122 lines
5.5 KiB
C++
122 lines
5.5 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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#pragma once
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#include <fstream>
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#include "ASMTSpatialContainer.h"
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#include "FullColumn.h"
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#include "FullMatrix.h"
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namespace MbD {
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class ASMTRefPoint;
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class ASMTRefCurve;
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class ASMTRefSurface;
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class ASMTPart;
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class ASMTKinematicIJ;
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class ASMTConstraintSet;
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class ASMTForceTorque;
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class ASMTConstantGravity;
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class ASMTSimulationParameters;
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class ASMTAnimationParameters;
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class ASMTJoint;
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class ASMTMotion;
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class Units;
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class ASMTTime;
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class SystemSolver;
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class ASMTItemIJ;
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class ASMTAssembly : public ASMTSpatialContainer
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{
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//
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public:
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static void runSinglePendulumSuperSimplified();
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static void runSinglePendulumSimplified();
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static void runSinglePendulum();
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static void runFile(const char* chars);
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void initialize() override;
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ASMTAssembly* root() override;
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void setNotes(std::string str);
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void parseASMT(std::vector<std::string>& lines) override;
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void readNotes(std::vector<std::string>& lines);
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void readParts(std::vector<std::string>& lines);
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void readPart(std::vector<std::string>& lines);
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void readKinematicIJs(std::vector<std::string>& lines);
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void readKinematicIJ(std::vector<std::string>& lines);
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void readConstraintSets(std::vector<std::string>& lines);
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void readJoints(std::vector<std::string>& lines);
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void readMotions(std::vector<std::string>& lines);
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void readGeneralConstraintSets(std::vector<std::string>& lines);
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void readForcesTorques(std::vector<std::string>& lines);
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void readConstantGravity(std::vector<std::string>& lines);
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void readSimulationParameters(std::vector<std::string>& lines);
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void readAnimationParameters(std::vector<std::string>& lines);
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void readTimeSeries(std::vector<std::string>& lines);
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void readTimes(std::vector<std::string>& lines);
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void readAssemblySeries(std::vector<std::string>& lines);
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void readPartSeriesMany(std::vector<std::string>& lines);
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void readPartSeries(std::vector<std::string>& lines);
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void readJointSeriesMany(std::vector<std::string>& lines);
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void readJointSeries(std::vector<std::string>& lines);
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void readMotionSeriesMany(std::vector<std::string>& lines);
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void readMotionSeries(std::vector<std::string>& lines);
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void outputFor(AnalysisType type);
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void logString(std::string& str);
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void logString(double value);
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void preMbDrun(std::shared_ptr<System> mbdSys);
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void postMbDrun();
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void calcCharacteristicDimensions();
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double calcCharacteristicTime();
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double calcCharacteristicMass();
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double calcCharacteristicLength();
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std::shared_ptr<std::vector<std::shared_ptr<ASMTItemIJ>>> connectorList();
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std::shared_ptr<std::map<std::string, std::shared_ptr<ASMTMarker>>>markerMap();
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void deleteMbD();
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void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
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/* This function performs a one shot solve of the assembly.*/
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void solve();
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void runKINEMATIC();
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void initprincipalMassMarker();
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std::shared_ptr<ASMTSpatialContainer> spatialContainerAt(std::shared_ptr<ASMTAssembly> self, std::string& longname);
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std::shared_ptr<ASMTMarker> markerAt(std::string& longname);
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std::shared_ptr<ASMTJoint> jointAt(std::string& longname);
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std::shared_ptr<ASMTMotion> motionAt(std::string& longname);
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std::shared_ptr<ASMTForceTorque> forceTorqueAt(std::string& longname);
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FColDsptr vOcmO() override;
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FColDsptr omeOpO() override;
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std::shared_ptr<ASMTTime> geoTime();
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void updateFromMbD() override;
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void compareResults(AnalysisType type) override;
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void outputResults(AnalysisType type) override;
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void addPart(std::shared_ptr<ASMTPart> part);
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void addJoint(std::shared_ptr<ASMTJoint> joint);
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void addMotion(std::shared_ptr<ASMTMotion> motion);
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void setConstantGravity(std::shared_ptr<ASMTConstantGravity> constantGravity);
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void setSimulationParameters(std::shared_ptr<ASMTSimulationParameters> simulationParameters);
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std::string notes;
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std::shared_ptr<std::vector<std::shared_ptr<ASMTPart>>> parts = std::make_shared<std::vector<std::shared_ptr<ASMTPart>>>();
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std::shared_ptr<std::vector<std::shared_ptr<ASMTKinematicIJ>>> kinematicIJs = std::make_shared<std::vector<std::shared_ptr<ASMTKinematicIJ>>>();
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std::shared_ptr<std::vector<std::shared_ptr<ASMTConstraintSet>>> constraintSets = std::make_shared<std::vector<std::shared_ptr<ASMTConstraintSet>>>();
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std::shared_ptr<std::vector<std::shared_ptr<ASMTJoint>>> joints = std::make_shared<std::vector<std::shared_ptr<ASMTJoint>>>();
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std::shared_ptr<std::vector<std::shared_ptr<ASMTMotion>>> motions = std::make_shared<std::vector<std::shared_ptr<ASMTMotion>>>();
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std::shared_ptr<std::vector<std::shared_ptr<ASMTForceTorque>>> forcesTorques = std::make_shared<std::vector<std::shared_ptr<ASMTForceTorque>>>();
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std::shared_ptr<ASMTConstantGravity> constantGravity = std::make_shared<ASMTConstantGravity>();
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std::shared_ptr<ASMTSimulationParameters> simulationParameters;
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std::shared_ptr<ASMTAnimationParameters> animationParameters;
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std::shared_ptr<std::vector<double>> times;
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std::shared_ptr<ASMTTime> asmtTime = std::make_shared<ASMTTime>();
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std::shared_ptr<Units> mbdUnits;
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};
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}
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