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