73 lines
2.2 KiB
C++
73 lines
2.2 KiB
C++
#include "ASMTTranslationalMotion.h"
|
|
#include "ASMTAssembly.h"
|
|
#include "SymbolicParser.h"
|
|
#include "BasicUserFunction.h"
|
|
#include "Constant.h"
|
|
|
|
using namespace MbD;
|
|
|
|
void MbD::ASMTTranslationalMotion::parseASMT(std::vector<std::string>& lines)
|
|
{
|
|
readName(lines);
|
|
readMotionJoint(lines);
|
|
readTranslationZ(lines);
|
|
|
|
//size_t pos = lines[0].find_first_not_of("\t");
|
|
//auto leadingTabs = lines[0].substr(0, pos);
|
|
//assert(lines[0] == (leadingTabs + "Name"));
|
|
//lines.erase(lines.begin());
|
|
//name = lines[0];
|
|
//lines.erase(lines.begin());
|
|
//assert(lines[0] == (leadingTabs + "MotionJoint"));
|
|
//lines.erase(lines.begin());
|
|
//motionJoint = lines[0];
|
|
//lines.erase(lines.begin());
|
|
//assert(lines[0] == (leadingTabs + "TranslationZ"));
|
|
//lines.erase(lines.begin());
|
|
//translationZ = lines[0];
|
|
//lines.erase(lines.begin());
|
|
}
|
|
|
|
void MbD::ASMTTranslationalMotion::initMarkers()
|
|
{
|
|
auto jt = root()->jointAt(motionJoint);
|
|
markerI = jt->markerI;
|
|
markerJ = jt->markerJ;
|
|
}
|
|
|
|
void MbD::ASMTTranslationalMotion::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(translationZ, 1.0);
|
|
parser->parseUserFunction(userFunc);
|
|
auto zIJ = parser->stack->top();
|
|
zIJ = Symbolic::times(zIJ, std::make_shared<Constant>(1.0 / mbdUnits->length));
|
|
zIJ->createMbD(mbdSys, mbdUnits);
|
|
std::static_pointer_cast<ZTranslation>(mbdObject)->zBlk = zIJ->simplified(zIJ);
|
|
}
|
|
|
|
std::shared_ptr<Joint> MbD::ASMTTranslationalMotion::mbdClassNew()
|
|
{
|
|
return CREATE<ZTranslation>::With();
|
|
}
|
|
|
|
void MbD::ASMTTranslationalMotion::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::ASMTTranslationalMotion::readTranslationZ(std::vector<std::string>& lines)
|
|
{
|
|
assert(lines[0].find("TranslationZ") != std::string::npos);
|
|
lines.erase(lines.begin());
|
|
translationZ = readString(lines[0]);
|
|
lines.erase(lines.begin());
|
|
}
|