90 lines
2.3 KiB
C++
90 lines
2.3 KiB
C++
#include "MBDynReference.h"
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#include "MBDynVariables.h"
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#include "SymbolicParser.h"
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#include "BasicUserFunction.h"
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#include "EulerAngles.h"
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using namespace MbD;
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void MbD::MBDynReference::initialize()
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{
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}
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void MbD::MBDynReference::parseMBDyn(std::string line)
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{
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refString = line;
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size_t previousPos = 0;
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auto pos = line.find(":");
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auto front = line.substr(previousPos, pos - previousPos);
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assert(front.find("reference") != std::string::npos);
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auto arguments = std::make_shared<std::vector<std::string>>();
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std::string argument;
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while (true) {
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previousPos = pos;
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pos = line.find(",", pos + 1);
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if (pos != std::string::npos) {
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argument = line.substr(previousPos + 1, pos - previousPos - 1);
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arguments->push_back(argument);
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}
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else {
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argument = line.substr(previousPos + 1);
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arguments->push_back(argument);
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break;
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}
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}
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std::istringstream iss(arguments->at(0));
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iss >> name;
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arguments->erase(arguments->begin());
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rOfO = readPosition(arguments);
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aAOf = readOrientation(arguments);
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readVelocity(arguments);
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readOmega(arguments);
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}
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void MbD::MBDynReference::readVelocity(std::shared_ptr<std::vector<std::string>>& args)
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{
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auto parser = CREATE<SymbolicParser>::With();
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parser->variables = mbdynVariables()->variables;
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vOfO = std::make_shared<FullColumn<double>>(3);
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auto str = args->at(0);
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if (str.find("null") != std::string::npos) {
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args->erase(args->begin());
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return;
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}
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else {
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for (int i = 0; i < 3; i++)
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{
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str = args->at(0);
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args->erase(args->begin());
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auto userFunc = CREATE<BasicUserFunction>::With(str, 1.0);
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parser->parseUserFunction(userFunc);
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auto sym = parser->stack->top();
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vOfO->at(i) = sym->getValue();
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}
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}
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}
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void MbD::MBDynReference::readOmega(std::shared_ptr<std::vector<std::string>>& args)
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{
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auto parser = CREATE<SymbolicParser>::With();
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parser->variables = mbdynVariables()->variables;
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omeOfO = std::make_shared<FullColumn<double>>(3);
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auto str = args->at(0);
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if (str.find("null") != std::string::npos) {
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args->erase(args->begin());
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return;
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}
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else {
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for (int i = 0; i < 3; i++)
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{
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str = args->at(0);
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args->erase(args->begin());
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auto userFunc = CREATE<BasicUserFunction>::With(str, 1.0);
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parser->parseUserFunction(userFunc);
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auto sym = parser->stack->top();
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omeOfO->at(i) = sym->getValue();
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}
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}
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}
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