153 lines
4.1 KiB
C++
153 lines
4.1 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 "ASMTSpatialItem.h"
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#include "Units.h"
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#include "Part.h"
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#include "ASMTSpatialContainer.h"
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#include "EulerAngles.h"
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using namespace MbD;
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void MbD::ASMTSpatialItem::setPosition3D(FColDsptr vec)
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{
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position3D = vec;
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}
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void MbD::ASMTSpatialItem::setQuarternions(double q0, double q1, double q2, double q3)
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{
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auto eulerParameters = CREATE<EulerParameters<double>>::With(ListD{ q1, q2, q3, q0 });
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eulerParameters->calc();
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rotationMatrix = eulerParameters->aA;
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}
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void MbD::ASMTSpatialItem::setRotationMatrix(FMatDsptr mat)
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{
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rotationMatrix = mat;
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}
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void MbD::ASMTSpatialItem::readPosition3D(std::vector<std::string>& lines)
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{
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assert(lines[0].find("Position3D") != std::string::npos);
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lines.erase(lines.begin());
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std::istringstream iss(lines[0]);
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position3D = std::make_shared<FullColumn<double>>();
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double d;
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while (iss >> d) {
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position3D->push_back(d);
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}
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lines.erase(lines.begin());
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}
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void MbD::ASMTSpatialItem::readRotationMatrix(std::vector<std::string>& lines)
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{
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assert(lines[0].find("RotationMatrix") != std::string::npos);
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lines.erase(lines.begin());
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rotationMatrix = std::make_shared<FullMatrixDouble>(3, 0);
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for (int i = 0; i < 3; i++)
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{
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auto& row = rotationMatrix->at(i);
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std::istringstream iss(lines[0]);
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double d;
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while (iss >> d) {
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row->push_back(d);
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}
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lines.erase(lines.begin());
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}
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}
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void MbD::ASMTSpatialItem::getPosition3D(double& a, double& b, double& c)
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{
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a = position3D->at(0);
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b = position3D->at(1);
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c = position3D->at(2);
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}
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void MbD::ASMTSpatialItem::getQuarternions(double& q0, double& q1, double& q2, double& q3)
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{
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auto eulerParameters = rotationMatrix->asEulerParameters();
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q0 = eulerParameters->at(3);
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q1 = eulerParameters->at(0);
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q2 = eulerParameters->at(1);
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q3 = eulerParameters->at(2);
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}
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// Overloads to simplify syntax.
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void MbD::ASMTSpatialItem::setPosition3D(double a, double b, double c)
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{
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position3D = std::make_shared<FullColumn<double>>(ListD{ a, b, c });
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}
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void MbD::ASMTSpatialItem::setRotationMatrix(double v11, double v12, double v13,
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double v21, double v22, double v23,
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double v31, double v32, double v33)
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{
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rotationMatrix = std::make_shared<FullMatrixDouble>(ListListD{
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{ v11, v12, v13 },
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{ v21, v22, v23 },
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{ v31, v32, v33 }
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});
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}
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void MbD::ASMTSpatialItem::storeOnLevel(std::ofstream& os, int level)
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{
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storeOnLevelPosition(os, level + 1);
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storeOnLevelRotationMatrix(os, level + 1);
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}
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void MbD::ASMTSpatialItem::storeOnLevelPosition(std::ofstream& os, int level)
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{
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storeOnLevelString(os, level, "Position3D");
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if (xs == nullptr || xs->empty()) {
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storeOnLevelArray(os, level + 1, *position3D);
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}
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else {
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auto array = getPosition3D(0);
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storeOnLevelArray(os, level + 1, *array);
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}
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}
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void MbD::ASMTSpatialItem::storeOnLevelRotationMatrix(std::ofstream& os, int level)
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{
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storeOnLevelString(os, level, "RotationMatrix");
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if (xs == nullptr || xs->empty()) {
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for (int i = 0; i < 3; i++)
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{
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storeOnLevelArray(os, level + 1, *rotationMatrix->at(i));
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}
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}
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else {
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auto rotMat = getRotationMatrix(0);
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for (int i = 0; i < 3; i++)
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{
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storeOnLevelArray(os, level + 1, *rotMat->at(i));
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}
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}
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}
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FColDsptr MbD::ASMTSpatialItem::getPosition3D(size_t i)
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{
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auto vec3 = std::make_shared<FullColumn<double>>(3);
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vec3->atiput(0, xs->at(i));
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vec3->atiput(1, ys->at(i));
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vec3->atiput(2, zs->at(i));
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return vec3;
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}
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FMatDsptr MbD::ASMTSpatialItem::getRotationMatrix(size_t i)
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{
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auto bryantAngles = std::make_shared<EulerAngles<double>>();
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bryantAngles->setRotOrder(1, 2, 3);
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bryantAngles->at(0) = bryxs->at(i);
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bryantAngles->at(1) = bryys->at(i);
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bryantAngles->at(2) = bryzs->at(i);
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bryantAngles->calc();
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return bryantAngles->aA;
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}
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