67 lines
1.6 KiB
C++
67 lines
1.6 KiB
C++
#include "MBDynReference.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;
|
|
arguments = collectArgumentsFor("reference", line);
|
|
std::istringstream iss(arguments.at(0));
|
|
iss >> name;
|
|
arguments.erase(arguments.begin());
|
|
|
|
rOfO = readPosition(arguments);
|
|
aAOf = readOrientation(arguments);
|
|
readVelocity(arguments);
|
|
readOmega(arguments);
|
|
}
|
|
|
|
void MbD::MBDynReference::readVelocity(std::vector<std::string>& args)
|
|
{
|
|
auto parser = std::make_shared<SymbolicParser>();
|
|
parser->variables = mbdynVariables();
|
|
vOfO = std::make_shared<FullColumn<double>>(3);
|
|
auto str = args.at(0); //Must copy string
|
|
if (str.find("null") != std::string::npos) {
|
|
args.erase(args.begin());
|
|
return;
|
|
}
|
|
else {
|
|
for (int i = 0; i < 3; i++)
|
|
{
|
|
auto userFunc = std::make_shared<BasicUserFunction>(popOffTop(args), 1.0);
|
|
parser->parseUserFunction(userFunc);
|
|
auto sym = parser->stack->top();
|
|
vOfO->at(i) = sym->getValue();
|
|
}
|
|
}
|
|
}
|
|
|
|
void MbD::MBDynReference::readOmega(std::vector<std::string>& args)
|
|
{
|
|
auto parser = std::make_shared<SymbolicParser>();
|
|
parser->variables = mbdynVariables();
|
|
omeOfO = std::make_shared<FullColumn<double>>(3);
|
|
auto str = args.at(0); //Must copy string
|
|
if (str.find("null") != std::string::npos) {
|
|
args.erase(args.begin());
|
|
return;
|
|
}
|
|
else {
|
|
for (int i = 0; i < 3; i++)
|
|
{
|
|
auto userFunc = std::make_shared<BasicUserFunction>(popOffTop(args), 1.0);
|
|
parser->parseUserFunction(userFunc);
|
|
auto sym = parser->stack->top();
|
|
omeOfO->at(i) = sym->getValue();
|
|
}
|
|
}
|
|
}
|