79 lines
2.4 KiB
C++
79 lines
2.4 KiB
C++
/***************************************************************************
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* Copyright (c) 2023 Ondsel, Inc. *
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* *
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* This file is part of OndselSolver. *
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* *
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* See LICENSE file for details about copyright. *
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***************************************************************************/
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#include "ASMTRotationalMotion.h"
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#include "ASMTAssembly.h"
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#include "SymbolicParser.h"
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#include "BasicUserFunction.h"
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#include "CREATE.h"
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#include "Constant.h"
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#include "ASMTJoint.h"
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#include "ASMTTime.h"
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using namespace MbD;
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void MbD::ASMTRotationalMotion::parseASMT(std::vector<std::string>& lines)
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{
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readName(lines);
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readMotionJoint(lines);
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readRotationZ(lines);
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}
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void MbD::ASMTRotationalMotion::readMotionJoint(std::vector<std::string>& lines)
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{
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assert(lines[0].find("MotionJoint") != std::string::npos);
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lines.erase(lines.begin());
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motionJoint = readString(lines[0]);
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lines.erase(lines.begin());
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}
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void MbD::ASMTRotationalMotion::readRotationZ(std::vector<std::string>& lines)
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{
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assert(lines[0].find("RotationZ") != std::string::npos);
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lines.erase(lines.begin());
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rotationZ = readString(lines[0]);
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lines.erase(lines.begin());
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}
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void MbD::ASMTRotationalMotion::initMarkers()
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{
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auto jt = root()->jointAt(motionJoint);
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markerI = jt->markerI;
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markerJ = jt->markerJ;
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}
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void MbD::ASMTRotationalMotion::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits)
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{
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ASMTMotion::createMbD(mbdSys, mbdUnits);
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auto parser = CREATE<SymbolicParser>::With();
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parser->owner = this;
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auto geoTime = owner->root()->geoTime();
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parser->variables->insert(std::make_pair("time", geoTime));
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auto userFunc = CREATE<BasicUserFunction>::With(rotationZ, 1.0);
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parser->parseUserFunction(userFunc);
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auto geoPhi = parser->stack->top();
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geoPhi = Symbolic::times(geoPhi, std::make_shared<Constant>(1.0 / mbdUnits->angle));
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geoPhi->createMbD(mbdSys, mbdUnits);
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std::static_pointer_cast<ZRotation>(mbdObject)->phiBlk = geoPhi->simplified(geoPhi);
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}
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std::shared_ptr<Joint> MbD::ASMTRotationalMotion::mbdClassNew()
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{
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return CREATE<ZRotation>::With();
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}
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void MbD::ASMTRotationalMotion::setMotionJoint(std::string str)
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{
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motionJoint = str;
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}
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void MbD::ASMTRotationalMotion::setRotationZ(std::string rotZ)
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{
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rotationZ = rotZ;
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}
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