MBDyn initial commit

2023-09-29 06:48:46 -06:00
parent cd3e4e0095
commit cb81a1176c
77 changed files with 1792 additions and 40 deletions
--- a/MbDCode/MBDynReference.cpp
+++ b/MbDCode/MBDynReference.cpp
@@ -0,0 +1,238 @@
+#include "MBDynReference.h"
+#include "MBDynVariables.h"
+#include "SymbolicParser.h"
+#include "BasicUserFunction.h"
+#include "EulerAngles.h"
+
+using namespace MbD;
+
+void MbD::MBDynReference::initialize()
+{
+}
+
+void MbD::MBDynReference::parseMBDyn(std::string line)
+{
+	refString = line;
+	size_t previousPos = 0;
+	auto pos = line.find(":");
+	auto front = line.substr(previousPos, pos - previousPos);
+	assert(front.find("reference") != std::string::npos);
+	auto arguments = std::make_shared<std::vector<std::string>>();
+	std::string argument;
+	while (true) {
+		previousPos = pos;
+		pos = line.find(",", pos + 1);
+		if (pos != std::string::npos) {
+			argument = line.substr(previousPos + 1, pos - previousPos - 1);
+			arguments->push_back(argument);
+		}
+		else {
+			argument = line.substr(previousPos + 1);
+			arguments->push_back(argument);
+			break;
+		}
+	}
+	std::istringstream iss(arguments->at(0));
+	iss >> name;
+	arguments->erase(arguments->begin());
+
+	readPosition(arguments);
+	readOrientation(arguments);
+	readVelocity(arguments);
+	readOmega(arguments);
+}
+
+//void MbD::MBDynReference::parseMBDyn(std::string line)
+//{
+//	refString = line;
+//	std::replace(line.begin(), line.end(), ',', ' ');
+//	std::istringstream iss(line);
+//	std::string str;
+//	iss >> str;
+//	assert(str == "reference:");
+//	iss >> name;
+//	readPosition(iss);
+//	readOrientation(iss);
+//	readVelocity(iss);
+//	readOmega(iss);
+//}
+
+void MbD::MBDynReference::readPosition(std::istringstream& iss)
+{
+	auto dddd = iss.str();
+	auto parser = CREATE<SymbolicParser>::With();
+	parser->variables = mbdynVariables()->variables;
+	rOfO = std::make_shared<FullColumn<double>>(3);
+	std::string str;
+	for (int i = 0; i < 3; i++)
+	{
+		iss >> str;
+		auto userFunc = CREATE<BasicUserFunction>::With(str, 1.0);
+		parser->parseUserFunction(userFunc);
+		auto sym = parser->stack->top();
+		rOfO->at(i) = sym->getValue();
+	}
+}
+
+void MbD::MBDynReference::readOrientation(std::istringstream& iss)
+{
+	std::string str;
+	iss >> str;
+	auto parser = CREATE<SymbolicParser>::With();
+	parser->variables = mbdynVariables()->variables;
+	auto euler = std::make_shared<EulerAngles<Symsptr>>();
+	if (str.find("euler") != std::string::npos) {
+		euler->rotOrder = std::make_shared<FullColumn<int>>(std::initializer_list<int>{ 1, 2, 3 });
+		for (int i = 0; i < 3; i++)
+		{
+			iss >> str;
+			auto userFunc = CREATE<BasicUserFunction>::With(str, 1.0);
+			parser->parseUserFunction(userFunc);
+			auto sym = parser->stack->top();
+			euler->at(i) = sym;
+			double ddd = sym->getValue();
+		}
+	}
+	else {
+		assert(false);
+	}
+	euler->calc();
+	aAOf = euler->aA;
+}
+
+void MbD::MBDynReference::readVelocity(std::istringstream& iss)
+{
+	auto parser = CREATE<SymbolicParser>::With();
+	parser->variables = mbdynVariables()->variables;
+	vOfO = std::make_shared<FullColumn<double>>(3);
+	std::string str;
+	auto p = iss.tellg();
+	iss >> str;
+	if (str.find("null") != std::string::npos) {
+		return;
+	}
+	else {
+		iss.seekg(p);
+		for (int i = 0; i < 3; i++)
+		{
+			iss >> str;
+			auto userFunc = CREATE<BasicUserFunction>::With(str, 1.0);
+			parser->parseUserFunction(userFunc);
+			auto sym = parser->stack->top();
+			vOfO->at(i) = sym->getValue();
+		}
+	}
+}
+
+void MbD::MBDynReference::readOmega(std::istringstream& iss)
+{
+	auto parser = CREATE<SymbolicParser>::With();
+	parser->variables = mbdynVariables()->variables;
+	omeOfO = std::make_shared<FullColumn<double>>(3);
+	std::string str;
+	auto p = iss.tellg();
+	iss >> str;
+	if (str.find("null") != std::string::npos) {
+		return;
+	}
+	else {
+		iss.seekg(p);
+		for (int i = 0; i < 3; i++)
+		{
+			iss >> str;
+			auto userFunc = CREATE<BasicUserFunction>::With(str, 1.0);
+			parser->parseUserFunction(userFunc);
+			auto sym = parser->stack->top();
+			omeOfO->at(i) = sym->getValue();
+		}
+	}
+}
+
+void MbD::MBDynReference::readPosition(std::shared_ptr<std::vector<std::string>>& args)
+{
+	auto parser = CREATE<SymbolicParser>::With();
+	parser->variables = mbdynVariables()->variables;
+	rOfO = std::make_shared<FullColumn<double>>(3);
+	std::string str;
+	for (int i = 0; i < 3; i++)
+	{
+		str = args->at(0);
+		args->erase(args->begin());
+		auto userFunc = CREATE<BasicUserFunction>::With(str, 1.0);
+		parser->parseUserFunction(userFunc);
+		auto sym = parser->stack->top();
+		rOfO->at(i) = sym->getValue();
+	}
+}
+
+void MbD::MBDynReference::readOrientation(std::shared_ptr<std::vector<std::string>>& args)
+{
+	auto str = args->at(0);
+	auto parser = CREATE<SymbolicParser>::With();
+	parser->variables = mbdynVariables()->variables;
+	auto euler = std::make_shared<EulerAngles<Symsptr>>();
+	if (str.find("euler") != std::string::npos) {
+		args->erase(args->begin());
+		euler->rotOrder = std::make_shared<FullColumn<int>>(std::initializer_list<int>{ 1, 2, 3 });
+		for (int i = 0; i < 3; i++)
+		{
+			str = args->at(0);
+			args->erase(args->begin());
+			auto userFunc = CREATE<BasicUserFunction>::With(str, 1.0);
+			parser->parseUserFunction(userFunc);
+			auto sym = parser->stack->top();
+			euler->at(i) = sym;
+		}
+	}
+	else {
+		assert(false);
+	}
+	euler->calc();
+	aAOf = euler->aA;
+}
+
+void MbD::MBDynReference::readVelocity(std::shared_ptr<std::vector<std::string>>& args)
+{
+	auto parser = CREATE<SymbolicParser>::With();
+	parser->variables = mbdynVariables()->variables;
+	vOfO = std::make_shared<FullColumn<double>>(3);
+	auto str = args->at(0);
+	if (str.find("null") != std::string::npos) {
+		args->erase(args->begin());
+		return;
+	}
+	else {
+		for (int i = 0; i < 3; i++)
+		{
+			str = args->at(0);
+			args->erase(args->begin());
+			auto userFunc = CREATE<BasicUserFunction>::With(str, 1.0);
+			parser->parseUserFunction(userFunc);
+			auto sym = parser->stack->top();
+			vOfO->at(i) = sym->getValue();
+		}
+	}
+}
+
+void MbD::MBDynReference::readOmega(std::shared_ptr<std::vector<std::string>>& args)
+{
+	auto parser = CREATE<SymbolicParser>::With();
+	parser->variables = mbdynVariables()->variables;
+	omeOfO = std::make_shared<FullColumn<double>>(3);
+	auto str = args->at(0);
+	if (str.find("null") != std::string::npos) {
+		args->erase(args->begin());
+		return;
+	}
+	else {
+		for (int i = 0; i < 3; i++)
+		{
+			str = args->at(0);
+			args->erase(args->begin());
+			auto userFunc = CREATE<BasicUserFunction>::With(str, 1.0);
+			parser->parseUserFunction(userFunc);
+			auto sym = parser->stack->top();
+			omeOfO->at(i) = sym->getValue();
+		}
+	}
+}