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MbDCode repo renamed to OndselSolver. Several *.asmt files working.

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This commit is contained in:
Aik-Siong Koh
2023-08-07 08:21:33 -06:00
parent 6ef4789eca
commit e58446b9e2
287 changed files with 13387 additions and 778 deletions
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78
MbDCode/ASMTTranslationalMotion.cpp
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@@ -1,24 +1,31 @@
#include "ASMTTranslationalMotion.h"
#include "ASMTAssembly.h"
#include "SymbolicParser.h"
#include "BasicUserFunction.h"
#include "Constant.h"
using namespace MbD;
void MbD::ASMTTranslationalMotion::parseASMT(std::vector<std::string>& 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());
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()
@@ -30,25 +37,36 @@ void MbD::ASMTTranslationalMotion::initMarkers()
void MbD::ASMTTranslationalMotion::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits)
{
//ASMTMotion::createMbD(mbdSys, mbdUnits);
// zFunc : = zIJ isNil
// ifTrue : [StMConstant with : 0]
// ifFalse : [zIJ isUserFunction
// ifTrue :
//[parser:= self functionParser.
// stack : = parser
// parseUserFunction : zIJ
// notifying : nil
// ifFail : nil.
// func : = stack last.
// func]
//ifFalse: [zIJ] ] .
// zFunc : = (zFunc / self mbdUnits length) createMbD simplified.
// mbdZTranslation : = self mbdObject.
// mbdZTranslation zBlk : zFunc
ASMTMotion::createMbD(mbdSys, mbdUnits);
auto parser = CREATE<SymbolicParser>::With();
parser->owner = this;
auto geoTime = owner->root()->geoTime();
parser->variables->insert(std::make_pair("time", geoTime));
auto userFunc = CREATE<BasicUserFunction>::With(translationZ, 1.0);
parser->parseUserFunction(userFunc);
auto zIJ = parser->stack->top();
zIJ = Symbolic::times(zIJ, std::make_shared<Constant>(1.0 / mbdUnits->length));
zIJ->createMbD(mbdSys, mbdUnits);
std::static_pointer_cast<ZTranslation>(mbdObject)->zBlk = zIJ->simplified(zIJ);
}
std::shared_ptr<Joint> MbD::ASMTTranslationalMotion::mbdClassNew()
{
return CREATE<ZTranslation>::With();
}
void MbD::ASMTTranslationalMotion::readMotionJoint(std::vector<std::string>& lines)
{
assert(lines[0].find("MotionJoint") != std::string::npos);
lines.erase(lines.begin());
motionJoint = readString(lines[0]);
lines.erase(lines.begin());
}
void MbD::ASMTTranslationalMotion::readTranslationZ(std::vector<std::string>& lines)
{
assert(lines[0].find("TranslationZ") != std::string::npos);
lines.erase(lines.begin());
translationZ = readString(lines[0]);
lines.erase(lines.begin());
}