std::ofstream& os, int level);
+		virtual void storeOnTimeSeries(std::ofstream& os);
 
 		std::string name;
 		ASMTItem* owner = nullptr;
 		std::shared_ptr<Item> mbdObject;
 	};
+	//template<typename T>
+	//inline void ASMTItem::storeOnLevelArray(std::ofstream& os, int level, std::vector<T> array)
+	//{
+	//	storeOnLevelTabs(os, level);
+	//	for (int i = 0; i < array.size(); i++)
+	//	{
+	//		os << array[i] << '\t';
+	//	}
+	//	//os << std::endl;
+	//}
 }
 

OndselSolver/ASMTItemIJ.cpp

@@ -5,7 +5,8 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+#include <fstream>	
+
 #include "ASMTItemIJ.h"
 
 MbD::ASMTItemIJ::ASMTItemIJ()
@@ -95,3 +96,51 @@ void MbD::ASMTItemIJ::readTZonIs(std::vector<std::string>& lines)
 	readDoublesInto(str, "TZonI", intzs);
 	lines.erase(lines.begin());
 }
+
+void MbD::ASMTItemIJ::storeOnLevel(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level + 1, "MarkerI");
+	storeOnLevelString(os, level + 2, markerI);
+	storeOnLevelString(os, level + 1, "MarkerJ");
+	storeOnLevelString(os, level + 2, markerJ);
+}
+
+void MbD::ASMTItemIJ::storeOnTimeSeries(std::ofstream& os)
+{
+	os << "FXonI\t";
+	for (int i = 0; i < fxs->size(); i++)
+	{
+		os << fxs->at(i) << '\t';
+	}
+	os << std::endl;
+	os << "FYonI\t";
+	for (int i = 0; i < fys->size(); i++)
+	{
+		os << fys->at(i) << '\t';
+	}
+	os << std::endl;
+	os << "FZonI\t";
+	for (int i = 0; i < fzs->size(); i++)
+	{
+		os << fzs->at(i) << '\t';
+	}
+	os << std::endl;
+	os << "TXonI\t";
+	for (int i = 0; i < txs->size(); i++)
+	{
+		os << txs->at(i) << '\t';
+	}
+	os << std::endl;
+	os << "TYonI\t";
+	for (int i = 0; i < tys->size(); i++)
+	{
+		os << tys->at(i) << '\t';
+	}
+	os << std::endl;
+	os << "TZonI\t";
+	for (int i = 0; i < tzs->size(); i++)
+	{
+		os << tzs->at(i) << '\t';
+	}
+	os << std::endl;
+}

OndselSolver/ASMTItemIJ.h

@@ -27,6 +27,8 @@ namespace MbD {
         void readTXonIs(std::vector<std::string>& lines);
         void readTYonIs(std::vector<std::string>& lines);
         void readTZonIs(std::vector<std::string>& lines);
+        void storeOnLevel(std::ofstream& os, int level) override;
+        void storeOnTimeSeries(std::ofstream& os) override;
 
         std::string markerI, markerJ;
         FRowDsptr fxs, fys, fzs, txs, tys, tzs;

OndselSolver/ASMTJoint.cpp

@@ -5,7 +5,8 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+#include <fstream>	
+
 #include "ASMTJoint.h"
 
 using namespace MbD;
@@ -34,3 +35,13 @@ void MbD::ASMTJoint::readJointSeries(std::vector<std::string>& lines)
 	readTYonIs(lines);
 	readTZonIs(lines);
 }
+
+void MbD::ASMTJoint::storeOnLevel(std::ofstream& os, int level)
+{
+	assert(false);
+}
+
+void MbD::ASMTJoint::storeOnTimeSeries(std::ofstream& os)
+{
+	assert(false);
+}

OndselSolver/ASMTJoint.h

@@ -18,6 +18,8 @@ namespace MbD {
     public:
         void parseASMT(std::vector<std::string>& lines) override;
         void readJointSeries(std::vector<std::string>& lines);
+        void storeOnLevel(std::ofstream& os, int level) override;
+        void storeOnTimeSeries(std::ofstream& os) override;
 
         std::shared_ptr<std::vector<std::shared_ptr<ForceTorqueData>>> jointSeries;
 

OndselSolver/ASMTMarker.cpp

@@ -5,7 +5,7 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+
 #include "ASMTMarker.h"
 #include "ASMTRefItem.h"
 #include "ASMTPart.h"
@@ -60,3 +60,11 @@ void MbD::ASMTMarker::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<
 	mkr->aApm = aApm();
 	mbdObject = mkr->endFrames->at(0);
 }
+
+void MbD::ASMTMarker::storeOnLevel(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "Marker");
+	storeOnLevelString(os, level + 1, "Name");
+	storeOnLevelString(os, level + 2, name);
+	ASMTSpatialItem::storeOnLevel(os, level);
+}

OndselSolver/ASMTMarker.h

@@ -22,6 +22,7 @@ namespace MbD {
         FColDsptr rpmp();
         FMatDsptr aApm();
         void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
+        void storeOnLevel(std::ofstream& os, int level) override;
 
     };
 }

OndselSolver/ASMTMotion.cpp

@@ -5,7 +5,8 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+#include <fstream>	
+
 #include "ASMTMotion.h"
 
 using namespace MbD;
@@ -31,3 +32,13 @@ void MbD::ASMTMotion::readMotionSeries(std::vector<std::string>& lines)
 void MbD::ASMTMotion::initMarkers()
 {
 }
+
+void MbD::ASMTMotion::storeOnLevel(std::ofstream& os, int level)
+{
+	assert(false);
+}
+
+void MbD::ASMTMotion::storeOnTimeSeries(std::ofstream& os)
+{
+	assert(false);
+}

OndselSolver/ASMTMotion.h

@@ -18,6 +18,8 @@ namespace MbD {
     public:
         void readMotionSeries(std::vector<std::string>& lines);
         virtual void initMarkers();
+        void storeOnLevel(std::ofstream& os, int level) override;
+        void storeOnTimeSeries(std::ofstream& os) override;
 
         std::shared_ptr<std::vector<std::shared_ptr<ForceTorqueData>>> motionSeries;
 

OndselSolver/ASMTNoRotationJoint.cpp

@@ -5,6 +5,7 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
+#include <fstream>	
 
 #include "ASMTNoRotationJoint.h"
 #include "NoRotationJoint.h"
@@ -15,3 +16,17 @@ std::shared_ptr<Joint> MbD::ASMTNoRotationJoint::mbdClassNew()
 {
     return CREATE<NoRotationJoint>::With();
 }
+
+void MbD::ASMTNoRotationJoint::storeOnLevel(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "NoRotationJoint");
+	storeOnLevelString(os, level + 1, "Name");
+	storeOnLevelString(os, level + 2, name);
+	ASMTItemIJ::storeOnLevel(os, level);
+}
+
+void MbD::ASMTNoRotationJoint::storeOnTimeSeries(std::ofstream& os)
+{
+	os << "NoRotationJointSeries\t" << fullName("") << std::endl;
+	ASMTItemIJ::storeOnTimeSeries(os);
+}

OndselSolver/ASMTNoRotationJoint.h

@@ -16,6 +16,8 @@ namespace MbD {
         //
     public:
         std::shared_ptr<Joint> mbdClassNew() override;
+        void storeOnLevel(std::ofstream& os, int level) override;
+        void storeOnTimeSeries(std::ofstream& os) override;
 
     };
 }

OndselSolver/ASMTPart.cpp

@@ -5,7 +5,8 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+#include <fstream>	
+
 #include "ASMTPart.h"
 #include "CREATE.h"
 #include "ASMTPrincipalMassMarker.h"
@@ -116,3 +117,29 @@ void MbD::ASMTPart::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Un
 	ASMTSpatialContainer::createMbD(mbdSys, mbdUnits);
 	if (isFixed) std::static_pointer_cast<Part>(mbdObject)->asFixed();
 }
+
+void MbD::ASMTPart::storeOnLevel(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "Part");
+	storeOnLevelName(os, level + 1);
+	storeOnLevelPosition(os, level + 1);
+	storeOnLevelRotationMatrix(os, level + 1);
+	storeOnLevelVelocity(os, level + 1);
+	storeOnLevelOmega(os, level + 1);
+	storeOnLevelString(os, level + 1, "FeatureOrder");
+	storeOnLevelMassMarker(os, level + 1);
+	storeOnLevelRefPoints(os, level + 1);
+	storeOnLevelRefCurves(os, level + 1);
+	storeOnLevelRefSurfaces(os, level + 1);
+}
+
+void MbD::ASMTPart::storeOnLevelMassMarker(std::ofstream& os, int level)
+{
+	principalMassMarker->storeOnLevel(os, level);
+}
+
+void MbD::ASMTPart::storeOnTimeSeries(std::ofstream& os)
+{
+	os << "PartSeries\t" << fullName("") << std::endl;
+	ASMTSpatialContainer::storeOnTimeSeries(os);
+}

OndselSolver/ASMTPart.h

@@ -25,6 +25,9 @@ namespace MbD {
         FColDsptr omeOpO() override;
         ASMTPart* part() override;
         void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
+        void storeOnLevel(std::ofstream& os, int level) override;
+        void storeOnLevelMassMarker(std::ofstream& os, int level);
+        void storeOnTimeSeries(std::ofstream& os) override;
 
         //std::shared_ptr<std::vector<std::shared_ptr<ASMTFeature>>> featureOrder;
         std::shared_ptr<std::vector<std::shared_ptr<PosVelAccData>>> partSeries;

OndselSolver/ASMTPointInLineJoint.cpp

@@ -5,6 +5,7 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
+#include <fstream>	
 
 #include "ASMTPointInLineJoint.h"
 #include "PointInLineJoint.h"
@@ -14,4 +15,18 @@ using namespace MbD;
 std::shared_ptr<Joint> MbD::ASMTPointInLineJoint::mbdClassNew()
 {
     return CREATE<PointInLineJoint>::With();
-}
+}
+
+void MbD::ASMTPointInLineJoint::storeOnLevel(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "PointInLineJoint");
+	storeOnLevelString(os, level + 1, "Name");
+	storeOnLevelString(os, level + 2, name);
+	ASMTItemIJ::storeOnLevel(os, level);
+}
+
+void MbD::ASMTPointInLineJoint::storeOnTimeSeries(std::ofstream& os)
+{
+	os << "PointInLineJointSeries\t" << fullName("") << std::endl;
+	ASMTItemIJ::storeOnTimeSeries(os);
+}

OndselSolver/ASMTPointInLineJoint.h

@@ -16,6 +16,8 @@ namespace MbD {
         //
     public:
         std::shared_ptr<Joint> mbdClassNew() override;
+        void storeOnLevel(std::ofstream& os, int level) override;
+        void storeOnTimeSeries(std::ofstream& os) override;
 
     };
 }

OndselSolver/ASMTPointInPlaneJoint.cpp

@@ -5,7 +5,8 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+#include <fstream>	
+
 #include "ASMTPointInPlaneJoint.h"
 #include "PointInPlaneJoint.h"
 
@@ -38,3 +39,17 @@ void MbD::ASMTPointInPlaneJoint::createMbD(std::shared_ptr<System> mbdSys, std::
 	pointInPlaneJoint->offset = offset;
 }
 
+void MbD::ASMTPointInPlaneJoint::storeOnLevel(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "PointInPlaneJoint");
+	storeOnLevelString(os, level + 1, "Name");
+	storeOnLevelString(os, level + 2, name);
+	ASMTItemIJ::storeOnLevel(os, level);
+}
+
+void MbD::ASMTPointInPlaneJoint::storeOnTimeSeries(std::ofstream& os)
+{
+	os << "PointInPlaneJointSeries\t" << fullName("") << std::endl;
+	ASMTItemIJ::storeOnTimeSeries(os);
+}
+

OndselSolver/ASMTPointInPlaneJoint.h

@@ -19,6 +19,8 @@ namespace MbD {
         void parseASMT(std::vector<std::string>& lines) override;
         void readOffset(std::vector<std::string>& lines);
         void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
+        void storeOnLevel(std::ofstream& os, int level) override;
+        void storeOnTimeSeries(std::ofstream& os) override;
 
         double offset;
     };

OndselSolver/ASMTPrincipalMassMarker.cpp

@@ -18,7 +18,7 @@ void MbD::ASMTPrincipalMassMarker::parseASMT(std::vector<std::string>& lines)
 	auto leadingTabs = lines[0].substr(0, pos);
 	assert(lines[0] == (leadingTabs + "Name"));
 	lines.erase(lines.begin());
-	name = lines[0];
+	name = readString(lines[0]);
 	lines.erase(lines.begin());
 	assert(lines[0] == (leadingTabs + "Position3D"));
 	lines.erase(lines.begin());
@@ -72,3 +72,17 @@ void MbD::ASMTPrincipalMassMarker::setMomentOfInertias(double a, double b, doubl
 {
 	momentOfInertias = std::make_shared<DiagonalMatrix<double>>(ListD{ a, b, c });
 }
+
+void MbD::ASMTPrincipalMassMarker::storeOnLevel(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "PrincipalMassMarker");
+	storeOnLevelString(os, level + 1, "Name");
+	storeOnLevelString(os, level + 2, name);
+	ASMTSpatialItem::storeOnLevel(os, level);
+	storeOnLevelString(os, level + 1, "Mass");
+	storeOnLevelDouble(os, level + 2, mass);
+	storeOnLevelString(os, level + 1, "MomentOfInertias");
+	storeOnLevelArray(os, level + 2, *momentOfInertias);
+	storeOnLevelString(os, level + 1, "Density");
+	storeOnLevelDouble(os, level + 2, density);
+}

OndselSolver/ASMTPrincipalMassMarker.h

@@ -22,6 +22,7 @@ namespace MbD {
 
         // Overloads to simplify syntax.
         void setMomentOfInertias(double a, double b, double c);
+        void storeOnLevel(std::ofstream& os, int level) override;
 
         double mass = 0.0;
         double density = 0.0;

OndselSolver/ASMTRefCurve.cpp

@@ -15,3 +15,8 @@ void MbD::ASMTRefCurve::parseASMT(std::vector<std::string>& lines)
 {
 	assert(false);
 }
+
+void MbD::ASMTRefCurve::storeOnLevel(std::ofstream& os, int level)
+{
+	assert(false);
+}

OndselSolver/ASMTRefCurve.h

@@ -16,6 +16,7 @@ namespace MbD {
         //
     public:
         void parseASMT(std::vector<std::string>& lines) override;
+        void storeOnLevel(std::ofstream& os, int level) override;
 
 
     };

OndselSolver/ASMTRefItem.cpp

@@ -41,3 +41,12 @@ void MbD::ASMTRefItem::readMarker(std::vector<std::string>& lines)
 	markers->push_back(marker);
 	marker->owner = this;
 }
+
+void MbD::ASMTRefItem::storeOnLevel(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "RefPoints");
+	ASMTSpatialItem::storeOnLevel(os, level+1);
+	for (auto& marker : *markers) {
+		marker->storeOnLevel(os, level);
+	}
+}

OndselSolver/ASMTRefItem.h

@@ -20,6 +20,7 @@ namespace MbD {
         void addMarker(std::shared_ptr<ASMTMarker> marker);
         void readMarkers(std::vector<std::string>& lines);
         void readMarker(std::vector<std::string>& lines);
+        void storeOnLevel(std::ofstream& os, int level) override;
 
         std::shared_ptr<std::vector<std::shared_ptr<ASMTMarker>>> markers = std::make_shared<std::vector<std::shared_ptr<ASMTMarker>>>();
 

OndselSolver/ASMTRefPoint.cpp

@@ -5,7 +5,7 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+
 #include "ASMTRefPoint.h"
 #include "ASMTMarker.h"
 #include "CREATE.h"
@@ -30,3 +30,13 @@ void MbD::ASMTRefPoint::createMbD(std::shared_ptr<System> mbdSys, std::shared_pt
 		marker->createMbD(mbdSys, mbdUnits);
 	}
 }
+
+void MbD::ASMTRefPoint::storeOnLevel(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "RefPoint");
+	ASMTSpatialItem::storeOnLevel(os, level);
+	storeOnLevelString(os, level + 1, "Markers");
+	for (auto& marker : *markers) {
+		marker->storeOnLevel(os, level + 2);
+	}
+}

OndselSolver/ASMTRefPoint.h

@@ -20,6 +20,7 @@ namespace MbD {
         void parseASMT(std::vector<std::string>& lines) override;
         std::string fullName(std::string partialName) override;
         void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
+        void storeOnLevel(std::ofstream& os, int level) override;
 
     
     };

OndselSolver/ASMTRefSurface.cpp

@@ -15,3 +15,8 @@ void MbD::ASMTRefSurface::parseASMT(std::vector<std::string>& lines)
 {
 	assert(false);
 }
+
+void MbD::ASMTRefSurface::storeOnLevel(std::ofstream& os, int level)
+{
+	assert(false);
+}

OndselSolver/ASMTRefSurface.h

@@ -16,6 +16,7 @@ namespace MbD {
         //
     public:
         void parseASMT(std::vector<std::string>& lines) override;
+        void storeOnLevel(std::ofstream& os, int level) override;
 
 
     };

OndselSolver/ASMTRevoluteJoint.cpp

@@ -5,12 +5,27 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+#include <fstream>	
+
 #include "ASMTRevoluteJoint.h"
 
 using namespace MbD;
 
 std::shared_ptr<Joint> MbD::ASMTRevoluteJoint::mbdClassNew()
 {
-    return CREATE<RevoluteJoint>::With();
+	return CREATE<RevoluteJoint>::With();
+}
+
+void MbD::ASMTRevoluteJoint::storeOnLevel(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "RevoluteJoint");
+	storeOnLevelString(os, level + 1, "Name");
+	storeOnLevelString(os, level + 2, name);
+	ASMTItemIJ::storeOnLevel(os, level);
+}
+
+void MbD::ASMTRevoluteJoint::storeOnTimeSeries(std::ofstream& os)
+{
+	os << "RevoluteJointSeries\t" << fullName("") << std::endl;
+	ASMTItemIJ::storeOnTimeSeries(os);
 }

OndselSolver/ASMTRevoluteJoint.h

@@ -17,6 +17,8 @@ namespace MbD {
         //
     public:
         std::shared_ptr<Joint> mbdClassNew() override;
+        void storeOnLevel(std::ofstream& os, int level) override;
+        void storeOnTimeSeries(std::ofstream& os) override;
 
     };
 }

OndselSolver/ASMTRotationalMotion.cpp

@@ -5,6 +5,7 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
+#include <fstream>	
 
 #include "ASMTRotationalMotion.h"
 #include "ASMTAssembly.h"
@@ -20,6 +21,10 @@ using namespace MbD;
 void MbD::ASMTRotationalMotion::parseASMT(std::vector<std::string>& lines)
 {
 	readName(lines);
+	if (lines[0].find("MarkerI") != std::string::npos) {
+		readMarkerI(lines);
+		readMarkerJ(lines);
+	}
 	readMotionJoint(lines);
 	readRotationZ(lines);
 }
@@ -82,3 +87,21 @@ void MbD::ASMTRotationalMotion::setRotationZ(std::string rotZ)
 {
 	rotationZ = rotZ;
 }
+
+void MbD::ASMTRotationalMotion::storeOnLevel(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "RotationalMotion");
+	storeOnLevelString(os, level + 1, "Name");
+	storeOnLevelString(os, level + 2, name);
+	ASMTItemIJ::storeOnLevel(os, level);
+	storeOnLevelString(os, level + 1, "MotionJoint");
+	storeOnLevelString(os, level + 2, motionJoint);
+	storeOnLevelString(os, level + 1, "RotationZ");
+	storeOnLevelString(os, level + 2, rotationZ);
+}
+
+void MbD::ASMTRotationalMotion::storeOnTimeSeries(std::ofstream& os)
+{
+	os << "RotationalMotionSeries\t" << fullName("") << std::endl;
+	ASMTItemIJ::storeOnTimeSeries(os);
+}

OndselSolver/ASMTRotationalMotion.h

@@ -24,6 +24,8 @@ namespace MbD {
         std::shared_ptr<Joint> mbdClassNew() override;
         void setMotionJoint(std::string motionJoint);
         void setRotationZ(std::string rotZ);
+        void storeOnLevel(std::ofstream& os, int level) override;
+        void storeOnTimeSeries(std::ofstream& os) override;
 
         std::string motionJoint, rotationZ;
     };

OndselSolver/ASMTSimulationParameters.cpp

@@ -78,3 +78,20 @@ void MbD::ASMTSimulationParameters::setmaxIter(int maxIter)
 	iterMaxPosKine = maxIter;
 	iterMaxAccKine = maxIter;
 }
+
+void MbD::ASMTSimulationParameters::storeOnLevel(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "SimulationParameters");
+	storeOnLevelString(os, level + 1, "tstart");
+	storeOnLevelDouble(os, level + 2, tstart);
+	storeOnLevelString(os, level + 1, "tend");
+	storeOnLevelDouble(os, level + 2, tend);
+	storeOnLevelString(os, level + 1, "hmin");
+	storeOnLevelDouble(os, level + 2, hmin);
+	storeOnLevelString(os, level + 1, "hmax");
+	storeOnLevelDouble(os, level + 2, hmax);
+	storeOnLevelString(os, level + 1, "hout");
+	storeOnLevelDouble(os, level + 2, hout);
+	storeOnLevelString(os, level + 1, "errorTol");
+	storeOnLevelDouble(os, level + 2, errorTol);
+}

OndselSolver/ASMTSimulationParameters.h

@@ -23,6 +23,7 @@ namespace MbD {
 		void sethout(double hout);
 		void seterrorTol(double errorTol);
 		void setmaxIter(int maxIter);
+		void storeOnLevel(std::ofstream& os, int level) override;
 
 		double tstart = 0.0, tend = 1.0, hmin = 1.0e-9, hmax = 1.0e9, hout = 0.1, errorTol = 1.0e-6;
 		double errorTolPosKine = 1.0e-6, errorTolAccKine = 1.0e-6, corAbsTol = 1.0e-6, corRelTol = 1.0e-6;

OndselSolver/ASMTSpatialContainer.cpp

@@ -5,7 +5,9 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+#include <algorithm>
+#include <fstream>	
+
 #include "ASMTSpatialContainer.h"
 #include "Units.h"
 #include "Part.h"
@@ -13,8 +15,7 @@
 #include "ASMTRefPoint.h"
 #include "ASMTRefCurve.h"
 #include "ASMTRefSurface.h"
-#include <algorithm>
-//#include "ASMTPrincipalMassMarker.h"
+ //#include "ASMTPrincipalMassMarker.h"
 
 
 using namespace MbD;
@@ -489,3 +490,210 @@ std::shared_ptr<std::vector<std::shared_ptr<ASMTMarker>>> MbD::ASMTSpatialContai
 	}
 	return markers;
 }
+
+void MbD::ASMTSpatialContainer::storeOnLevel(std::ofstream& os, int level)
+{
+	ASMTSpatialItem::storeOnLevel(os, level);
+	storeOnLevelVelocity(os, level + 1);
+	storeOnLevelOmega(os, level + 1);
+	storeOnLevelRefPoints(os, level + 1);
+	storeOnLevelRefCurves(os, level + 1);
+	storeOnLevelRefSurfaces(os, level + 1);
+}
+
+void MbD::ASMTSpatialContainer::setVelocity3D(FColDsptr vec)
+{
+	velocity3D = vec;
+}
+
+void MbD::ASMTSpatialContainer::setOmega3D(FColDsptr vec)
+{
+	omega3D = vec;
+}
+
+void MbD::ASMTSpatialContainer::readVelocity3D(std::vector<std::string>& lines)
+{
+	assert(lines[0].find("Velocity3D") != std::string::npos);
+	lines.erase(lines.begin());
+	std::istringstream iss(lines[0]);
+	velocity3D = std::make_shared<FullColumn<double>>();
+	double d;
+	while (iss >> d) {
+		velocity3D->push_back(d);
+	}
+	lines.erase(lines.begin());
+}
+
+void MbD::ASMTSpatialContainer::readOmega3D(std::vector<std::string>& lines)
+{
+	assert(lines[0].find("Omega3D") != std::string::npos);
+	lines.erase(lines.begin());
+	std::istringstream iss(lines[0]);
+	omega3D = std::make_shared<FullColumn<double>>();
+	double d;
+	while (iss >> d) {
+		omega3D->push_back(d);
+	}
+	lines.erase(lines.begin());
+}
+
+void MbD::ASMTSpatialContainer::setVelocity3D(double a, double b, double c)
+{
+	velocity3D = std::make_shared<FullColumn<double>>(ListD{ a, b, c });
+}
+
+void MbD::ASMTSpatialContainer::setOmega3D(double a, double b, double c)
+{
+	omega3D = std::make_shared<FullColumn<double>>(ListD{ a, b, c });
+}
+
+void MbD::ASMTSpatialContainer::storeOnLevelVelocity(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "Velocity3D");
+	storeOnLevelArray(os, level + 1, *velocity3D);
+}
+
+void MbD::ASMTSpatialContainer::storeOnLevelOmega(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "Omega3D");
+	storeOnLevelArray(os, level + 1, *omega3D);
+}
+
+void MbD::ASMTSpatialContainer::storeOnLevelRefPoints(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "RefPoints");
+	for (auto& refPoint : *refPoints)
+	{
+		refPoint->storeOnLevel(os, level + 1);
+	}
+}
+
+void MbD::ASMTSpatialContainer::storeOnLevelRefCurves(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "RefCurves");
+	for (auto& refCurve : *refCurves)
+	{
+		refCurve->storeOnLevel(os, level);
+	}
+}
+
+void MbD::ASMTSpatialContainer::storeOnLevelRefSurfaces(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "RefSurfaces");
+	for (auto& refSurface : *refSurfaces)
+	{
+		refSurface->storeOnLevel(os, level);
+	}
+}
+
+void MbD::ASMTSpatialContainer::storeOnTimeSeries(std::ofstream& os)
+{
+	os << "X\t";
+	for (int i = 0; i < xs->size(); i++)
+	{
+		os << xs->at(i) << '\t';
+	}
+	os << std::endl;
+	os << "Y\t";
+	for (int i = 0; i < ys->size(); i++)
+	{
+		os << ys->at(i) << '\t';
+	}
+	os << std::endl;
+	os << "Z\t";
+	for (int i = 0; i < zs->size(); i++)
+	{
+		os << zs->at(i) << '\t';
+	}
+	os << std::endl;
+	os << "Bryantx\t";
+	for (int i = 0; i < bryxs->size(); i++)
+	{
+		os << bryxs->at(i) << '\t';
+	}
+	os << std::endl;
+	os << "Bryanty\t";
+	for (int i = 0; i < bryys->size(); i++)
+	{
+		os << bryys->at(i) << '\t';
+	}
+	os << std::endl;
+	os << "Bryantz\t";
+	for (int i = 0; i < bryzs->size(); i++)
+	{
+		os << bryzs->at(i) << '\t';
+	}
+	os << std::endl;
+	os << "VX\t";
+	for (int i = 0; i < vxs->size(); i++)
+	{
+		os << vxs->at(i) << '\t';
+	}
+	os << std::endl;
+	os << "VY\t";
+	for (int i = 0; i < vys->size(); i++)
+	{
+		os << vys->at(i) << '\t';
+	}
+	os << std::endl;
+	os << "VZ\t";
+	for (int i = 0; i < vzs->size(); i++)
+	{
+		os << vzs->at(i) << '\t';
+	}
+	os << std::endl;
+	os << "OmegaX\t";
+	for (int i = 0; i < omexs->size(); i++)
+	{
+		os << omexs->at(i) << '\t';
+	}
+	os << std::endl;
+	os << "OmegaY\t";
+	for (int i = 0; i < omeys->size(); i++)
+	{
+		os << omeys->at(i) << '\t';
+	}
+	os << std::endl;
+	os << "OmegaZ\t";
+	for (int i = 0; i < omezs->size(); i++)
+	{
+		os << omezs->at(i) << '\t';
+	}
+	os << std::endl;
+	os << "AX\t";
+	for (int i = 0; i < axs->size(); i++)
+	{
+		os << axs->at(i) << '\t';
+	}
+	os << std::endl;
+	os << "AY\t";
+	for (int i = 0; i < ays->size(); i++)
+	{
+		os << ays->at(i) << '\t';
+	}
+	os << std::endl;
+	os << "AZ\t";
+	for (int i = 0; i < azs->size(); i++)
+	{
+		os << azs->at(i) << '\t';
+	}
+	os << std::endl;
+	os << "AlphaX\t";
+	for (int i = 0; i < alpxs->size(); i++)
+	{
+		os << alpxs->at(i) << '\t';
+	}
+	os << std::endl;
+	os << "AlphaY\t";
+	for (int i = 0; i < alpys->size(); i++)
+	{
+		os << alpys->at(i) << '\t';
+	}
+	os << std::endl;
+	os << "AlphaZ\t";
+	for (int i = 0; i < alpzs->size(); i++)
+	{
+		os << alpzs->at(i) << '\t';
+	}
+	os << std::endl;
+}

OndselSolver/ASMTSpatialContainer.h

@@ -73,7 +73,22 @@ namespace MbD {
         void addMarker(std::shared_ptr<ASMTMarker> marker);
         std::string generateUniqueMarkerName();
         std::shared_ptr<std::vector<std::shared_ptr<ASMTMarker>>> markerList();
+        void setVelocity3D(FColDsptr velocity3D);
+        void setOmega3D(FColDsptr omega3D);
+        void readVelocity3D(std::vector<std::string>& lines);
+        void readOmega3D(std::vector<std::string>& lines);
+        void setVelocity3D(double a, double b, double c);
+        void setOmega3D(double a, double b, double c);
+        void storeOnLevel(std::ofstream& os, int level) override;
+        void storeOnLevelVelocity(std::ofstream& os, int level);
+        void storeOnLevelOmega(std::ofstream& os, int level);
+        void storeOnLevelRefPoints(std::ofstream& os, int level);
+        void storeOnLevelRefCurves(std::ofstream& os, int level);
+        void storeOnLevelRefSurfaces(std::ofstream& os, int level);
+        void storeOnTimeSeries(std::ofstream& os) override;
 
+        FColDsptr velocity3D = std::make_shared<FullColumn<double>>(3);
+        FColDsptr omega3D = std::make_shared<FullColumn<double>>(3);
         std::shared_ptr<std::vector<std::shared_ptr<ASMTRefPoint>>> refPoints;
         std::shared_ptr<std::vector<std::shared_ptr<ASMTRefCurve>>> refCurves;
         std::shared_ptr<std::vector<std::shared_ptr<ASMTRefSurface>>> refSurfaces;

OndselSolver/ASMTSpatialItem.cpp

@@ -5,7 +5,7 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+
 #include "ASMTSpatialItem.h"
 #include "Units.h"
 #include "Part.h"
@@ -30,16 +30,6 @@ void MbD::ASMTSpatialItem::setRotationMatrix(FMatDsptr mat)
 	rotationMatrix = mat;
 }
 
-void MbD::ASMTSpatialItem::setVelocity3D(FColDsptr vec)
-{
-	velocity3D = vec;
-}
-
-void MbD::ASMTSpatialItem::setOmega3D(FColDsptr vec)
-{
-	omega3D = vec;
-}
-
 void MbD::ASMTSpatialItem::readPosition3D(std::vector<std::string>& lines)
 {
 	assert(lines[0].find("Position3D") != std::string::npos);
@@ -70,32 +60,6 @@ void MbD::ASMTSpatialItem::readRotationMatrix(std::vector<std::string>& lines)
 	}
 }
 
-void MbD::ASMTSpatialItem::readVelocity3D(std::vector<std::string>& lines)
-{
-	assert(lines[0].find("Velocity3D") != std::string::npos);
-	lines.erase(lines.begin());
-	std::istringstream iss(lines[0]);
-	velocity3D = std::make_shared<FullColumn<double>>();
-	double d;
-	while (iss >> d) {
-		velocity3D->push_back(d);
-	}
-	lines.erase(lines.begin());
-}
-
-void MbD::ASMTSpatialItem::readOmega3D(std::vector<std::string>& lines)
-{
-	assert(lines[0].find("Omega3D") != std::string::npos);
-	lines.erase(lines.begin());
-	std::istringstream iss(lines[0]);
-	omega3D = std::make_shared<FullColumn<double>>();
-	double d;
-	while (iss >> d) {
-		omega3D->push_back(d);
-	}
-	lines.erase(lines.begin());
-}
-
 void MbD::ASMTSpatialItem::getPosition3D(double& a, double& b, double& c)
 {
 	a = position3D->at(0);
@@ -118,16 +82,6 @@ void MbD::ASMTSpatialItem::setPosition3D(double a, double b, double c)
 	position3D = std::make_shared<FullColumn<double>>(ListD{ a, b, c });
 }
 
-void MbD::ASMTSpatialItem::setVelocity3D(double a, double b, double c)
-{
-	velocity3D = std::make_shared<FullColumn<double>>(ListD{ a, b, c });
-}
-
-void MbD::ASMTSpatialItem::setOmega3D(double a, double b, double c)
-{
-	omega3D = std::make_shared<FullColumn<double>>(ListD{ a, b, c });
-}
-
 void MbD::ASMTSpatialItem::setRotationMatrix(double v11, double v12, double v13,
 	double v21, double v22, double v23,
 	double v31, double v32, double v33)
@@ -137,4 +91,25 @@ void MbD::ASMTSpatialItem::setRotationMatrix(double v11, double v12, double v13,
 		{ v21, v22, v23 },
 		{ v31, v32, v33 }
 		});
-}
+}
+
+void MbD::ASMTSpatialItem::storeOnLevel(std::ofstream& os, int level)
+{
+	storeOnLevelPosition(os, level + 1);
+	storeOnLevelRotationMatrix(os, level + 1);
+}
+
+void MbD::ASMTSpatialItem::storeOnLevelPosition(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "Position3D");
+	storeOnLevelArray(os, level + 1, *position3D);
+}
+
+void MbD::ASMTSpatialItem::storeOnLevelRotationMatrix(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "RotationMatrix");
+	for (int i = 0; i < 3; i++)
+	{
+		storeOnLevelArray(os, level + 1, *rotationMatrix->at(i));
+	}
+}

OndselSolver/ASMTSpatialItem.h

@@ -17,32 +17,27 @@ namespace MbD {
 	public:
 		void setPosition3D(FColDsptr position3D);
 		void setRotationMatrix(FMatDsptr rotationMatrix);
-		void setVelocity3D(FColDsptr velocity3D);
-		void setOmega3D(FColDsptr omega3D);
 		void readPosition3D(std::vector<std::string>& lines);
 		void readRotationMatrix(std::vector<std::string>& lines);
-		void readVelocity3D(std::vector<std::string>& lines);
-		void readOmega3D(std::vector<std::string>& lines);
-
-		FColDsptr position3D = std::make_shared<FullColumn<double>>(3);
-		FColDsptr velocity3D = std::make_shared<FullColumn<double>>(3);
-		FColDsptr omega3D = std::make_shared<FullColumn<double>>(3);
-		FMatDsptr rotationMatrix = std::make_shared<FullMatrix<double>>(ListListD{
-				{ 1, 0, 0 },
-				{ 0, 1, 0 },
-				{ 0, 0, 1 }
-			});
 
 		// Overloads to simplify syntax.
 		void getPosition3D(double& a, double& b, double& c);
 		void getQuarternions(double& q0, double& q1, double& q2, double& q3);
 		void setPosition3D(double a, double b, double c);
 		void setQuarternions(double q0, double q1, double q2, double q3);
-		void setVelocity3D(double a, double b, double c);
-		void setOmega3D(double a, double b, double c);
 		void setRotationMatrix(double v11, double v12, double v13,
 			double v21, double v22, double v23,
 			double v31, double v32, double v33);
+		void storeOnLevel(std::ofstream& os, int level) override;
+		void storeOnLevelPosition(std::ofstream& os, int level);
+		void storeOnLevelRotationMatrix(std::ofstream& os, int level);
+
+		FColDsptr position3D = std::make_shared<FullColumn<double>>(3);
+		FMatDsptr rotationMatrix = std::make_shared<FullMatrix<double>>(ListListD{
+				{ 1, 0, 0 },
+				{ 0, 1, 0 },
+				{ 0, 0, 1 }
+			});
 	};
 }
 

OndselSolver/ASMTSphericalJoint.cpp

@@ -5,7 +5,8 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+#include <fstream>	
+
 #include "ASMTSphericalJoint.h"
 
 using namespace MbD;
@@ -14,3 +15,17 @@ std::shared_ptr<Joint> MbD::ASMTSphericalJoint::mbdClassNew()
 {
     return CREATE<SphericalJoint>::With();
 }
+
+void MbD::ASMTSphericalJoint::storeOnLevel(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "SphericalJoint");
+	storeOnLevelString(os, level + 1, "Name");
+	storeOnLevelString(os, level + 2, name);
+	ASMTItemIJ::storeOnLevel(os, level);
+}
+
+void MbD::ASMTSphericalJoint::storeOnTimeSeries(std::ofstream& os)
+{
+	os << "SphericalJointSeries\t" << fullName("") << std::endl;
+	ASMTItemIJ::storeOnTimeSeries(os);
+}

OndselSolver/ASMTSphericalJoint.h

@@ -17,6 +17,8 @@ namespace MbD {
         //
     public:
         std::shared_ptr<Joint> mbdClassNew() override;
+        void storeOnLevel(std::ofstream& os, int level) override;
+        void storeOnTimeSeries(std::ofstream& os) override;
 
     };
 }

OndselSolver/ASMTTranslationalJoint.cpp

@@ -5,7 +5,8 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+#include <fstream>	
+
 #include "ASMTTranslationalJoint.h"
 
 using namespace MbD;
@@ -14,3 +15,17 @@ std::shared_ptr<Joint> MbD::ASMTTranslationalJoint::mbdClassNew()
 {
     return CREATE<TranslationalJoint>::With();
 }
+
+void MbD::ASMTTranslationalJoint::storeOnLevel(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "TranslationalJoint");
+	storeOnLevelString(os, level + 1, "Name");
+	storeOnLevelString(os, level + 2, name);
+	ASMTItemIJ::storeOnLevel(os, level);
+}
+
+void MbD::ASMTTranslationalJoint::storeOnTimeSeries(std::ofstream& os)
+{
+	os << "TranslationalJointSeries\t" << fullName("") << std::endl;
+	ASMTItemIJ::storeOnTimeSeries(os);
+}

OndselSolver/ASMTTranslationalJoint.h

@@ -17,6 +17,8 @@ namespace MbD {
         //
     public:
         std::shared_ptr<Joint> mbdClassNew() override;
+        void storeOnLevel(std::ofstream& os, int level) override;
+        void storeOnTimeSeries(std::ofstream& os) override;
 
 
     };

OndselSolver/ASMTTranslationalMotion.cpp

@@ -5,7 +5,8 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+#include <fstream>	
+
 #include "ASMTTranslationalMotion.h"
 #include "ASMTAssembly.h"
 #include "SymbolicParser.h"
@@ -22,21 +23,6 @@ void MbD::ASMTTranslationalMotion::parseASMT(std::vector<std::string>& lines)
 	readName(lines);
 	readMotionJoint(lines);
 	readTranslationZ(lines);
-
-	//size_t pos = lines[0].find_first_not_of("\t");
-	//auto leadingTabs = lines[0].substr(0, pos);
-	//assert(lines[0] == (leadingTabs + "Name"));
-	//lines.erase(lines.begin());
-	//name = lines[0];
-	//lines.erase(lines.begin());
-	//assert(lines[0] == (leadingTabs + "MotionJoint"));
-	//lines.erase(lines.begin());
-	//motionJoint = lines[0];
-	//lines.erase(lines.begin());
-	//assert(lines[0] == (leadingTabs + "TranslationZ"));
-	//lines.erase(lines.begin());
-	//translationZ = lines[0];
-	//lines.erase(lines.begin());
 }
 
 void MbD::ASMTTranslationalMotion::initMarkers()
@@ -81,3 +67,17 @@ void MbD::ASMTTranslationalMotion::readTranslationZ(std::vector<std::string>& li
 	translationZ = readString(lines[0]);
 	lines.erase(lines.begin());
 }
+
+void MbD::ASMTTranslationalMotion::storeOnLevel(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "TranslationalMotion");
+	storeOnLevelString(os, level + 1, "Name");
+	storeOnLevelString(os, level + 2, name);
+	ASMTItemIJ::storeOnLevel(os, level);
+}
+
+void MbD::ASMTTranslationalMotion::storeOnTimeSeries(std::ofstream& os)
+{
+	os << "TranslationalMotionSeries\t" << fullName("") << std::endl;
+	ASMTItemIJ::storeOnTimeSeries(os);
+}

OndselSolver/ASMTTranslationalMotion.h

@@ -21,6 +21,8 @@ namespace MbD {
         std::shared_ptr<Joint> mbdClassNew() override;
         void readMotionJoint(std::vector<std::string>& lines);
         void readTranslationZ(std::vector<std::string>& lines);
+        void storeOnLevel(std::ofstream& os, int level) override;
+        void storeOnTimeSeries(std::ofstream& os) override;
 
         std::string motionJoint, translationZ;
 

OndselSolver/ASMTUniversalJoint.cpp

@@ -5,7 +5,8 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+#include <fstream>	
+
 #include "ASMTUniversalJoint.h"
 #include "UniversalJoint.h"
 
@@ -15,3 +16,17 @@ std::shared_ptr<Joint> MbD::ASMTUniversalJoint::mbdClassNew()
 {
     return CREATE<UniversalJoint>::With();
 }
+
+void MbD::ASMTUniversalJoint::storeOnLevel(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "UniversalJoint");
+	storeOnLevelString(os, level + 1, "Name");
+	storeOnLevelString(os, level + 2, name);
+	ASMTItemIJ::storeOnLevel(os, level);
+}
+
+void MbD::ASMTUniversalJoint::storeOnTimeSeries(std::ofstream& os)
+{
+	os << "UniversalJointSeries\t" << fullName("") << std::endl;
+	ASMTItemIJ::storeOnTimeSeries(os);
+}

OndselSolver/ASMTUniversalJoint.h

@@ -16,6 +16,8 @@ namespace MbD {
         //
     public:
         std::shared_ptr<Joint> mbdClassNew() override;
+        void storeOnLevel(std::ofstream& os, int level) override;
+        void storeOnTimeSeries(std::ofstream& os) override;
 
     };
 }

OndselSolver/MBDynSystem.cpp

@@ -38,6 +38,7 @@ void MbD::MBDynSystem::runFile(const char* filename)
 	system->setFilename(filename);
 	system->parseMBDyn(statements);
 	system->runKINEMATIC();
+	system->outputFiles();
 }
 
 void MbD::MBDynSystem::parseMBDyn(std::vector<std::string>& lines)

OndselSolver/OndselSolver.cpp

@@ -25,6 +25,7 @@ void runSpMat();
 
 int main()
 {
+	ASMTAssembly::readWriteFile("piston.asmt");
 	MBDynSystem::runFile("MBDynCase.mbd");		//To be completed
 	MBDynSystem::runFile("crank_slider.mbd");		//To be completed
 	//ASMTAssembly::runSinglePendulumSuperSimplified();	//Mass is missing