MBDynParser Class Reference

#include <mbpar.h>

Inheritance diagram for MBDynParser:

Collaboration diagram for MBDynParser:

Classes
class	ErrGeneric
class	ErrReferenceAlreadyDefined
class	ErrReferenceUndefined
class	Manip
class	RefTplManip
class	RefVec3Manip
class	TplManip
class	VecAbsManip
class	VecRelManip

Public Types
enum	Frame {   UNKNOWNFRAME = 0, GLOBAL, NODE, LOCAL,   REFERENCE, OTHER_POSITION, OTHER_ORIENTATION, OTHER_NODE,   LASTFRAME }
enum	VecMatOpType {   VM_NONE = 0, VM_POSABS, VM_VELABS, VM_OMEABS,   VM_VECABS, VM_UNITVECABS, VM_MATABS, VM_ROTABS,   VM_MOD_REL = 0x1000U, VM_MOD_OTHER = 0x2000U, VM_POSREL = VM_POSABS | VM_MOD_REL, VM_VELREL = VM_VELABS | VM_MOD_REL,   VM_OMEREL = VM_OMEABS | VM_MOD_REL, VM_VECREL = VM_VECABS | VM_MOD_REL, VM_UNITVECREL = VM_UNITVECABS | VM_MOD_REL, VM_MATREL = VM_MATABS | VM_MOD_REL,   VM_ROTREL = VM_ROTABS | VM_MOD_REL, VM_LAST }
typedef std::map< unsigned, const ReferenceFrame * >	RFType
typedef std::map< unsigned, const HydraulicFluid * >	HFType
typedef std::map< unsigned, C81Data * >	ADType
typedef std::map< unsigned, const DriveCaller * >	DCType
typedef std::map< unsigned, const TplDriveCaller < doublereal > * >	DC1DType
typedef std::map< unsigned, const TplDriveCaller< Vec3 > * >	DC3DType
typedef std::map< unsigned, const TplDriveCaller< Vec6 > * >	DC6DType
typedef std::map< unsigned, const TplDriveCaller< Mat3x3 > * >	DC3x3DType
typedef std::map< unsigned, const TplDriveCaller< Mat6x6 > * >	DC6x6DType
Public Types inherited from HighParser
enum	Token {   UNKNOWN = -1, DESCRIPTION, FIRSTARG, ARG,   LASTARG, NOARGS, WORD, NUMBER,   STRING, ENDOFFILE, LASTITEM }
enum	Delims {   UNKNOWNDELIM = -1, PLAINBRACKETS, SQUAREBRACKETS, CURLYBRACKETS,   SINGLEQUOTE, DOUBLEQUOTE, DEFAULTDELIM, LASTDELIM }
enum	{   NONE = 0x00U, EATSPACES = 0x01U, ESCAPE = 0x02U, LOWER = 0x04U,   UPPER = 0x08U }

Public Member Functions
const RFType &	GetReferenceFrameContainer (void) const
const HFType &	GetHydraulicFluidContainer (void) const
const ADType &	GetC81DataContainer (void) const
const DCType &	GetDriveCallerContainer (void) const
const DC1DType &	GetDriveCaller1DContainer (void) const
const DC3DType &	GetDriveCaller3DContainer (void) const
const DC6DType &	GetDriveCaller6DContainer (void) const
const DC3x3DType &	GetDriveCaller3x3DContainer (void) const
const DC6x6DType &	GetDriveCaller6x6DContainer (void) const
void	PopManip (void)
void	PushManip (const Manip *)
const Manip *	GetManip (void) const
bool	bEmptyManip (void) const
	MBDynParser (MathParser &MP, InputStream &streamIn, const char *initial_file)
	~MBDynParser (void)
void	SetDataManager (DataManager *pdm)
DataManager *	GetDataManager (void) const
virtual Vec3	GetVec3 (void)
virtual Vec3	GetVec3 (const Vec3 &vDef)
virtual Mat3x3	GetMatR2vec (void)
virtual Mat3x3	GetMat3x3Sym (void)
virtual Mat3x3	GetMat3x3 (void)
virtual Mat3x3	GetMat3x3 (const Mat3x3 &mDef)
virtual Vec6	GetVec6 (void)
virtual Vec6	GetVec6 (const Vec6 &vDef)
virtual Mat6x6	GetMat6x6 (void)
virtual Mat6x6	GetMat6x6 (const Mat6x6 &mDef)
virtual void	GetMat6xN (Mat3xN &m1, Mat3xN &m2, integer iNumCols)
Vec3	GetPosRel (const ReferenceFrame &rf)
Vec3	GetPosRel (const ReferenceFrame &rf, const ReferenceFrame &other_rf, const Vec3 &other_X)
Vec3	GetPosAbs (const ReferenceFrame &rf)
Vec3	GetVelRel (const ReferenceFrame &rf, const Vec3 &x)
Vec3	GetVelAbs (const ReferenceFrame &rf, const Vec3 &x)
Vec3	GetOmeRel (const ReferenceFrame &rf)
Vec3	GetOmeAbs (const ReferenceFrame &rf)
Vec3	GetVecRel (const ReferenceFrame &rf)
Vec3	GetVecAbs (const ReferenceFrame &rf)
Vec3	GetUnitVecRel (const ReferenceFrame &rf)
Vec3	GetUnitVecAbs (const ReferenceFrame &rf)
Mat3x3	GetMatRel (const ReferenceFrame &rf)
Mat3x3	GetMatAbs (const ReferenceFrame &rf)
Mat3x3	GetRotRel (const ReferenceFrame &rf)
Mat3x3	GetRotRel (const ReferenceFrame &rf, const ReferenceFrame &other_rf, const Mat3x3 &other_R)
Mat3x3	GetRotAbs (const ReferenceFrame &rf)
virtual doublereal	Get (const doublereal &d)
virtual Vec3	Get (const Vec3 &v)
virtual Mat3x3	Get (const Mat3x3 &m)
virtual Vec6	Get (const Vec6 &v)
virtual Mat6x6	Get (const Mat6x6 &m)
void	OutputFrames (std::ostream &out) const
HydraulicFluid *	GetHydraulicFluid (void)
const c81_data *	GetC81Data (unsigned profile) const
ConstitutiveLaw1D *	GetConstLaw1D (ConstLawType::Type &clt)
ConstitutiveLaw3D *	GetConstLaw3D (ConstLawType::Type &clt)
ConstitutiveLaw6D *	GetConstLaw6D (ConstLawType::Type &clt)
const DriveCaller *	GetDrive (unsigned uLabel) const
DriveCaller *	GetDriveCaller (bool bDeferred=false)
template<class T >
const TplDriveCaller< T > *	GetTplDrive (unsigned uLabel) const
template<class T >
TplDriveCaller< T > *	GetTplDriveCaller (void)
const BasicScalarFunction *	GetScalarFunction (void)
const BasicScalarFunction *	GetScalarFunction (const std::string &s)
bool	SetScalarFunction (const std::string &s, const BasicScalarFunction *sf)
Public Member Functions inherited from IncludeParser
	IncludeParser (MathParser &MP, InputStream &streamIn, const char *initial_file="initial file")
virtual	~IncludeParser (void)
virtual void	Close (void)
virtual const char *	GetFileName (enum Delims Del=DEFAULTDELIM)
virtual HighParser::ErrOut	GetLineData (void) const
Public Member Functions inherited from HighParser
	HighParser (MathParser &MP, InputStream &streamIn)
virtual	~HighParser (void)
virtual const KeyTable *	PutKeyTable (const KeyTable &KT)
virtual int	GetLineNumber (void) const
virtual MathParser &	GetMathParser (void)
bool	IsDescription (void) const
Token	GotDescription (void)
int	GetDescription (void)
virtual void	ExpectDescription (void)
virtual void	ExpectArg (void)
virtual bool	IsKeyWord (const char *sKeyWord)
virtual int	IsKeyWord (void)
virtual bool	IsArg (void)
virtual bool	IsStringWithDelims (enum Delims Del=DEFAULTDELIM)
virtual const char *	IsWord (const HighParser::WordSet &ws)
virtual void	PutBackSemicolon (void)
virtual bool	GetBool (bool bDefval=false)
virtual bool	GetYesNo (bool &bRet)
virtual bool	GetYesNoOrBool (bool bDefval=false)
virtual integer	GetInt (integer iDefval=0)
template<class Range >
integer	GetInt (integer iDefval, Range r)
virtual doublereal	GetReal (const doublereal &dDefval=0.0)
template<class Range >
doublereal	GetReal (const doublereal &dDefval, Range r)
virtual std::string	GetString (const std::string &sDefVal)
virtual TypedValue	GetValue (const TypedValue &v)
template<class Range >
TypedValue	GetValue (const TypedValue &v, Range r)
virtual mbsleep_t	GetTimeout (const mbsleep_t &DefVal)
virtual int	GetWord (void)
virtual const char *	GetString (unsigned flags=HighParser::NONE)
virtual const char *	GetStringWithDelims (enum Delims Del=DEFAULTDELIM, bool escape=true)
template<class Range >
integer	GetInt (int iDefVal, Range range)

Protected Types
typedef std::map< unsigned, const ConstitutiveLaw1D * >	CL1DType
typedef std::map< unsigned, const ConstitutiveLaw3D * >	CL3DType
typedef std::map< unsigned, const ConstitutiveLaw6D * >	CL6DType
typedef std::map< std::string, const BasicScalarFunction * >	SFType

Protected Member Functions
Frame	GetRef (ReferenceFrame &rf)
bool	Reference_int (void)
bool	HydraulicFluid_int (void)
bool	C81Data_int (void)
bool	ConstitutiveLaw_int (void)
bool	DriveCaller_int (void)
bool	TplDriveCaller_int (void)
bool	ScalarFunction_int (void)
bool	ModuleLoad_int (void)
Protected Member Functions inherited from IncludeParser
flag	fCheckStack (void)
bool	Include_int (void)
virtual void	Eof (void)
Protected Member Functions inherited from HighParser
virtual HighParser::Token	FirstToken (void)
virtual void	NextToken (const char *sFuncName)
int	iGetDescription_int (const char *const s)
virtual void	SetDelims (enum Delims Del, char &cLdelim, char &cRdelim) const
int	ParseWord (unsigned flags=HighParser::NONE)
void	PutbackWord (void)

Protected Attributes
RFType	RF
HFType	HF
ADType	AD
CL1DType	CL1D
CL3DType	CL3D
CL6DType	CL6D
DCType	DC
DC1DType	DC1D
DC3DType	DC3D
DC6DType	DC6D
DC3x3DType	DC3x3D
DC6x6DType	DC6x6D
SFType	SF
bool	moduleInitialized
DataManager *	pDM
Protected Attributes inherited from IncludeParser
std::stack< MyInput * >	myinput
char *	sCurrPath
char *	sInitialPath
char *	sCurrFile
Protected Attributes inherited from HighParser
LowParser	LowP
InputStream *	pIn
std::ifstream *	pf
char	sStringBuf [iDefaultBufSize]
char	sStringBufWithSpaces [iDefaultBufSize]
MathParser &	MathP
const KeyTable *	KeyT
LowParser::Token	CurrLowToken
Token	CurrToken

Private Member Functions
	MBDynParser (const MBDynParser &)

Private Attributes
std::stack< const Manip * >	manip

Friends
struct	RefFrameDR
struct	HFluidDR
struct	C81DataDR
struct	ConstLawDR
struct	DriveCallerDR
struct	TplDriveCallerDR
struct	SFuncDR
struct	ModuleLoadDR

Additional Inherited Members
Public Attributes inherited from HighParser
const char	ESCAPE_CHAR

Detailed Description

Definition at line 129 of file mbpar.h.

Member Typedef Documentation

typedef std::map<unsigned, C81Data *> MBDynParser::ADType

Definition at line 186 of file mbpar.h.

typedef std::map<unsigned, const ConstitutiveLaw1D *> MBDynParser::CL1DType

protected

Definition at line 195 of file mbpar.h.

typedef std::map<unsigned, const ConstitutiveLaw3D *> MBDynParser::CL3DType

protected

Definition at line 196 of file mbpar.h.

typedef std::map<unsigned, const ConstitutiveLaw6D *> MBDynParser::CL6DType

protected

Definition at line 197 of file mbpar.h.

typedef std::map<unsigned, const TplDriveCaller<doublereal> *> MBDynParser::DC1DType

Definition at line 218 of file mbpar.h.

typedef std::map<unsigned, const TplDriveCaller<Vec3> *> MBDynParser::DC3DType

Definition at line 219 of file mbpar.h.

typedef std::map<unsigned, const TplDriveCaller<Mat3x3> *> MBDynParser::DC3x3DType

Definition at line 221 of file mbpar.h.

typedef std::map<unsigned, const TplDriveCaller<Vec6> *> MBDynParser::DC6DType

Definition at line 220 of file mbpar.h.

typedef std::map<unsigned, const TplDriveCaller<Mat6x6> *> MBDynParser::DC6x6DType

Definition at line 222 of file mbpar.h.

typedef std::map<unsigned, const DriveCaller *> MBDynParser::DCType

Definition at line 207 of file mbpar.h.

typedef std::map<unsigned, const HydraulicFluid *> MBDynParser::HFType

Definition at line 175 of file mbpar.h.

typedef std::map<unsigned, const ReferenceFrame *> MBDynParser::RFType

Definition at line 162 of file mbpar.h.

typedef std::map<std::string, const BasicScalarFunction *> MBDynParser::SFType

protected

Definition at line 241 of file mbpar.h.

Member Enumeration Documentation

enum MBDynParser::Frame

Enumerator
UNKNOWNFRAME
GLOBAL
NODE
LOCAL
REFERENCE
OTHER_POSITION
OTHER_ORIENTATION
OTHER_NODE
LASTFRAME

Definition at line 145 of file mbpar.h.

                   {
                UNKNOWNFRAME = 0,

                GLOBAL,
                NODE,
                LOCAL,
                REFERENCE,

                OTHER_POSITION,
                OTHER_ORIENTATION,
                OTHER_NODE,

                LASTFRAME
        };

enum MBDynParser::VecMatOpType

Enumerator
VM_NONE
VM_POSABS
VM_VELABS
VM_OMEABS
VM_VECABS
VM_UNITVECABS
VM_MATABS
VM_ROTABS
VM_MOD_REL
VM_MOD_OTHER
VM_POSREL
VM_VELREL
VM_OMEREL
VM_VECREL
VM_UNITVECREL
VM_MATREL
VM_ROTREL
VM_LAST

Definition at line 332 of file mbpar.h.

                          {
                VM_NONE         = 0,

                VM_POSABS,
                VM_VELABS,
                VM_OMEABS,
                VM_VECABS,
                VM_UNITVECABS,

                VM_MATABS,
                VM_ROTABS,

                VM_MOD_REL      = 0x1000U,
                VM_MOD_OTHER    = 0x2000U,

                VM_POSREL       = VM_POSABS | VM_MOD_REL,
                VM_VELREL       = VM_VELABS | VM_MOD_REL,
                VM_OMEREL       = VM_OMEABS | VM_MOD_REL,
                VM_VECREL       = VM_VECABS | VM_MOD_REL,
                VM_UNITVECREL   = VM_UNITVECABS | VM_MOD_REL,

                VM_MATREL       = VM_MATABS | VM_MOD_REL,
                VM_ROTREL       = VM_ROTABS | VM_MOD_REL,

                VM_LAST
        };

Constructor & Destructor Documentation

MBDynParser::MBDynParser ( const MBDynParser &  )

private

MBDynParser::MBDynParser	(	MathParser &	MP,
		InputStream &	streamIn,
		const char *	initial_file
	)

Definition at line 214 of file mbpar.cc.

References InitCL(), InitDescData(), InitDriveCallerData(), InitSF(), InitStreamOutputContentTypes(), and InitTplDC().

: IncludeParser(MP, streamIn, initial_file),
moduleInitialized(false),
pDM(0)
{
        /* make sure this is init'ed */
        InitDriveCallerData();
        InitTplDC();
        InitCL();
        InitSF();
        InitStreamOutputContentTypes();

        // NOTE: data will be destroyed when the underlying HighParser is destroyed (is this what we want?)
        InitDescData();
}

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MBDynParser::~MBDynParser

(

void

)

Definition at line 232 of file mbpar.cc.

References AD, bEmptyManip(), c81_data_destroy(), CL1D, CL3D, CL6D, DC, DestroyCL(), DestroyDriveCallerData(), DestroyFileDriveCallerTypes(), DestroyFileDriveContentTypes(), DestroySF(), DestroyStreamOutputContentTypes(), DestroyTplDC(), HF, module_finalize(), moduleInitialized, RF, SAFEDELETE, and SF.

{
        DestroyDriveCallerData();
        DestroyTplDC();
        DestroyCL();
        DestroySF();
        DestroyStreamOutputContentTypes();
        DestroyFileDriveContentTypes();
        DestroyFileDriveCallerTypes();

        for (SFType::iterator i = SF.begin(); i != SF.end(); ++i) {
                SAFEDELETE(i->second);
        }
        SF.clear();

        for (RFType::iterator i = RF.begin(); i != RF.end(); ++i) {
                SAFEDELETE(i->second);
        }
        RF.clear();

        for (HFType::iterator i = HF.begin(); i != HF.end(); ++i) {
                SAFEDELETE(i->second);
        }
        HF.clear();

        for (ADType::iterator i = AD.begin(); i != AD.end(); ++i) {
                c81_data_destroy(i->second);
                SAFEDELETE(i->second);
        }
        AD.clear();

        for (CL1DType::iterator i = CL1D.begin(); i != CL1D.end(); ++i) {
                SAFEDELETE(i->second);
        }
        CL1D.clear();

        for (CL3DType::iterator i = CL3D.begin(); i != CL3D.end(); ++i) {
                SAFEDELETE(i->second);
        }
        CL3D.clear();

        for (CL6DType::iterator i = CL6D.begin(); i != CL6D.end(); ++i) {
                SAFEDELETE(i->second);
        }
        CL6D.clear();

        for (DCType::iterator i = DC.begin(); i != DC.end(); ++i) {
                SAFEDELETE(i->second);
        }
        DC.clear();

        if (!bEmptyManip()) {
                silent_cerr("MBDynParser::~MBDynParser: "
                        "manipulators' stack not empty" << std::endl);
        }

#if defined(USE_RUNTIME_LOADING)
        if (moduleInitialized) {
                module_finalize();
        }
#endif // USE_RUNTIME_LOADING
}

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Member Function Documentation

bool MBDynParser::bEmptyManip

(

void

)

const

Definition at line 2207 of file mbpar.cc.

References manip.

Referenced by Get(), and ~MBDynParser().

{
        return manip.empty();
}

bool MBDynParser::C81Data_int ( void  )

protected

Definition at line 495 of file mbpar.cc.

References c81_data::ad, AD, c81_data::al, c81_data::am, c81_data_fc511_read(), c81_data_flip(), c81_data_nrel_read(), c81_data_read(), c81_data_read_free_format(), c81_data_write(), c81_data_write_free_format(), DEBUGLCOUT, filename, IncludeParser::GetFileName(), HighParser::GetInt(), IncludeParser::GetLineData(), HighParser::GetReal(), HighParser::GetStringWithDelims(), HighParser::IsArg(), HighParser::IsKeyWord(), MBDYN_EXCEPT_ARGS, c81_data::md, c81_data::ml, c81_data::mm, MYDEBUG_INPUT, c81_data::NAD, c81_data::NAL, c81_data::NAM, WithLabel::PutName(), and SAFENEWWITHCONSTRUCTOR.

Referenced by C81DataDR::Read().

{
        if (!IsArg()) {
                silent_cerr("Parser error in MBDynParser::C81Data_int(),"
                        " arg expected at line " << GetLineData()
                        << std::endl);
                throw HighParser::ErrColonExpected(MBDYN_EXCEPT_ARGS);
        }
        
        unsigned int uLabel(GetInt());
        
        /* Nome del profilo c81 */
        std::string sName;
        if (IsKeyWord("name")) {
                const char *sTmp = GetStringWithDelims();
                sName = sTmp;
        }
        
        std::string filename = GetFileName();
        if (filename.empty()) {
                silent_cerr("C81Data(" << uLabel << "): "
                        "invalid file at line " 
                        << GetLineData() << std::endl);
                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
        std::ifstream in(filename.c_str());
        if (!in) {
                silent_cerr("C81Data(" << uLabel << "): "
                        "unable to open file '" << filename << "' at line " 
                        << GetLineData() << std::endl);
                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
        
        DEBUGLCOUT(MYDEBUG_INPUT, "reading c81 data " << uLabel 
                   << " from file '" << filename << "'" << std::endl);
        
        C81Data* data = NULL;
        SAFENEWWITHCONSTRUCTOR(data, C81Data, C81Data(uLabel));

        doublereal dcptol = 1e-6;
        if (IsKeyWord("tolerance")) {
                dcptol = GetReal();
                if (dcptol <= 0.) {
                        silent_cerr("C81Data(" << uLabel << "): "
                                "invalid c81 data tolerance at line "
                                << GetLineData() << std::endl);
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }
        }

        bool bFF(false);
        if (IsKeyWord("fc511")) {
                if (c81_data_fc511_read(in, data, dcptol) != 0) {
                        silent_cerr("C81Data(" << uLabel << "): "
                                "unable to read c81 data " << uLabel 
                                << " from file '" << filename << "' "
                                "in fc511 format at line " << GetLineData() << std::endl);
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }

        } else if (IsKeyWord("nrel")) {
                if (c81_data_nrel_read(in, data, dcptol) != 0) {
                        silent_cerr("C81Data(" << uLabel << "): "
                                "unable to read c81 data " << uLabel 
                                << " from file '" << filename << "' "
                                "in NREL format at line " << GetLineData() << std::endl);
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }

        } else if (IsKeyWord("free" "format")) {
                if (c81_data_read_free_format(in, data, dcptol) != 0) {
                        silent_cerr("C81Data(" << uLabel << "): "
                                "unable to read c81 data " << uLabel 
                                << " from file '" << filename << "' "
                                "in free format at line " << GetLineData() << std::endl);
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }

                bFF = true;

        } else {
                int ff = 0;
                if (c81_data_read(in, data, dcptol, &ff) != 0) {
                        silent_cerr("C81Data(" << uLabel << "): "
                                "unable to read c81 data " << uLabel 
                                << " from file '" << filename << "' "
                                "at line " << GetLineData() << std::endl);
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }

                if (ff) {
                        bFF = true;
                }
        }

        if (IsKeyWord("flip")) {
                (void)c81_data_flip(data);
        }

        // CL
        if (data->al[0] > -180.) {
                silent_cerr("C81Data(" << uLabel << "): "
                        "warning, CL alpha[0]=" << data->al[0] << " > -180 (error=" << 100*(data->al[0]/180. + 1.) << "%)" << std::endl);
        }
        if (data->al[data->NAL - 1] < 180.) {
                silent_cerr("C81Data(" << uLabel << "): "
                        "warning, CL alpha[" << data->NAL - 1 << "]=" << data->al[data->NAL - 1] << " < 180 (error=" << 100*(data->al[data->NAL - 1]/180. - 1.) << "%)" << std::endl);
        }
        if (data->ml[0] > 0.) {
                silent_cerr("C81Data(" << uLabel << "): "
                        "warning, CL mach[0]=" << data->ml[0] << " > 0" << std::endl);
        }

        // CD
        if (data->ad[0] > -180.) {
                silent_cerr("C81Data(" << uLabel << "): "
                        "warning, CD alpha[0]=" << data->ad[0] << " > -180 (error=" << 100*(data->ad[0]/180. + 1.) << "%)" << std::endl);
        }
        if (data->ad[data->NAD - 1] < 180.) {
                silent_cerr("C81Data(" << uLabel << "): "
                        "warning, CD alpha[" << data->NAD - 1 << "]=" << data->ad[data->NAD - 1] << " < 180 (error=" << 100*(data->ad[data->NAD - 1]/180. - 1.) << "%)" << std::endl);
        }
        if (data->md[0] > 0.) {
                silent_cerr("C81Data(" << uLabel << "): "
                        "warning, CD mach[0]=" << data->md[0] << " > 0" << std::endl);
        }

        // CM
        if (data->am[0] > -180.) {
                silent_cerr("C81Data(" << uLabel << "): "
                        "warning, CM alpha[0]=" << data->am[0] << " > -180 (error=" << 100*(data->am[0]/180. + 1.) << "%)" << std::endl);
        }
        if (data->am[data->NAM - 1] < 180.) {
                silent_cerr("C81Data(" << uLabel << "): "
                        "warning, CM alpha[" << data->NAM - 1 << "]=" << data->am[data->NAM - 1] << " < 180 (error=" << 100*(data->am[data->NAM - 1]/180. - 1.) << "%)" << std::endl);
        }
        if (data->mm[0] > 0.) {
                silent_cerr("C81Data(" << uLabel << "): "
                        "warning, CM mach[0]=" << data->mm[0] << " > 0" << std::endl);
        }

        if (IsKeyWord("echo")) {
                const char *sOutName = GetFileName();
                if (sOutName == NULL) {
                        silent_cerr("C81Data(" << uLabel << "): "
                                "unable to read output file name "
                                "at line " << GetLineData() << std::endl);
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }

                std::ofstream out(sOutName);
                if (!out) {
                        silent_cerr("C81Data(" << uLabel << "): "
                                "unable to open output file "
                                "\"" << sOutName << "\" "
                                "at line " << GetLineData() << std::endl);
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }

                if (IsKeyWord("free" "format")) {
                        c81_data_write_free_format(out, data);

                } else if (!IsArg()) {
                        if (bFF) {
                                c81_data_write_free_format(out, data);

                        } else {
                                c81_data_write(out, data);
                        }

                } else {
                        silent_cerr("C81Data(" << uLabel << "): "
                                "unknown output format "
                                "at line " << GetLineData() << std::endl);
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }
        }

        if (IsArg()) {
                silent_cerr("semicolon expected after c81 data " << uLabel
                        << " (" << (sName.empty() ? "unknown" : sName.c_str()) << ") "
                        "at line " << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        if (!AD.insert(ADType::value_type(uLabel, data)).second) {
                silent_cerr("C81Data(" << uLabel << "): "
                        "redefined at line " << GetLineData()
                        << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
        
        if (!sName.empty()) {
                data->PutName(sName.c_str());
        }

        return true;
}

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bool MBDynParser::ConstitutiveLaw_int ( void  )

protected

Definition at line 695 of file mbpar.cc.

References CL1D, CL3D, CL6D, GetConstLaw1D(), GetConstLaw3D(), GetConstLaw6D(), HighParser::GetInt(), IncludeParser::GetLineData(), HighParser::GetStringWithDelims(), HighParser::IsArg(), HighParser::IsKeyWord(), MBDYN_EXCEPT_ARGS, pDM, WithLabel::PutLabel(), and WithLabel::PutName().

Referenced by ConstLawDR::Read().

{
        if (!IsArg()) {
                silent_cerr("Parser error in MBDynParser::ConstitutiveLaw_int(),"
                        " arg expected at line "
                        << GetLineData() << std::endl);
                throw HighParser::ErrColonExpected(MBDYN_EXCEPT_ARGS);
        }

        if (pDM == 0) {
                silent_cerr("constitutive law parsing at line "
                                << GetLineData() << " allowed "
                                "only after control data block" << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
        
        unsigned int uLabel(GetInt());
        
        /* Constitutive law name */
        std::string sName;
        if (IsKeyWord("name")) {
                const char *sTmp = GetStringWithDelims();
                sName = sTmp;
        }

        int dim = GetInt();
        ConstLawType::Type clt;
        switch (dim) {
        case 1:
        {
                /* allow "reference" (copy cached constitutive law) */
                ConstitutiveLaw1D *pCL = GetConstLaw1D(clt);
                if (pCL == NULL) {
                        silent_cerr("unable to read constitutive law 1D " 
                                        << uLabel);
                        if (!sName.empty()) {
                                silent_cerr(" (" << sName << ")");
                        }
                        silent_cerr(" at line " << GetLineData()
                                        << std::endl);
                        throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
                }

                pCL->PutLabel(uLabel);
                if (!sName.empty()) {
                        pCL->PutName(sName);
                }
        
                if (!CL1D.insert(CL1DType::value_type(uLabel, pCL)).second) {
                        silent_cerr("constitutive law 1D " << uLabel);
                        if (!sName.empty()) {
                                silent_cerr(" (" << sName << ")");
                        }
                        silent_cerr(" already defined at line " 
                                        << GetLineData() << std::endl);
                        throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
                }
                break;
        }

        case 3:
        {
                /* allow "reference" (copy cached constitutive law) */
                ConstitutiveLaw3D *pCL = GetConstLaw3D(clt);
                if (pCL == NULL) {
                        silent_cerr("unable to read constitutive law 3D " 
                                        << uLabel);
                        if (!sName.empty()) {
                                silent_cerr(" (" << sName << ")");
                        }
                        silent_cerr(" at line " << GetLineData()
                                        << std::endl);
                        throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
                }
        
                pCL->PutLabel(uLabel);
                if (!sName.empty()) {
                        pCL->PutName(sName);
                }
        
                if (!CL3D.insert(CL3DType::value_type(uLabel, pCL)).second) {
                        silent_cerr("constitutive law 3D " << uLabel);
                        if (!sName.empty()) {
                                silent_cerr(" (" << sName << ")");
                        }
                        silent_cerr(" already defined at line " 
                                        << GetLineData() << std::endl);
                        throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
                }
                break;
        }

        case 6:
        {
                /* allow "reference" (copy cached constitutive law) */
                ConstitutiveLaw6D *pCL = GetConstLaw6D(clt);
                if (pCL == NULL) {
                        silent_cerr("unable to read constitutive law 6D " 
                                        << uLabel);
                        if (!sName.empty()) {
                                silent_cerr(" (" << sName << ")");
                        }
                        silent_cerr(" at line " << GetLineData()
                                        << std::endl);
                        throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
                }
        
                pCL->PutLabel(uLabel);
                if (!sName.empty()) {
                        pCL->PutName(sName);
                }
        
                if (!CL6D.insert(CL6DType::value_type(uLabel, pCL)).second) {
                        silent_cerr("constitutive law 6D " << uLabel);
                        if (!sName.empty()) {
                                silent_cerr(" (" << sName << ")");
                        }
                        silent_cerr(" already defined at line " 
                                        << GetLineData() << std::endl);
                        throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
                }
                break;
        }

        default:
                silent_cerr("unknown constitutive law dimensionality " 
                                << dim << " at line " << GetLineData()
                                << std::endl);
                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        if (IsArg()) {
                silent_cerr("semicolon expected after constitutive law " << uLabel
                        << " (" << (sName.empty() ? "unknown" : sName.c_str()) << ") "
                        "at line " << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        return true;
}

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bool MBDynParser::DriveCaller_int ( void  )

protected

Definition at line 890 of file mbpar.cc.

References DC, GetDriveCaller(), HighParser::GetInt(), IncludeParser::GetLineData(), HighParser::GetStringWithDelims(), HighParser::IsArg(), HighParser::IsKeyWord(), MBDYN_EXCEPT_ARGS, pDM, WithLabel::PutLabel(), WithLabel::PutName(), and DriveCallerRead::ReadOutput().

Referenced by DriveCallerDR::Read().

{
        if (!IsArg()) {
                silent_cerr("Parser error in MBDynParser::DriveCaller_int(), "
                        " arg expected at line "
                        << GetLineData() << std::endl);
                throw HighParser::ErrColonExpected(MBDYN_EXCEPT_ARGS);
        }

        unsigned int uLabel(GetInt());
        
        /* drive name */
        std::string sName;
        if (IsKeyWord("name")) {
                const char *sTmp = GetStringWithDelims();
                sName = sTmp;
        }

        bool bDeferred(false);
        if (IsKeyWord("deferred")) {
                bDeferred = true;
        }

        /* allow "reference" (copy cached drive) */
        DriveCaller *pDC = GetDriveCaller(bDeferred);
        if (pDC == NULL) {
                silent_cerr("unable to read drive caller " << uLabel
                        << " (" << (sName.empty() ? "unknown" : sName.c_str()) << ") "
                        "at line " << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        DriveCallerRead::ReadOutput(pDC, pDM, *this);

        if (IsArg()) {
                silent_cerr("semicolon expected after drive caller " << uLabel
                        << " (" << (sName.empty() ? "unknown" : sName.c_str()) << ") "
                        "at line " << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        pDC->PutLabel(uLabel);
        if (!sName.empty()) {
                pDC->PutName(sName);
        }
        
        if (!DC.insert(DCType::value_type(uLabel, pDC)).second) {
                silent_cerr("drive caller " << uLabel);
                if (!sName.empty()) {
                        silent_cerr(" (" << sName << ")");
                }
                silent_cerr(" already defined at line " 
                                << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        return true;
}

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doublereal MBDynParser::Get ( const doublereal &  d )

virtual

Definition at line 2213 of file mbpar.cc.

References HighParser::GetReal().

Referenced by GetPreStress(), GetT(), NLSFViscoElasticCLR< T, Tder, Typ >::Read(), LinearElasticGenericCLR< T, Tder >::Read(), NLPViscoElasticCLR< T, Tder, Typ >::Read(), LinearElasticGenericAxialTorsionCouplingCLR< T, Tder >::Read(), LinearViscoElasticGenericAxialTorsionCouplingCLR< T, Tder >::Read(), LinearViscousGenericCLR< T, Tder >::Read(), LinearViscoElasticGenericCLR< T, Tder >::Read(), LTVViscoElasticGenericCLR< T, Tder >::Read(), CubicElasticGenericCLR< T, Tder >::Read(), and CubicViscoElasticGenericCLR< T, Tder >::Read().

{
        return GetReal(doublereal(d));
}

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Vec3 MBDynParser::Get ( const Vec3 &  v )

virtual

Definition at line 2788 of file mbpar.cc.

References bEmptyManip(), MBDynParser::TplManip< T >::Get(), GetManip(), GetVec3(), and PopManip().

{
        bool bManip = false;
        Vec3 vv = v;

        while (!bEmptyManip()) {
                const Manip *m = GetManip();
                const TplManip<Vec3> *v3m = dynamic_cast<const TplManip<Vec3> *>(m);
                if (v3m) {
                        bManip = true;
                        vv = v3m->Get(vv);
                }

                PopManip();
        }

        if (!bManip) {
                vv = GetVec3(v);
        }

        return vv;
}

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Mat3x3 MBDynParser::Get ( const Mat3x3 &  m )

virtual

Definition at line 2812 of file mbpar.cc.

References GetMat3x3().

{
        return GetMat3x3(m);
}

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Vec6 MBDynParser::Get ( const Vec6 &  v )

virtual

Definition at line 2818 of file mbpar.cc.

References GetVec6().

{
        return GetVec6(v);
}

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Mat6x6 MBDynParser::Get ( const Mat6x6 &  m )

virtual

Definition at line 2824 of file mbpar.cc.

References GetMat6x6().

{
        return GetMat6x6(m);
}

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const c81_data * MBDynParser::GetC81Data

(

unsigned

profile

)

const

Definition at line 1921 of file mbpar.cc.

References AD, IncludeParser::GetLineData(), and MBDYN_EXCEPT_ARGS.

Referenced by ReadAeroData(), and ReadC81MultipleAeroData().

{
        /* cerca i dati predefiniti, se li trova */
        ADType::const_iterator i = AD.find(profile);
        if (i == AD.end()) {
                silent_cerr("c81 data " << profile << " is undefined at line " 
                        << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        if (i == AD.end()) {
                silent_cerr("c81 data " << profile << " is undefined at line " 
                        << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        return i->second;
}

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const MBDynParser::ADType & MBDynParser::GetC81DataContainer

(

void

)

const

Definition at line 848 of file mbpar.cc.

References AD.

{
        return AD;
}

ConstitutiveLaw1D * MBDynParser::GetConstLaw1D

(

ConstLawType::Type &

clt

)

Definition at line 1941 of file mbpar.cc.

References CL1D, HighParser::GetInt(), IncludeParser::GetLineData(), HighParser::IsKeyWord(), MBDYN_EXCEPT_ARGS, pDM, and ReadCL1D().

Referenced by ConstitutiveLaw_int(), AxialCLR::Read(), TDCLWR< T, Tder >::Read(), and ReadGenel().

{
        if (pDM == 0) {
                silent_cerr("constitutive law parsing at line "
                                << GetLineData() << " allowed "
                                "only after control data block" << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        if (!IsKeyWord("reference")) {
                return ReadCL1D(pDM, *this, clt);
        }

        unsigned int uLabel = GetInt();
        CL1DType::const_iterator i = CL1D.find(uLabel);
        if (i == CL1D.end()) {
                silent_cerr("constitutive law 1D " << uLabel
                                << " is undefined at line "
                                << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        clt = i->second->GetConstLawType();
        return i->second->pCopy();
}

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ConstitutiveLaw3D * MBDynParser::GetConstLaw3D

(

ConstLawType::Type &

clt

)

Definition at line 1968 of file mbpar.cc.

References CL3D, HighParser::GetInt(), IncludeParser::GetLineData(), HighParser::IsKeyWord(), MBDYN_EXCEPT_ARGS, pDM, and ReadCL3D().

Referenced by ConstitutiveLaw_int(), TDCLWR< T, Tder >::Read(), and InvAngularCLR::Read().

{
        if (pDM == 0) {
                silent_cerr("constitutive law parsing at line "
                                << GetLineData() << " allowed "
                                "only after control data block" << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        if (!IsKeyWord("reference")) {
                return ReadCL3D(pDM, *this, clt);
        }

        unsigned int uLabel = GetInt();
        CL3DType::const_iterator i = CL3D.find(uLabel);
        if (i == CL3D.end()) {
                silent_cerr("constitutive law 3D " << uLabel
                                << " is undefined at line "
                                << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        clt = i->second->GetConstLawType();
        return i->second->pCopy();
}

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ConstitutiveLaw6D * MBDynParser::GetConstLaw6D

(

ConstLawType::Type &

clt

)

Definition at line 1995 of file mbpar.cc.

References CL6D, HighParser::GetInt(), IncludeParser::GetLineData(), HighParser::IsKeyWord(), MBDYN_EXCEPT_ARGS, pDM, and ReadCL6D().

Referenced by ConstitutiveLaw_int(), TDCLWR< T, Tder >::Read(), ReadBeam(), ReadBeam2(), and ReadHBeam().

{
        if (pDM == 0) {
                silent_cerr("constitutive law parsing at line "
                                << GetLineData() << " allowed "
                                "only after control data block" << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        if (!IsKeyWord("reference")) {
                return ReadCL6D(pDM, *this, clt);
        }

        unsigned int uLabel = GetInt();
        CL6DType::const_iterator i = CL6D.find(uLabel);
        if (i == CL6D.end()) {
                silent_cerr("constitutive law 6D " << uLabel
                                << " is undefined at line "
                                << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        clt = i->second->GetConstLawType();
        return i->second->pCopy();
}

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DataManager * MBDynParser::GetDataManager

(

void

)

const

Definition at line 314 of file mbpar.cc.

References pDM.

{
        return pDM;
}

const DriveCaller * MBDynParser::GetDrive

(

unsigned

uLabel

)

const

Definition at line 2022 of file mbpar.cc.

References DC.

Referenced by PostponedDriveCaller::Check(), and GetDriveCaller().

{
        DCType::const_iterator i = DC.find(uLabel);
        if (i == DC.end()) {
                return 0;
        }

        return i->second;
}

DriveCaller * MBDynParser::GetDriveCaller

(

bool

bDeferred = false

)

Definition at line 2033 of file mbpar.cc.

References GetDrive(), HighParser::GetInt(), IncludeParser::GetLineData(), HighParser::IsKeyWord(), MBDYN_EXCEPT_ARGS, DriveCaller::pCopy(), pDM, and ReadDriveCallerData().

Referenced by AeroDynModule::AeroDynModule(), asynchronous_machine::asynchronous_machine(), DriveCaller_int(), HydrodynamicPlainBearing::HydrodynamicPlainBearing(), LoadIncNorm::LoadIncNorm(), ModuleFMU::ModuleFMU(), ModuleMDS::ModuleMDS(), SingleTDCR< T >::Read(), SwitchDriveDCR::Read(), PowerLawGR::Read(), MinMaxDriveDCR::Read(), Gust1DGR::Read(), LogarithmicGR::Read(), ChangeStepTSR::Read(), MusclePennestriCLR::Read(), CompTDCR< T >::Read(), ArrayTDCR< T >::Read(), LTVViscoElasticGenericCLR< T, Tder >::Read(), LinearBiStopCLR< T, Tder >::Read(), MultDCR::Read(), FunctionDCR::Read(), FrequencySweepDCR::Read(), ClosestNextDCR::Read(), DofDCR::Read(), SimulationEntityDCR::Read(), DriveDCR::Read(), SHDCR::Read(), ArrayDCR::Read(), PeriodicDCR::Read(), ReadAeroData(), ReadAirProperties(), ReadBiStopBase(), ReadBulk(), DataManager::ReadControl(), InverseSolver::ReadData(), Solver::ReadData(), ReadElectric(), DataManager::ReadElems(), ReadForce(), ReadGenel(), ReadHydraulicElem(), ReadJoint(), ReadModalForce(), ReadPX(), ReadRotor(), ReadScalarValue(), ReadStructuralForce(), ReadThermal(), ReadUniform(), ReadVariableBody(), ShockAbsorberConstitutiveLaw< doublereal, doublereal >::ShockAbsorberConstitutiveLaw(), Wheel2::Wheel2(), and Wheel4::Wheel4().

{
        if (!IsKeyWord("reference")) {
                DriveCaller *pDC = 0;
                try {
                        pDC = ReadDriveCallerData(pDM, *this, bDeferred);
                }
                catch (DataManager::ErrNeedDataManager) {
                        silent_cerr("the required drive caller must appear "
                                        "inside or after the \"control data\" "
                                        "block"
                                        << std::endl);
                        throw DataManager::ErrNeedDataManager(MBDYN_EXCEPT_ARGS);
                }
                return pDC;
        }

        unsigned int uLabel = GetInt();
        const DriveCaller *pDC = GetDrive(uLabel);
        if (pDC == 0) {
                silent_cerr("drive caller " << uLabel
                        << " is undefined at line "
                        << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        return pDC->pCopy();
}

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const MBDynParser::DC1DType & MBDynParser::GetDriveCaller1DContainer

(

void

)

const

Definition at line 860 of file mbpar.cc.

References DC1D.

{
        return DC1D;
}

const MBDynParser::DC3DType & MBDynParser::GetDriveCaller3DContainer

(

void

)

const

Definition at line 866 of file mbpar.cc.

References DC3D.

{
        return DC3D;
}

const MBDynParser::DC3x3DType & MBDynParser::GetDriveCaller3x3DContainer

(

void

)

const

Definition at line 878 of file mbpar.cc.

References DC3x3D.

{
        return DC3x3D;
}

const MBDynParser::DC6DType & MBDynParser::GetDriveCaller6DContainer

(

void

)

const

Definition at line 872 of file mbpar.cc.

References DC6D.

{
        return DC6D;
}

const MBDynParser::DC6x6DType & MBDynParser::GetDriveCaller6x6DContainer

(

void

)

const

Definition at line 884 of file mbpar.cc.

References DC6x6D.

{
        return DC6x6D;
}

const MBDynParser::DCType & MBDynParser::GetDriveCallerContainer

(

void

)

const

Definition at line 854 of file mbpar.cc.

References DC.

Referenced by DataManager::DataManager(), DataManager::DriveOutput(), and DataManager::DriveTrace().

{
        return DC;
}

HydraulicFluid * MBDynParser::GetHydraulicFluid

(

void

)

Definition at line 1893 of file mbpar.cc.

References HighParser::GetInt(), IncludeParser::GetLineData(), HF, HighParser::IsKeyWord(), MBDYN_EXCEPT_ARGS, and ReadHydraulicFluid().

Referenced by ReadHydraulicElem().

{
        /* verifica che sia stato chiamato con "hydraulic" "fluid" */
        if (!IsKeyWord("hydraulic" "fluid") && !IsKeyWord("fluid")) {
                silent_cerr("hydraulic fluid expected at line "
                        << GetLineData() << std::endl);
                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
        
        /* se non trova "reference", legge direttamente un fluido */
        if (!IsKeyWord("reference")) {
                return ReadHydraulicFluid(*this, 0);
        }
        
        /* altrimenti usa un fluido predefinito, se lo trova */
        unsigned int uLabel = GetInt();
        HFType::const_iterator i = HF.find(uLabel);
        if (i == HF.end()) {
                silent_cerr("hydraulic fluid " << uLabel
                        << " is undefined at line " << GetLineData()
                        << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        return i->second->pCopy();
}

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const MBDynParser::HFType & MBDynParser::GetHydraulicFluidContainer

(

void

)

const

Definition at line 843 of file mbpar.cc.

References HF.

{
        return HF;
}

const MBDynParser::Manip * MBDynParser::GetManip

(

void

)

const

Definition at line 2197 of file mbpar.cc.

References manip.

Referenced by Get(), and ReadDCVec().

{
        if (manip.empty()) {
                return 0;
        }

        return manip.top();
}

Mat3x3 MBDynParser::GetMat3x3 ( void  )

virtual

Definition at line 2438 of file mbpar.cc.

References Zero3x3.

Referenced by Get(), GetMatAbs(), and GetMatRel().

{
        Mat3x3 m(Zero3x3);
        return GetMat3x3(m);
}

Mat3x3 MBDynParser::GetMat3x3 ( const Mat3x3 &  mDef )

virtual

Definition at line 2447 of file mbpar.cc.

References Eye3, HighParser::GetReal(), HighParser::IsKeyWord(), NO_OP, and Zero3x3.

{
        if (IsKeyWord("default")) {
                return mDef;

        } else if (IsKeyWord("null")) {
                return Zero3x3;
        }

        Mat3x3 m;

        if (IsKeyWord("eye")) {
                m = Eye3;

        } else if (IsKeyWord("diag")) {
                doublereal m11 = GetReal(mDef(1, 1));
                doublereal m22 = GetReal(mDef(2, 2));
                doublereal m33 = GetReal(mDef(3, 3));
                m = Mat3x3(m11, 0., 0., 0., m22, 0., 0., 0., m33);

        } else if (IsKeyWord("sym")) {
                doublereal m11 = GetReal(mDef(1, 1));
                doublereal m12 = GetReal(mDef(1, 2));
                doublereal m13 = GetReal(mDef(1, 3));
                doublereal m22 = GetReal(mDef(2, 2));
                doublereal m23 = GetReal(mDef(2, 3));
                doublereal m33 = GetReal(mDef(3, 3));
                m = Mat3x3(m11, m12, m13, m12, m22, m23, m13, m23, m33);

        } else if (IsKeyWord("skew")) {
                doublereal v1 = GetReal(mDef(3, 2));
                doublereal v2 = GetReal(mDef(1, 3));
                doublereal v3 = GetReal(mDef(2, 1));
                m = Mat3x3(0., -v3, v2, v3, 0., -v1, -v2, v1, 0.);

        } else {
                if (IsKeyWord("matr")) {
                        /* eat it; not required */
                        NO_OP;
                }
   
                doublereal m11 = GetReal(mDef(1, 1));
                doublereal m12 = GetReal(mDef(1, 2));
                doublereal m13 = GetReal(mDef(1, 3));
                doublereal m21 = GetReal(mDef(2, 1));
                doublereal m22 = GetReal(mDef(2, 2));
                doublereal m23 = GetReal(mDef(2, 3));
                doublereal m31 = GetReal(mDef(3, 1));
                doublereal m32 = GetReal(mDef(3, 2));
                doublereal m33 = GetReal(mDef(3, 3));
                m = Mat3x3(m11, m21, m31, m12, m22, m32, m13, m23, m33);
        }

        if (IsKeyWord("scale")) {
                m *= GetReal(1.);
        }

        return m;
}

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Mat3x3 MBDynParser::GetMat3x3Sym ( void  )

virtual

Definition at line 2402 of file mbpar.cc.

References Eye3, HighParser::GetReal(), HighParser::IsKeyWord(), and Zero3x3.

{
        if (IsKeyWord("null")) {
                return Zero3x3;
        }
   
        Mat3x3 m;

        if (IsKeyWord("eye")) {
                m = Eye3;

        } else if (IsKeyWord("diag")) {
                doublereal m11 = GetReal();
                doublereal m22 = GetReal();
                doublereal m33 = GetReal();
                m = Mat3x3(m11, 0., 0., 0., m22, 0., 0., 0., m33);

        } else {   
                doublereal m11 = GetReal();
                doublereal m12 = GetReal();
                doublereal m13 = GetReal();
                doublereal m22 = GetReal();
                doublereal m23 = GetReal();
                doublereal m33 = GetReal();
                m = Mat3x3(m11, m12, m13, m12, m22, m23, m13, m23, m33);
        }

        if (IsKeyWord("scale")) {
                m *= GetReal(1.);
        }

        return m;
}

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Mat6x6 MBDynParser::GetMat6x6 ( void  )

virtual

Definition at line 2547 of file mbpar.cc.

References Zero6x6.

Referenced by Get().

{
        Mat6x6 m(Zero6x6);
        return GetMat6x6(m);
}

Mat6x6 MBDynParser::GetMat6x6 ( const Mat6x6 &  mDef )

virtual

Definition at line 2556 of file mbpar.cc.

References Eye6, HighParser::GetReal(), HighParser::IsKeyWord(), NO_OP, and Zero6x6.

{
        if (IsKeyWord("null")) {
                return Zero6x6;

        } else if (IsKeyWord("default")) {
                return mDef;
        }
   
        Mat6x6 m;

        if (IsKeyWord("eye")) {
                m = Eye6;

        } else if (IsKeyWord("diag")) {
                doublereal m11 = GetReal(mDef(1, 1));
                doublereal m22 = GetReal(mDef(2, 2));
                doublereal m33 = GetReal(mDef(3, 3));
                doublereal m44 = GetReal(mDef(4, 4));
                doublereal m55 = GetReal(mDef(5, 5));
                doublereal m66 = GetReal(mDef(6, 6));
                m = Mat6x6(
                        m11, 0., 0., 0., 0., 0.,
                        0., m22, 0., 0., 0., 0.,
                        0., 0., m33, 0., 0., 0.,
                        0., 0., 0., m44, 0., 0.,
                        0., 0., 0., 0., m55, 0.,
                        0., 0., 0., 0., 0., m66);
 
        } else if (IsKeyWord("sym")) {
                doublereal m11 = GetReal(mDef(1, 1));
                doublereal m12 = GetReal(mDef(1, 2));
                doublereal m13 = GetReal(mDef(1, 3));
                doublereal m14 = GetReal(mDef(1, 4));
                doublereal m15 = GetReal(mDef(1, 5));
                doublereal m16 = GetReal(mDef(1, 6));

                doublereal m22 = GetReal(mDef(2, 2));
                doublereal m23 = GetReal(mDef(2, 3));
                doublereal m24 = GetReal(mDef(2, 4));
                doublereal m25 = GetReal(mDef(2, 5));
                doublereal m26 = GetReal(mDef(2, 6));

                doublereal m33 = GetReal(mDef(3, 3));
                doublereal m34 = GetReal(mDef(3, 4));
                doublereal m35 = GetReal(mDef(3, 5));
                doublereal m36 = GetReal(mDef(3, 6));

                doublereal m44 = GetReal(mDef(4, 4));
                doublereal m45 = GetReal(mDef(4, 5));
                doublereal m46 = GetReal(mDef(4, 6));

                doublereal m55 = GetReal(mDef(5, 5));
                doublereal m56 = GetReal(mDef(5, 6));

                doublereal m66 = GetReal(mDef(6, 6));

                m = Mat6x6(
                        m11, m12, m13, m14, m15, m16,
                        m12, m22, m23, m24, m25, m26,
                        m13, m23, m33, m34, m35, m36,
                        m14, m24, m34, m44, m45, m46,
                        m15, m25, m35, m45, m55, m56,
                        m16, m26, m36, m46, m56, m66);

        } else if (IsKeyWord("anba")) {
                /* Formato ANBA, in cui vale la trasformazione:
                 * ex = e2
                 * ey = e3
                 * ez = e1
                 */
                doublereal m22 = GetReal(mDef(2, 2));
                doublereal m23 = GetReal(mDef(2, 3));
                doublereal m21 = GetReal(mDef(2, 1));
                doublereal m25 = GetReal(mDef(2, 5));
                doublereal m26 = GetReal(mDef(2, 6));
                doublereal m24 = GetReal(mDef(2, 4));

                doublereal m32 = GetReal(mDef(3, 2));
                doublereal m33 = GetReal(mDef(3, 3));
                doublereal m31 = GetReal(mDef(3, 1));
                doublereal m35 = GetReal(mDef(3, 5));
                doublereal m36 = GetReal(mDef(3, 6));
                doublereal m34 = GetReal(mDef(3, 4));

                doublereal m12 = GetReal(mDef(1, 2));
                doublereal m13 = GetReal(mDef(1, 3));
                doublereal m11 = GetReal(mDef(1, 1));
                doublereal m15 = GetReal(mDef(1, 5));
                doublereal m16 = GetReal(mDef(1, 6));
                doublereal m14 = GetReal(mDef(1, 4));

                doublereal m52 = GetReal(mDef(5, 2));
                doublereal m53 = GetReal(mDef(5, 3));
                doublereal m51 = GetReal(mDef(5, 1));
                doublereal m55 = GetReal(mDef(5, 5));
                doublereal m56 = GetReal(mDef(5, 6));
                doublereal m54 = GetReal(mDef(5, 4));

                doublereal m62 = GetReal(mDef(6, 2));
                doublereal m63 = GetReal(mDef(6, 3));
                doublereal m61 = GetReal(mDef(6, 1));
                doublereal m65 = GetReal(mDef(6, 5));
                doublereal m66 = GetReal(mDef(6, 6));
                doublereal m64 = GetReal(mDef(6, 4));

                doublereal m42 = GetReal(mDef(4, 2));
                doublereal m43 = GetReal(mDef(4, 3));
                doublereal m41 = GetReal(mDef(4, 1));
                doublereal m45 = GetReal(mDef(4, 5));
                doublereal m46 = GetReal(mDef(4, 6));
                doublereal m44 = GetReal(mDef(4, 4));

                m = Mat6x6(
                        m11, m21, m31, m41, m51, m61,
                        m12, m22, m32, m42, m52, m62,
                        m13, m23, m33, m43, m53, m63,
                        m14, m24, m34, m44, m54, m64,
                        m15, m25, m35, m45, m55, m65,
                        m16, m26, m36, m46, m56, m66);

        } else {
                if (IsKeyWord("matr")) {
                        /* eat it; not required */
                        NO_OP;
                }

                doublereal m11 = GetReal(mDef(1, 1));
                doublereal m12 = GetReal(mDef(1, 2));
                doublereal m13 = GetReal(mDef(1, 3));
                doublereal m14 = GetReal(mDef(1, 4));
                doublereal m15 = GetReal(mDef(1, 5));
                doublereal m16 = GetReal(mDef(1, 6));

                doublereal m21 = GetReal(mDef(2, 1));
                doublereal m22 = GetReal(mDef(2, 2));
                doublereal m23 = GetReal(mDef(2, 3));
                doublereal m24 = GetReal(mDef(2, 4));
                doublereal m25 = GetReal(mDef(2, 5));
                doublereal m26 = GetReal(mDef(2, 6));

                doublereal m31 = GetReal(mDef(3, 1));
                doublereal m32 = GetReal(mDef(3, 2));
                doublereal m33 = GetReal(mDef(3, 3));
                doublereal m34 = GetReal(mDef(3, 4));
                doublereal m35 = GetReal(mDef(3, 5));
                doublereal m36 = GetReal(mDef(3, 6));

                doublereal m41 = GetReal(mDef(4, 1));
                doublereal m42 = GetReal(mDef(4, 2));
                doublereal m43 = GetReal(mDef(4, 3));
                doublereal m44 = GetReal(mDef(4, 4));
                doublereal m45 = GetReal(mDef(4, 5));
                doublereal m46 = GetReal(mDef(4, 6));

                doublereal m51 = GetReal(mDef(5, 1));
                doublereal m52 = GetReal(mDef(5, 2));
                doublereal m53 = GetReal(mDef(5, 3));
                doublereal m54 = GetReal(mDef(5, 4));
                doublereal m55 = GetReal(mDef(5, 5));
                doublereal m56 = GetReal(mDef(5, 6));

                doublereal m61 = GetReal(mDef(6, 1));
                doublereal m62 = GetReal(mDef(6, 2));
                doublereal m63 = GetReal(mDef(6, 3));
                doublereal m64 = GetReal(mDef(6, 4));
                doublereal m65 = GetReal(mDef(6, 5));
                doublereal m66 = GetReal(mDef(6, 6));

                m = Mat6x6(
                        m11, m21, m31, m41, m51, m61,
                        m12, m22, m32, m42, m52, m62,
                        m13, m23, m33, m43, m53, m63,
                        m14, m24, m34, m44, m54, m64,
                        m15, m25, m35, m45, m55, m65,
                        m16, m26, m36, m46, m56, m66);
        }

        if (IsKeyWord("scale")) {
                m *= GetReal(1.);
        }

        return m;
}

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void MBDynParser::GetMat6xN ( Mat3xN &  m1, Mat3xN &  m2, integer  iNumCols  )

virtual

Definition at line 2743 of file mbpar.cc.

References ASSERT, HighParser::GetReal(), Mat3xN::iGetNumCols(), HighParser::IsKeyWord(), NO_OP, Mat3xN::Put(), and Mat3xN::Reset().

Referenced by ReadBeam(), ReadBeam2(), and ReadHBeam().

{
        ASSERT(iNumCols > 0);
        ASSERT(m1.iGetNumCols() == iNumCols);
        ASSERT(m2.iGetNumCols() == iNumCols);

        if (IsKeyWord("null")) {
                m1.Reset();
                m2.Reset();

        } else {
                int vi[] = { 1, 2, 3 };

                if (IsKeyWord("anba")) {
                        vi[0] = 2;
                        vi[1] = 3;
                        vi[2] = 1;

                } else if (IsKeyWord("matr")) {
                        /* eat it; not required */
                        NO_OP;
                }

                for (int i = 0; i < 3; i++) {
                        for (integer j = 1; j <= iNumCols; j++) {
                                m1.Put(vi[i], j, GetReal());
                        }
                }

                for (int i = 0; i < 3; i++) {
                        for (integer j = 1; j <= iNumCols; j++) {
                                m2.Put(vi[i], j, GetReal());
                        }
                }

                if (IsKeyWord("scale")) {
                        doublereal d = GetReal(1.);

                        m1 *= d;
                        m2 *= d;
                }
        }
}

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Mat3x3 MBDynParser::GetMatAbs

(

const ReferenceFrame &

rf

)

Definition at line 1766 of file mbpar.cc.

References ASSERTMSG, IncludeParser::GetLineData(), GetMat3x3(), ReferenceFrame::GetR(), GetRef(), GLOBAL, LOCAL, MBDYN_EXCEPT_ARGS, NODE, OTHER_NODE, OTHER_ORIENTATION, OTHER_POSITION, REFERENCE, Mat3x3::Transpose(), and UNKNOWNFRAME.

{
        ReferenceFrame rfOut;
        switch (GetRef(rfOut)) {
        case GLOBAL:
        case UNKNOWNFRAME:
                return GetMat3x3();
        
        case NODE:
        case LOCAL:
                return rf.GetR()*(GetMat3x3()*rf.GetR().Transpose());

        case REFERENCE:
                return rfOut.GetR()*(GetMat3x3()*rfOut.GetR().Transpose());

        case OTHER_POSITION:
        case OTHER_ORIENTATION:
        case OTHER_NODE:
                silent_cerr("GetMatAbs: \"other\" meaningless in this context "
                        "at line " << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);

        default:
                ASSERTMSG(0, "You shouldn't have reached this point");
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
}

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Mat3x3 MBDynParser::GetMatR2vec ( void  )

virtual

Definition at line 2255 of file mbpar.cc.

References EulerAngles123_2MatR(), EulerAngles313_2MatR(), EulerAngles321_2MatR(), Eye3, grad::fabs(), HighParser::GetInt(), IncludeParser::GetLineData(), HighParser::GetReal(), HighParser::IsKeyWord(), Mat3x3::IsSame(), M_PI, MatR2vec(), MBDYN_EXCEPT_ARGS, Mat3x3::MulTM(), R, RotManip::Rot(), and Zero3.

Referenced by GetOmeAbs(), GetOmeRel(), GetPosAbs(), GetPosRel(), GetRotAbs(), GetRotRel(), GetVecAbs(), GetVecRel(), GetVelAbs(), and GetVelRel().

{
        if (IsKeyWord("eye")) {
                return Eye3;
        }

        if (IsKeyWord("matr")) {
                doublereal r11 = GetReal();
                doublereal r12 = GetReal();
                doublereal r13 = GetReal();
                doublereal r21 = GetReal();
                doublereal r22 = GetReal();
                doublereal r23 = GetReal();
                doublereal r31 = GetReal();
                doublereal r32 = GetReal();
                doublereal r33 = GetReal();

                Mat3x3 R(r11, r21, r31, r12, r22, r32, r13, r23, r33);
                doublereal dTol = 1.e-12;
                if (IsKeyWord("tolerance")) {
                        dTol = GetReal();
                        if (dTol < 0.) {
                                silent_cerr("invalid (negative) tolerance while reading orientation matrix in \"matr\" format at line " << GetLineData() << std::endl);
                                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                        }
                }

                if (!Eye3.IsSame(R.MulTM(R), dTol)) {
                        silent_cerr("warning: orientation matrix orthogonality not within tolerance at line " << GetLineData() << std::endl);
                        // not an error?
                        // throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }

                return R;
        }

        if (IsKeyWord("euler" "parameters")) {
#if 0 /* FIXME: this function is TODO */
                doublereal e0 = GetReal();
                doublereal e1 = GetReal();
                doublereal e2 = GetReal();
                doublereal e3 = GetReal();

                return EulerParams2MatR(Vec3(e1, e2, e3));
#else
                silent_cerr("Line " << GetLineData()
                        << ": Euler parameters not implemented yet"
                        << std::endl);
                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
#endif
        }

        if (IsKeyWord("euler") || IsKeyWord("euler" "123")) {
                doublereal dScale = 1.;
                if (IsKeyWord("degrees")) {
                        dScale = M_PI/180;
                }

                doublereal e1 = GetReal();
                doublereal e2 = GetReal();
                doublereal e3 = GetReal();

                return EulerAngles123_2MatR(Vec3(e1, e2, e3)*dScale);
        }

        if (IsKeyWord("euler" "313")) {
                doublereal dScale = 1.;
                if (IsKeyWord("degrees")) {
                        dScale = M_PI/180;
                }

                doublereal e1 = GetReal();
                doublereal e2 = GetReal();
                doublereal e3 = GetReal();

                return EulerAngles313_2MatR(Vec3(e1, e2, e3)*dScale);
        }

        if (IsKeyWord("euler" "321")) {
                doublereal dScale = 1.;
                if (IsKeyWord("degrees")) {
                        dScale = M_PI/180;
                }

                doublereal e1 = GetReal();
                doublereal e2 = GetReal();
                doublereal e3 = GetReal();

                return EulerAngles321_2MatR(Vec3(e1, e2, e3)*dScale);
        }

        if (IsKeyWord("vector")) {
                doublereal phi1 = GetReal();
                doublereal phi2 = GetReal();
                doublereal phi3 = GetReal();

                return RotManip::Rot(Vec3(phi1, phi2, phi3));
        }

        int i1 = GetInt();
        Vec3 v1;
        v1(1) = GetReal();
        v1(2) = GetReal();
        v1(3) = GetReal();

        int i2 = GetInt();
        Vec3 v2(Zero3);

        if (IsKeyWord("guess")) {
                int i_max = 1;
                int i_min = 1;

                if (fabs(v1(2)) > fabs(v1(1))) {
                        i_max = 2;
                } else {
                        i_min = 2;
                }

                if (fabs(v1(3)) > fabs(v1(i_max))) {
                        i_max = 3;
                } else if (fabs(v1(3)) < fabs(v1(i_min))) {
                        i_min = 3;
                }

                v2(i_min) = 1.;
                v2(i_max) = -v1(i_min)/v1(i_max);

        } else {
                v2(1) = GetReal();
                v2(2) = GetReal();
                v2(3) = GetReal();
        }

        Mat3x3 R;
        try {
                R = MatR2vec(i1, v1, i2, v2);
        } catch (std::exception& e) {
                silent_cerr("MBDynParser::GetMatR2vec: " << e.what() << " at line " << GetLineData() << std::endl);
                throw e;
        }

        return R;
}

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Mat3x3 MBDynParser::GetMatRel

(

const ReferenceFrame &

rf

)

Definition at line 1737 of file mbpar.cc.

References ASSERTMSG, IncludeParser::GetLineData(), GetMat3x3(), ReferenceFrame::GetR(), GetRef(), GLOBAL, LOCAL, MBDYN_EXCEPT_ARGS, Mat3x3::MulTM(), NODE, OTHER_NODE, OTHER_ORIENTATION, OTHER_POSITION, REFERENCE, and UNKNOWNFRAME.

Referenced by ReadBody().

{
        ReferenceFrame rfOut;
        switch (GetRef(rfOut)) {
        case GLOBAL:
                return rf.GetR().MulTM(GetMat3x3()*rf.GetR());
                
        case NODE:
        case LOCAL:
        case UNKNOWNFRAME:
                return GetMat3x3();
        
        case REFERENCE:
                return rf.GetR().MulTM(rfOut.GetR()*GetMat3x3()*rfOut.GetR().MulTM(rf.GetR()));
        
        case OTHER_POSITION:
        case OTHER_ORIENTATION:
        case OTHER_NODE:
                silent_cerr("GetMatRel: \"other\" meaningless in this context "
                        "at line " << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);

        default:
                ASSERTMSG(0, "You shouldn't have reached this point");
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
}

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Vec3 MBDynParser::GetOmeAbs

(

const ReferenceFrame &

rf

)

Definition at line 1551 of file mbpar.cc.

References ASSERTMSG, IncludeParser::GetLineData(), GetMatR2vec(), ReferenceFrame::GetR(), GetRef(), GetVec3(), ReferenceFrame::GetW(), GLOBAL, LOCAL, MBDYN_EXCEPT_ARGS, NODE, OTHER_NODE, OTHER_ORIENTATION, OTHER_POSITION, R, REFERENCE, and UNKNOWNFRAME.

Referenced by ReadStructNode(), and Reference_int().

{
        ReferenceFrame rfOut;
        switch (GetRef(rfOut)) {
        case GLOBAL:
        case UNKNOWNFRAME:
                return GetVec3();
        
        case NODE:
                return rf.GetW()+rf.GetR()*GetVec3();
        
        case LOCAL: {
                Mat3x3 R(GetMatR2vec());
                return rf.GetW()+rf.GetR()*(R*GetVec3());
        }
        
        case REFERENCE:
                return rfOut.GetW()+rfOut.GetR()*GetVec3();
        
        case OTHER_POSITION:
        case OTHER_ORIENTATION:
        case OTHER_NODE:
                silent_cerr("GetOmeAbs: \"other\" meaningless in this context "
                        "at line " << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);

        default:
                ASSERTMSG(0, "You shouldn't have reached this point");
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
}

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Vec3 MBDynParser::GetOmeRel

(

const ReferenceFrame &

rf

)

Definition at line 1518 of file mbpar.cc.

References ASSERTMSG, IncludeParser::GetLineData(), GetMatR2vec(), ReferenceFrame::GetR(), GetRef(), GetVec3(), ReferenceFrame::GetW(), GLOBAL, LOCAL, MBDYN_EXCEPT_ARGS, Mat3x3::MulTV(), NODE, OTHER_NODE, OTHER_ORIENTATION, OTHER_POSITION, R, REFERENCE, and UNKNOWNFRAME.

{
        ReferenceFrame rfOut;
        switch (GetRef(rfOut)) {
        case GLOBAL:
                return rf.GetR().MulTV(GetVec3()-rf.GetW());
        
        case NODE:
        case UNKNOWNFRAME:
                return GetVec3();
        
        case LOCAL: {
                Mat3x3 R(GetMatR2vec());
                return R*GetVec3();
        }
        
        case REFERENCE:
                return rf.GetR().MulTV(rfOut.GetW() + rfOut.GetR()*GetVec3() - rf.GetW());
        
        case OTHER_POSITION:
        case OTHER_ORIENTATION:
        case OTHER_NODE:
                silent_cerr("GetOmeRel: \"other\" meaningless in this context "
                        "at line " << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);

        default:
                ASSERTMSG(0, "You shouldn't have reached this point");
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
}

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Vec3 MBDynParser::GetPosAbs

(

const ReferenceFrame &

rf

)

Definition at line 1401 of file mbpar.cc.

References ASSERTMSG, IncludeParser::GetLineData(), GetMatR2vec(), ReferenceFrame::GetR(), GetRef(), GetVec3(), ReferenceFrame::GetX(), GLOBAL, LOCAL, MBDYN_EXCEPT_ARGS, NODE, OTHER_NODE, OTHER_ORIENTATION, OTHER_POSITION, R, REFERENCE, and UNKNOWNFRAME.

Referenced by DataManager::ReadControl(), ReadGravity(), ReadModal(), DataManager::ReadOneElem(), ReadStructNode(), and Reference_int().

{
        ReferenceFrame rfOut;
        switch (GetRef(rfOut)) {
        case GLOBAL:
        case UNKNOWNFRAME:
                return GetVec3();
        
        case NODE:
                return rf.GetX() + rf.GetR()*GetVec3();
                
        case LOCAL: {
                Mat3x3 R(GetMatR2vec());
                return rf.GetX() + rf.GetR()*(R*GetVec3());
        }
        
        case REFERENCE:
                return rfOut.GetX() + rfOut.GetR()*GetVec3();
        
        case OTHER_POSITION:
        case OTHER_ORIENTATION:
        case OTHER_NODE:
                silent_cerr("GetPosAbs: \"other\" meaningless in this context "
                        "at line " << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);

        default:
                ASSERTMSG(0, "You shouldn't have reached this point");
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
}

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Vec3 MBDynParser::GetPosRel

(

const ReferenceFrame &

rf

)

Definition at line 1331 of file mbpar.cc.

References ASSERTMSG, IncludeParser::GetLineData(), GetMatR2vec(), ReferenceFrame::GetR(), GetRef(), GetVec3(), ReferenceFrame::GetX(), GLOBAL, LOCAL, MBDYN_EXCEPT_ARGS, Mat3x3::MulTV(), NODE, OTHER_NODE, OTHER_ORIENTATION, OTHER_POSITION, R, REFERENCE, and UNKNOWNFRAME.

Referenced by AeroDynModule::AeroDynModule(), HydrodynamicPlainBearing::HydrodynamicPlainBearing(), InlineFriction::InlineFriction(), LoadIncForce::LoadIncForce(), ModuleIMU::ModuleIMU(), ModuleIMUConstraint::ModuleIMUConstraint(), ModuleNonsmoothNode::ModuleNonsmoothNode(), NodeDistDCR::Read(), ReadAerodynamicBeam(), ReadAerodynamicBeam2(), ReadAerodynamicBody(), ReadBeam(), ReadBeam2(), ReadBody(), ReadElectric(), ReadForce(), ReadGenericAerodynamicForce(), ReadHBeam(), ReadHydraulicElem(), ReadJoint(), ReadModal(), ReadStructExtForce(), ReadStructMappingExtForce(), ReadStructNode(), ReadStructuralForce(), and Wheel2::Wheel2().

{
        ReferenceFrame rfOut;
        switch (GetRef(rfOut)) {
        case GLOBAL:
                return rf.GetR().MulTV(GetVec3() - rf.GetX());
        
        case NODE:
        case UNKNOWNFRAME:
                return GetVec3();
        
        case LOCAL: {
                Mat3x3 R(GetMatR2vec());
                return R*GetVec3();
        }
        
        case REFERENCE:
                return rf.GetR().MulTV((rfOut.GetX() + rfOut.GetR()*GetVec3()) - rf.GetX());

        case OTHER_POSITION:
        case OTHER_ORIENTATION:
        case OTHER_NODE:
                silent_cerr("GetPosRel: \"other\" meaningless in this context "
                        "at line " << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);

        default:
                ASSERTMSG(0, "You shouldn't have reached this point");
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
}

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Vec3 MBDynParser::GetPosRel	(	const ReferenceFrame &	rf,
		const ReferenceFrame &	other_rf,
		const Vec3 &	other_X
	)

Definition at line 1364 of file mbpar.cc.

References ASSERTMSG, IncludeParser::GetLineData(), GetMatR2vec(), ReferenceFrame::GetR(), GetRef(), GetVec3(), ReferenceFrame::GetX(), GLOBAL, LOCAL, MBDYN_EXCEPT_ARGS, Mat3x3::MulTV(), NODE, OTHER_NODE, OTHER_ORIENTATION, OTHER_POSITION, R, REFERENCE, and UNKNOWNFRAME.

{
        ReferenceFrame rfOut;
        switch (GetRef(rfOut)) {
        case GLOBAL:
                return rf.GetR().MulTV(GetVec3() - rf.GetX());
        
        case NODE:
        case UNKNOWNFRAME:
                return GetVec3();
        
        case LOCAL: {
                Mat3x3 R(GetMatR2vec());
                return R*GetVec3();
        }
        
        case REFERENCE:
                return rf.GetR().MulTV((rfOut.GetX() + rfOut.GetR()*GetVec3()) - rf.GetX());

        case OTHER_POSITION:
                return rf.GetR().MulTV((other_rf.GetX() + other_rf.GetR()*(other_X + GetVec3())) - rf.GetX());

        case OTHER_NODE:
                return rf.GetR().MulTV((other_rf.GetX() + other_rf.GetR()*GetVec3()) - rf.GetX());

        case OTHER_ORIENTATION:
                silent_cerr("GetPosRel: \"other\" meaningless in this context "
                        "at line " << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);

        default:
                ASSERTMSG(0, "You shouldn't have reached this point");
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
}

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MBDynParser::Frame MBDynParser::GetRef ( ReferenceFrame &  rf )

protected

Definition at line 1279 of file mbpar.cc.

References HighParser::GetInt(), IncludeParser::GetLineData(), GLOBAL, HighParser::IsKeyWord(), LOCAL, MBDYN_EXCEPT_ARGS, NODE, OTHER_NODE, OTHER_ORIENTATION, OTHER_POSITION, REFERENCE, RF, and UNKNOWNFRAME.

Referenced by GetMatAbs(), GetMatRel(), GetOmeAbs(), GetOmeRel(), GetPosAbs(), GetPosRel(), GetRotAbs(), GetRotRel(), GetVecAbs(), GetVecRel(), GetVelAbs(), GetVelRel(), and Reference_int().

{
        if (!IsKeyWord("reference")) {
                return MBDynParser::UNKNOWNFRAME;
        }
        
        if (IsKeyWord("global")) {
                return MBDynParser::GLOBAL;
        }
        
        if (IsKeyWord("node")) {
                return MBDynParser::NODE;
        }
        
        if (IsKeyWord("local")) {
                return MBDynParser::LOCAL;
        }

        if (IsKeyWord("other" "position")) {
                return MBDynParser::OTHER_POSITION;
        }
        
        if (IsKeyWord("other" "orientation")) {
                return MBDynParser::OTHER_ORIENTATION;
        }
        
        if (IsKeyWord("other" "node")) {
                return MBDynParser::OTHER_NODE;
        }
        
        unsigned int uLabel((unsigned int)GetInt());
        RFType::const_iterator i = RF.find(uLabel);
        if (i == RF.end()) {
                silent_cerr("reference " << uLabel << " is undefined at line " 
                        << GetLineData() << std::endl);
                throw MBDynParser::ErrReferenceUndefined(MBDYN_EXCEPT_ARGS);
        }

        rf = *(i->second);

        return MBDynParser::REFERENCE;   
}

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const MBDynParser::RFType & MBDynParser::GetReferenceFrameContainer

(

void

)

const

Definition at line 837 of file mbpar.cc.

References RF.

{
        return RF;
}

Mat3x3 MBDynParser::GetRotAbs

(

const ReferenceFrame &

rf

)

Definition at line 1857 of file mbpar.cc.

References ASSERTMSG, IncludeParser::GetLineData(), GetMatR2vec(), ReferenceFrame::GetR(), GetRef(), GLOBAL, LOCAL, MBDYN_EXCEPT_ARGS, NODE, OTHER_NODE, OTHER_ORIENTATION, OTHER_POSITION, REFERENCE, and UNKNOWNFRAME.

Referenced by ScalarFuncGR::Read(), PowerLawGR::Read(), LogarithmicGR::Read(), ReadBeam(), ReadBeam2(), DataManager::ReadControl(), ReadModal(), DataManager::ReadOneElem(), ReadStructNode(), and Reference_int().

{   
        ReferenceFrame rfOut;
        switch (GetRef(rfOut)) {
        case GLOBAL:
        case UNKNOWNFRAME:
                return GetMatR2vec();
        
        case NODE:
        case LOCAL:
                return rf.GetR()*GetMatR2vec();
        
        case REFERENCE:
                return rfOut.GetR()*GetMatR2vec();
        
        case OTHER_POSITION:
        case OTHER_ORIENTATION:
        case OTHER_NODE:
                silent_cerr("GetRotAbs: \"other\" meaningless in this context "
                        "at line " << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);

        default:
                ASSERTMSG(0, "You shouldn't have reached this point");
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
}

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Mat3x3 MBDynParser::GetRotRel

(

const ReferenceFrame &

rf

)

Definition at line 1795 of file mbpar.cc.

References ASSERTMSG, IncludeParser::GetLineData(), GetMatR2vec(), ReferenceFrame::GetR(), GetRef(), GLOBAL, LOCAL, MBDYN_EXCEPT_ARGS, Mat3x3::MulTM(), NODE, OTHER_NODE, OTHER_ORIENTATION, OTHER_POSITION, REFERENCE, and UNKNOWNFRAME.

Referenced by AeroDynModule::AeroDynModule(), InlineFriction::InlineFriction(), ModuleIMU::ModuleIMU(), ModuleIMUConstraint::ModuleIMUConstraint(), ModuleNonsmoothNode::ModuleNonsmoothNode(), ReadAerodynamicBeam(), ReadAerodynamicBeam2(), ReadAerodynamicBody(), ReadAerodynamicModal(), ReadAircraftInstruments(), ReadBeam(), ReadBeam2(), ReadBody(), ReadElectric(), ReadForce(), ReadGenericAerodynamicForce(), ReadHBeam(), ReadModal(), ReadRotor(), ReadRotorData(), ReadShell4EAS(), ReadShell4EASANS(), and ReadStructNode().

{   
        ReferenceFrame rfOut;
        switch (GetRef(rfOut)) {
        case GLOBAL:
                return rf.GetR().MulTM(GetMatR2vec());
        
        case NODE:
        case LOCAL:
        case UNKNOWNFRAME:
                return GetMatR2vec();
        
        case REFERENCE:
                return rf.GetR().MulTM(rfOut.GetR()*GetMatR2vec());
        
        case OTHER_POSITION:
        case OTHER_ORIENTATION:
        case OTHER_NODE:
                silent_cerr("GetRotRel: \"other\" meaningless in this context "
                        "at line " << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);

        default:
                ASSERTMSG(0, "You shouldn't have reached this point");
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
}

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Mat3x3 MBDynParser::GetRotRel	(	const ReferenceFrame &	rf,
		const ReferenceFrame &	other_rf,
		const Mat3x3 &	other_R
	)

Definition at line 1824 of file mbpar.cc.

References ASSERTMSG, IncludeParser::GetLineData(), GetMatR2vec(), ReferenceFrame::GetR(), GetRef(), GLOBAL, LOCAL, MBDYN_EXCEPT_ARGS, Mat3x3::MulTM(), NODE, OTHER_NODE, OTHER_ORIENTATION, OTHER_POSITION, REFERENCE, and UNKNOWNFRAME.

{   
        ReferenceFrame rfOut;
        switch (GetRef(rfOut)) {
        case GLOBAL:
                return rf.GetR().MulTM(GetMatR2vec());
        
        case NODE:
        case LOCAL:
        case UNKNOWNFRAME:
                return GetMatR2vec();
        
        case REFERENCE:
                return rf.GetR().MulTM(rfOut.GetR()*GetMatR2vec());
        
        case OTHER_POSITION:
                silent_cerr("GetRotRel: \"other\" meaningless in this context "
                        "at line " << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);

        case OTHER_ORIENTATION:
                return rf.GetR().MulTM(other_rf.GetR()*other_R*GetMatR2vec());

        case OTHER_NODE:
                return rf.GetR().MulTM(other_rf.GetR()*GetMatR2vec());

        default:
                ASSERTMSG(0, "You shouldn't have reached this point");
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
}

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const BasicScalarFunction * MBDynParser::GetScalarFunction

(

void

)

Definition at line 2158 of file mbpar.cc.

References HighParser::GetStringWithDelims(), HighParser::IsKeyWord(), ParseScalarFunction(), and pDM.

Referenced by ModelNameSpace::FindFunc(), ModelNameSpace::GetFunc(), and ParseScalarFunction().

{
        if (!IsKeyWord("reference")) {
                return ParseScalarFunction(*this, pDM);
        }

        std::string s(GetStringWithDelims());
        return GetScalarFunction(s);
}

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const BasicScalarFunction * MBDynParser::GetScalarFunction

(

const std::string &

s

)

Definition at line 2169 of file mbpar.cc.

References SF.

{
        SFType::const_iterator i = SF.find(s);
        if (i != SF.end()) {
                return i->second;
        }
        return 0;
}

template<class T >

const TplDriveCaller< T > * MBDynParser::GetTplDrive

(

unsigned

uLabel

)

const

Definition at line 2064 of file mbpar.cc.

References DC1D, DC3D, DC3x3D, DC6D, and DC6x6D.

{
        if (typeid(T) == typeid(doublereal)) {
                DC1DType::const_iterator i = DC1D.find(uLabel);
                if (i == DC1D.end()) {
                        return 0;
                }

                return dynamic_cast<const TplDriveCaller<T> *>(i->second);

        } else if (typeid(T) == typeid(Vec3)) {
                DC3DType::const_iterator i = DC3D.find(uLabel);
                if (i == DC3D.end()) {
                        return 0;
                }

                return dynamic_cast<const TplDriveCaller<T> *>(i->second);

        } else if (typeid(T) == typeid(Vec6)) {
                DC6DType::const_iterator i = DC6D.find(uLabel);
                if (i == DC6D.end()) {
                        return 0;
                }

                return dynamic_cast<const TplDriveCaller<T> *>(i->second);

        } else if (typeid(T) == typeid(Mat3x3)) {
                DC3x3DType::const_iterator i = DC3x3D.find(uLabel);
                if (i == DC3x3D.end()) {
                        return 0;
                }

                return dynamic_cast<const TplDriveCaller<T> *>(i->second);

        } else if (typeid(T) == typeid(Mat6x6)) {
                DC6x6DType::const_iterator i = DC6x6D.find(uLabel);
                if (i == DC6x6D.end()) {
                        return 0;
                }

                return dynamic_cast<const TplDriveCaller<T> *>(i->second);
        }

        return 0;
}

template<class T >

TplDriveCaller< T > * MBDynParser::GetTplDriveCaller

(

void

)

Definition at line 2112 of file mbpar.cc.

References HighParser::GetInt(), IncludeParser::GetLineData(), HighParser::IsKeyWord(), MBDYN_EXCEPT_ARGS, TplDriveCaller< T >::pCopy(), pDM, ReadDC1D(), ReadDC3D(), ReadDC3x3D(), ReadDC6D(), and ReadDC6x6D().

Referenced by GetPreStrain(), Eu2PhiDCR::Read(), ReadDCVec(), and ReadVariableBody().

{
        if (!IsKeyWord("reference")) {
                TplDriveCaller<T> *pDC = 0;
                try {
                        if (typeid(T) == typeid(doublereal)) {
                                pDC = dynamic_cast<TplDriveCaller<T> *>(ReadDC1D(pDM, *this));

                        } else if (typeid(T) == typeid(Vec3)) {
                                pDC = dynamic_cast<TplDriveCaller<T> *>(ReadDC3D(pDM, *this));

                        } else if (typeid(T) == typeid(Vec6)) {
                                pDC = dynamic_cast<TplDriveCaller<T> *>(ReadDC6D(pDM, *this));

                        } else if (typeid(T) == typeid(Mat3x3)) {
                                pDC = dynamic_cast<TplDriveCaller<T> *>(ReadDC3x3D(pDM, *this));

                        } else if (typeid(T) == typeid(Mat6x6)) {
                                pDC = dynamic_cast<TplDriveCaller<T> *>(ReadDC6x6D(pDM, *this));

                        } else {
                                throw DataManager::ErrGeneric(MBDYN_EXCEPT_ARGS);
                        }
                }
                catch (DataManager::ErrNeedDataManager) {
                        silent_cerr("the required drive caller must appear "
                                "inside or after the \"control data\" block"
                                << std::endl);
                        throw DataManager::ErrNeedDataManager(MBDYN_EXCEPT_ARGS);
                }
                return pDC;
        }

        unsigned int uLabel = GetInt();
        const TplDriveCaller<T> *pDC = GetTplDrive<T>(uLabel);
        if (pDC == 0) {
                silent_cerr("template drive caller " << uLabel
                        << " is undefined at line "
                        << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        return pDC->pCopy();
}

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Vec3 MBDynParser::GetUnitVecAbs

(

const ReferenceFrame &

rf

)

Definition at line 1716 of file mbpar.cc.

References Vec3::Dot(), grad::fabs(), IncludeParser::GetLineData(), GetVecAbs(), MBDYN_EXCEPT_ARGS, and grad::sqrt().

Referenced by ReadStructuralForce().

{
        Vec3 v = GetVecAbs(rf);

        doublereal d = v.Dot();
        if (d <= std::numeric_limits<doublereal>::epsilon()) {
                throw ErrNullNorm(MBDYN_EXCEPT_ARGS);
        }

        d = std::sqrt(d);

        if (std::fabs(d - 1.) > std::numeric_limits<doublereal>::epsilon()) {
                silent_cerr("warning: non-unit vector (norm=" << d << ") "
                        "at line " << GetLineData() << "; "
                        "normalized" << std::endl);
        }

        return v /= d;
}

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Vec3 MBDynParser::GetUnitVecRel

(

const ReferenceFrame &

rf

)

Definition at line 1695 of file mbpar.cc.

References Vec3::Dot(), grad::fabs(), IncludeParser::GetLineData(), GetVecRel(), MBDYN_EXCEPT_ARGS, and grad::sqrt().

Referenced by ReadElectric(), ReadHydraulicElem(), and ReadStructuralForce().

{
        Vec3 v = GetVecRel(rf);

        doublereal d = v.Dot();
        if (d <= std::numeric_limits<doublereal>::epsilon()) {
                throw ErrNullNorm(MBDYN_EXCEPT_ARGS);
        }

        d = std::sqrt(d);

        if (std::fabs(d - 1.) > std::numeric_limits<doublereal>::epsilon()) {
                silent_cerr("warning: non-unit vector (norm=" << d << ") "
                        "at line " << GetLineData() << "; "
                        "normalized" << std::endl);
        }

        return v /= d;
}

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Vec3 MBDynParser::GetVec3 ( void  )

virtual

Definition at line 2220 of file mbpar.cc.

References Zero3.

Referenced by Get(), GetOmeAbs(), GetOmeRel(), GetPosAbs(), GetPosRel(), GetVecAbs(), GetVecRel(), GetVelAbs(), GetVelRel(), LoadIncForce::LoadIncForce(), AxialCLR::Read(), PlaneHingeJoint::ReadInitialState(), ClampJoint::ReadInitialState(), PlanePinJoint::ReadInitialState(), and Wheel4::Wheel4().

{
        Vec3 v(Zero3);
        return GetVec3(v);
}

Vec3 MBDynParser::GetVec3 ( const Vec3 &  vDef )

virtual

Definition at line 2229 of file mbpar.cc.

References HighParser::GetReal(), HighParser::IsKeyWord(), and Zero3.

{
        if (IsKeyWord("default")) {
                return vDef;
        }

        if (IsKeyWord("null")) {
                return Zero3;
        }

        doublereal x1 = GetReal(vDef(1));
        doublereal x2 = GetReal(vDef(2));
        doublereal x3 = GetReal(vDef(3));

        Vec3 v(x1, x2, x3);

        if (IsKeyWord("scale")) {
                v *= GetReal(1.);
        }

        return v;
}

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Vec6 MBDynParser::GetVec6 ( void  )

virtual

Definition at line 2510 of file mbpar.cc.

References Zero6.

Referenced by Get().

{
        Vec6 v(Zero6);
        return GetVec6(v);
}

Vec6 MBDynParser::GetVec6 ( const Vec6 &  vDef )

virtual

Definition at line 2519 of file mbpar.cc.

References HighParser::GetReal(), HighParser::IsKeyWord(), and Zero6.

{
        if (IsKeyWord("null")) {
                return Zero6;
        }

        if (IsKeyWord("default")) {
                return vDef;
        }

        doublereal x1 = GetReal(vDef(1));
        doublereal x2 = GetReal(vDef(2));
        doublereal x3 = GetReal(vDef(3));
        doublereal x4 = GetReal(vDef(4));
        doublereal x5 = GetReal(vDef(5));
        doublereal x6 = GetReal(vDef(6));
        Vec6 v(x1, x2, x3, x4, x5, x6);

        if (IsKeyWord("scale")) {
                v *= GetReal(1.);
        }

        return v;
}

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Vec3 MBDynParser::GetVecAbs

(

const ReferenceFrame &

rf

)

Definition at line 1641 of file mbpar.cc.

References ASSERTMSG, HighParser::GetInt(), IncludeParser::GetLineData(), GetMatR2vec(), ReferenceFrame::GetR(), GetRef(), GetVec3(), StructDispNode::GetXCurr(), GLOBAL, HighParser::IsKeyWord(), LOCAL, MBDYN_EXCEPT_ARGS, NODE, OTHER_NODE, OTHER_ORIENTATION, OTHER_POSITION, R, REFERENCE, and UNKNOWNFRAME.

Referenced by GetUnitVecAbs(), LoadIncForce::LoadIncForce(), ScalarFuncGR::Read(), PowerLawGR::Read(), Gust1DGR::Read(), LogarithmicGR::Read(), DataManager::ReadControl(), and DataManager::ReadElems().

{   
        ReferenceFrame rfOut;
        switch (GetRef(rfOut)) {
        case UNKNOWNFRAME: /* global */
                if (IsKeyWord("from" "node")) {
                        /* FIXME */
                        silent_cerr("'from node' at line " << GetLineData()
                                << " not implemented yet :)" << std::endl);
                        throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);

#if 0
                        unsigned int uLabel = GetInt();
                        StructNode *pNode1 = NULL; /* get node 1 */
                        if (IsKeyWord("to" "node")) {
                                silent_cerr("missing keyword 'to node' at line "
                                        << GetLineData() << std::endl);
                                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
                        }
                        uLabel = GetInt();
                        StructNode *pNode2 = NULL; /* get node 2 */

                        return pNode2->GetXCurr() - pNode1->GetXCurr();
#endif // 0
                } /* else global: fallthru */

        case GLOBAL:
                return GetVec3();
        
        case NODE:
                return rf.GetR()*GetVec3();
        
        case LOCAL: {
                Mat3x3 R(GetMatR2vec());
                return rf.GetR()*(R*GetVec3());
        }
        
        case REFERENCE:
                return rfOut.GetR()*GetVec3();
        
        case OTHER_POSITION:
        case OTHER_ORIENTATION:
        case OTHER_NODE:
                silent_cerr("GetVecAbs: \"other\" meaningless in this context "
                        "at line " << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);

        default:
                ASSERTMSG(0, "You shouldn't have reached this point");
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
}

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Vec3 MBDynParser::GetVecRel

(

const ReferenceFrame &

rf

)

Definition at line 1584 of file mbpar.cc.

References ASSERTMSG, HighParser::GetInt(), IncludeParser::GetLineData(), GetMatR2vec(), ReferenceFrame::GetR(), GetRef(), GetVec3(), StructDispNode::GetXCurr(), GLOBAL, HighParser::IsKeyWord(), LOCAL, MBDYN_EXCEPT_ARGS, Mat3x3::MulTV(), NODE, OTHER_NODE, OTHER_ORIENTATION, OTHER_POSITION, R, REFERENCE, and UNKNOWNFRAME.

Referenced by GetUnitVecRel(), LoadIncForce::LoadIncForce(), NodeDistDCR::Read(), Wheel2::Wheel2(), and Wheel4::Wheel4().

{   
        ReferenceFrame rfOut;
        switch (GetRef(rfOut)) {
        case GLOBAL:
                return rf.GetR().MulTV(GetVec3());
        
        case UNKNOWNFRAME: /* global */
                if (IsKeyWord("from" "node")) {
                        /* FIXME */
                        silent_cerr("'from node' at line " << GetLineData()
                                << " not implemented yet :)" << std::endl);
                        throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);

#if 0
                        unsigned int uLabel = GetInt();
                        StructNode *pNode1 = NULL; /* get node 1 */


                        if (!IsKeyWord("to" "node")) {
                                silent_cerr("missing keyword 'to node' at line "
                                        << GetLineData() << std::endl);
                                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
                        }

                        uLabel = GetInt();
                        StructNode *pNode2 = NULL; /* get node 2 */

                        Vec3 v = pNode2->GetXCurr() - pNode1->GetXCurr();
                        return rf.GetR().MulTV(v);
#endif // 0
                } /* else local */
        case NODE:
                return GetVec3();
        
        case LOCAL: {
                Mat3x3 R(GetMatR2vec());
                return R*GetVec3();
        }
        
        case REFERENCE:
                return rf.GetR().MulTV(rfOut.GetR()*GetVec3());
        
        case OTHER_POSITION:
        case OTHER_ORIENTATION:
        case OTHER_NODE:
                silent_cerr("GetVecRel: \"other\" meaningless in this context "
                        "at line " << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);

        default:
                ASSERTMSG(0, "You shouldn't have reached this point");
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
}

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Vec3 MBDynParser::GetVelAbs	(	const ReferenceFrame &	rf,
		const Vec3 &	x
	)

Definition at line 1482 of file mbpar.cc.

References ASSERTMSG, Vec3::Cross(), IncludeParser::GetLineData(), GetMatR2vec(), ReferenceFrame::GetR(), GetRef(), ReferenceFrame::GetV(), GetVec3(), ReferenceFrame::GetW(), ReferenceFrame::GetX(), GLOBAL, LOCAL, MBDYN_EXCEPT_ARGS, NODE, OTHER_NODE, OTHER_ORIENTATION, OTHER_POSITION, R, REFERENCE, and UNKNOWNFRAME.

Referenced by ReadStructNode(), and Reference_int().

{
        ReferenceFrame rfOut;
        switch (GetRef(rfOut)) {
        case GLOBAL:
        case UNKNOWNFRAME:
                return GetVec3();
        
        case NODE:
                return rf.GetV()+rf.GetR()*GetVec3()
                        +rf.GetW().Cross(x-rf.GetX());
        
        case LOCAL: {
                Mat3x3 R(GetMatR2vec());
                return rf.GetV()+rf.GetR()*(R*GetVec3())
                        +rf.GetW().Cross(x-rf.GetX());    
        }
        
        case REFERENCE:
                return rfOut.GetV()+rfOut.GetR()*GetVec3()
                        +rfOut.GetW().Cross(x-rfOut.GetX());
        
        case OTHER_POSITION:
        case OTHER_ORIENTATION:
        case OTHER_NODE:
                silent_cerr("GetVelAbs: \"other\" meaningless in this context "
                        "at line " << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);

        default:
                ASSERTMSG(0, "You shouldn't have reached this point");
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
}

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Vec3 MBDynParser::GetVelRel	(	const ReferenceFrame &	rf,
		const Vec3 &	x
	)

Definition at line 1441 of file mbpar.cc.

References ASSERTMSG, Vec3::Cross(), IncludeParser::GetLineData(), GetMatR2vec(), ReferenceFrame::GetR(), GetRef(), ReferenceFrame::GetV(), GetVec3(), ReferenceFrame::GetW(), ReferenceFrame::GetX(), GLOBAL, LOCAL, MBDYN_EXCEPT_ARGS, Mat3x3::MulTV(), NODE, OTHER_NODE, OTHER_ORIENTATION, OTHER_POSITION, R, REFERENCE, and UNKNOWNFRAME.

{
        ReferenceFrame rfOut;
        switch (GetRef(rfOut)) {
        case GLOBAL:
                return rf.GetR().MulTV(GetVec3()
                        -rf.GetV()
                        -rf.GetW().Cross(x-rf.GetX()));
        
        case NODE:
        case UNKNOWNFRAME:
                return GetVec3();
        
        case LOCAL: {
                Mat3x3 R(GetMatR2vec());
                return R*GetVec3();
        }
        
        case REFERENCE:
                return rf.GetR().MulTV(
                        rfOut.GetV()
                        +rfOut.GetR()*GetVec3()
                        +rfOut.GetW().Cross(x-rfOut.GetX())
                        -rf.GetV()
                        -rf.GetW().Cross(x-rf.GetX())
                        );
        
        case OTHER_POSITION:
        case OTHER_ORIENTATION:
        case OTHER_NODE:
                silent_cerr("GetVelRel: \"other\" meaningless in this context "
                        "at line " << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);

        default:
                ASSERTMSG(0, "You shouldn't have reached this point");
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
}

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bool MBDynParser::HydraulicFluid_int ( void  )

protected

Definition at line 448 of file mbpar.cc.

References HighParser::GetInt(), IncludeParser::GetLineData(), HighParser::GetStringWithDelims(), HF, HighParser::IsArg(), HighParser::IsKeyWord(), MBDYN_EXCEPT_ARGS, WithLabel::PutName(), and ReadHydraulicFluid().

Referenced by HFluidDR::Read().

{
        if (!IsArg()) {
                silent_cerr("Parser error in MBDynParser::HydraulicFluid_int(),"
                        " arg expected at line "
                        << GetLineData() << std::endl);
                throw HighParser::ErrColonExpected(MBDYN_EXCEPT_ARGS);
        }
        
        unsigned int uLabel(GetInt());
        
        /* Nome del fluido */
        std::string sName;
        if (IsKeyWord("name")) {
                const char *sTmp = GetStringWithDelims();
                sName = sTmp;
        }
        
        HydraulicFluid* pHF = ReadHydraulicFluid(*this, uLabel);
        if (pHF == NULL) {
                silent_cerr("unable to read hydraulic fluid " << uLabel
                                << std::endl);
                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        if (IsArg()) {
                silent_cerr("semicolon expected after hydraulic fluid " << uLabel
                        << " (" << (sName.empty() ? "unknown" : sName.c_str()) << ") "
                        "at line " << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        if (!HF.insert(HFType::value_type(uLabel, pHF)).second) {
                silent_cerr("hydraulic fluid " << uLabel
                        << " already defined at line " << GetLineData()
                        << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
        
        if (!sName.empty()) {
                pHF->PutName(sName);
        }

        return true;
}

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bool MBDynParser::ModuleLoad_int ( void  )

protected

Definition at line 1190 of file mbpar.cc.

References IncludeParser::GetFileName(), IncludeParser::GetLineData(), HighParser::IsArg(), MBDYN_EXCEPT_ARGS, module_initialize(), moduleInitialized, and pDM.

Referenced by ModuleLoadDR::Read().

{
#ifndef USE_RUNTIME_LOADING
        silent_cerr("ModuleLoad_int: dynamic modules not supported; libltdl support needed"
                        << std::endl);
        throw ErrGeneric(MBDYN_EXCEPT_ARGS);

#else // USE_RUNTIME_LOADING
        if (!IsArg()) {
                silent_cerr("Parser error in MBDynParser::ModuleLoad_int(), "
                        " arg expected at line "
                        << GetLineData() << std::endl);
                throw HighParser::ErrColonExpected(MBDYN_EXCEPT_ARGS);
        }

        /* nome del modulo */
        const char* s = GetFileName();
        if (s == NULL) {
                silent_cerr("ModuleLoad_int: unable to get module name"
                        << std::endl);
                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        std::string module_name(s);

        if (!moduleInitialized) {
                module_initialize();
                moduleInitialized = true;
        }

        pedantic_cout("module \"" << module_name << "\" loading..." << std::endl);

        lt_dlhandle handle = lt_dlopenext(module_name.c_str());

        if (handle == NULL) {
                const char* err = lt_dlerror();
                if (err == 0) {
                        err = "";
                }

                silent_cerr("ModuleLoad_int: "
                        << "unable to open module <" << module_name 
                        << "> (" << err << ") at line " << GetLineData()
                        << std::endl);
                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        typedef int (*sym_t)(const char *, void *, void *);
        sym_t sym = (sym_t)lt_dlsym(handle, "module_init");
        if (sym == NULL) {
                const char* err = lt_dlerror();
                if (err == NULL) {
                        silent_cerr("ModuleLoad_int: module_init() "
                                "function not available "
                                "in module <" << module_name
                                << "> at line " << GetLineData()
                                << std::endl);
                } else {
                        silent_cerr("ModuleLoad_int: "
                                << "error while binding to symbol "
                                "module_init() in module <" << module_name
                                << "> (" << err << ") at line " << GetLineData()
                                << std::endl);
                }
                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        if ((*sym)(module_name.c_str(), (void *)pDM, (void *)this)) {
                silent_cerr("ModuleLoad_int: module_init() "
                                "of module <" << module_name
                                << "> failed at line " << GetLineData()
                                << std::endl);
                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        if (IsArg()) {
                silent_cerr("semicolon expected after module "
                        "\"" << module_name << "\""
                        << " at line " << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        silent_cout("module \"" << module_name << "\" loaded" << std::endl);

        return true;
#endif // ! USE_RUNTIME_LOADING
}

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void MBDynParser::OutputFrames

(

std::ostream &

out

)

const

Definition at line 1323 of file mbpar.cc.

References RF.

Referenced by DataManager::DataManager().

{
        for (RFType::const_iterator i = RF.begin(); i != RF.end(); ++i) {
                i->second->Output(out);
        }
}

void MBDynParser::PopManip

(

void

)

Definition at line 2185 of file mbpar.cc.

References manip.

Referenced by Get(), and ReadDCVec().

{
        manip.pop();
}

void MBDynParser::PushManip

(

const Manip *

m

)

Definition at line 2191 of file mbpar.cc.

References manip.

Referenced by ReadDCVec().

{
        manip.push(m);
}

bool MBDynParser::Reference_int ( void  )

protected

Definition at line 327 of file mbpar.cc.

References a, AbsRefFrame, Vec3::Cross(), DEBUGLCOUT, HighParser::GetInt(), IncludeParser::GetLineData(), GetOmeAbs(), GetPosAbs(), ReferenceFrame::GetR(), HighParser::GetReal(), GetRef(), GetRotAbs(), HighParser::GetStringWithDelims(), ReferenceFrame::GetV(), GetVelAbs(), ReferenceFrame::GetW(), ReferenceFrame::GetX(), GLOBAL, HighParser::IsArg(), HighParser::IsKeyWord(), MBDYN_EXCEPT_ARGS, MYDEBUG_INPUT, pDM, WithLabel::PutName(), R, ReadOptionalOrientationDescription(), REFERENCE, RF, RotManip::Rot(), SAFENEWWITHCONSTRUCTOR, UNKNOWNFRAME, Zero3, and Zero3x3.

Referenced by RefFrameDR::Read().

{
        if (!IsArg()) {
                silent_cerr("Parser error in MBDynParser::Reference_int(),"
                        " arg expected at line " 
                        << GetLineData() << std::endl);
                throw HighParser::ErrColonExpected(MBDYN_EXCEPT_ARGS);
        }
        
        unsigned int uLabel(GetInt());
        
        /* Nome del reference */
        std::string sName;
        if (IsKeyWord("name")) {
                const char *sTmp = GetStringWithDelims();
                sName = sTmp;
        }
        
        DEBUGLCOUT(MYDEBUG_INPUT, "Reference frame " << uLabel << std::endl);

        Vec3 x(::Zero3);
        Mat3x3 R(::Zero3x3);
        Vec3 v(::Zero3);
        Vec3 w(::Zero3);

        if (IsKeyWord("denavit" "hartenberg")) {
                ReferenceFrame rfOut;
                switch (GetRef(rfOut)) {
                case MBDynParser::UNKNOWNFRAME:
                case MBDynParser::GLOBAL:
                        rfOut = ::AbsRefFrame;
                        break;

                case MBDynParser::REFERENCE:
                        break;

                default:
                        silent_cerr("ReferenceFrame(" << uLabel << "): invalid reference specification at line " << GetLineData() << std::endl);
                        throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
                }

                doublereal d = GetReal();
                doublereal theta = GetReal();
                doublereal a = GetReal();
                doublereal alpha = GetReal();

                Mat3x3 Rtheta(RotManip::Rot(Vec3(0., 0., theta)));
                Mat3x3 Ralpha(RotManip::Rot(Vec3(alpha, 0., 0.)));
                Vec3 Xr = rfOut.GetR()*(Vec3(0., 0., d) + Rtheta*Vec3(a, 0., 0.));
                x = rfOut.GetX() + Xr;
                R = rfOut.GetR()*Rtheta*Ralpha;
                v = rfOut.GetV() + rfOut.GetW().Cross(Xr);
                w = rfOut.GetW();

        } else {
                if (!IsKeyWord("position")) {
                        pedantic_cerr("ReferenceFrame(" << uLabel
                                << "): missing keyword \"position\" at line "
                                << GetLineData() << std::endl);
                }
                x = GetPosAbs(::AbsRefFrame);

                if (!IsKeyWord("orientation")) {
                        pedantic_cerr("ReferenceFrame(" << uLabel
                                << "): missing keyword \"orientation\" at line "
                                << GetLineData() << std::endl);
                }
                R = GetRotAbs(::AbsRefFrame);

                if (IsArg()) {
                        if (!IsKeyWord("velocity")) {
                                pedantic_cerr("ReferenceFrame(" << uLabel
                                        << "): missing keyword \"velocity\" at line "
                                        << GetLineData() << std::endl);
                        }
                        v = GetVelAbs(::AbsRefFrame, x);
                        if (IsArg()) {
                                if (!IsKeyWord("angular" "velocity")) {
                                        pedantic_cerr("ReferenceFrame(" << uLabel
                                                << "): missing keyword \"angular velocity\" at line "
                                                << GetLineData() << std::endl);
                                }
                                w = GetOmeAbs(::AbsRefFrame);
                        }
                }
        }

        if (IsArg()) {
                silent_cerr("semicolon expected after reference " << uLabel
                        << " (" << (sName.empty() ? "unknown" : sName.c_str()) << ") "
                        "at line " << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        DEBUGLCOUT(MYDEBUG_INPUT, std::endl
                   << "\tX = " << x << std::endl
                   << "\tR = " << R << std::endl
                   << "\tV = " << v << std::endl
                   << "\tW = " << w << std::endl);
        
        ReferenceFrame* pRF = NULL;
        OrientationDescription od
                = ReadOptionalOrientationDescription(pDM, *this);
        SAFENEWWITHCONSTRUCTOR(pRF,
                ReferenceFrame,
                ReferenceFrame(uLabel, x, R, v, w, od));
        if (!RF.insert(RFType::value_type(uLabel, pRF)).second) {
                silent_cerr("Reference frame " << uLabel
                        << " already defined at line " << GetLineData()
                        << std::endl);
                throw MBDynParser::ErrReferenceAlreadyDefined(MBDYN_EXCEPT_ARGS);
        }
        
        if (!sName.empty()) {
                pRF->PutName(sName);
        }

        return true;
}

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bool MBDynParser::ScalarFunction_int ( void  )

protected

Definition at line 1169 of file mbpar.cc.

References IncludeParser::GetLineData(), HighParser::IsArg(), MBDYN_EXCEPT_ARGS, ParseScalarFunction(), and pDM.

Referenced by SFuncDR::Read().

{
        if (!IsArg()) {
                silent_cerr("Parser error in MBDynParser::ScalarFunction_int(), "
                        " arg expected at line "
                        << GetLineData() << std::endl);
                throw HighParser::ErrColonExpected(MBDYN_EXCEPT_ARGS);
        }

        (void)ParseScalarFunction(*this, pDM);

        if (IsArg()) {
                silent_cerr("semicolon expected after scalar function "
                        "at line " << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        return true;
}

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void MBDynParser::SetDataManager

(

DataManager *

pdm

)

Definition at line 296 of file mbpar.cc.

References ASSERT, DC, pDM, DataManager::pGetDrvHdl(), and SetDrvHdl().

Referenced by DataManager::ReadControl().

{
        ASSERT(pdm != NULL);
        pDM = pdm;
        const DriveHandler *pDH = pDM->pGetDrvHdl();
        if (pDH == 0) {
                silent_cerr("no drive handler is associated to data manager?"
                                << std::endl);

        } else {
                /* add the drive handler to the drive callers... */
                for (DCType::const_iterator i = DC.begin(); i != DC.end(); ++i) {
                        const_cast<DriveCaller *>(i->second)->SetDrvHdl(pDH);
                }
        }
}

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bool MBDynParser::SetScalarFunction	(	const std::string &	s,
		const BasicScalarFunction *	sf
	)

Definition at line 2179 of file mbpar.cc.

References SF.

Referenced by ParseScalarFunction().

{
        return SF.insert(SFType::value_type(s, sf)).second;
}

bool MBDynParser::TplDriveCaller_int ( void  )

protected

Definition at line 950 of file mbpar.cc.

References DC1D, DC3D, DC3x3D, DC6D, DC6x6D, HighParser::GetInt(), IncludeParser::GetLineData(), HighParser::GetStringWithDelims(), HighParser::IsArg(), HighParser::IsKeyWord(), HighParser::IsStringWithDelims(), and MBDYN_EXCEPT_ARGS.

Referenced by TplDriveCallerDR::Read().

{
        if (!IsArg()) {
                silent_cerr("Parser error in MBDynParser::TplDriveCaller_int(), "
                        " arg expected at line "
                        << GetLineData() << std::endl);
                throw HighParser::ErrColonExpected(MBDYN_EXCEPT_ARGS);
        }

        unsigned int uLabel(GetInt());
        
        /* drive name */
        std::string sName;
        if (IsKeyWord("name")) {
                const char *sTmp = GetStringWithDelims();
                sName = sTmp;
        }

        enum {
                DIM_1,
                DIM_3,
                DIM_6,
                DIM_3x3,
                DIM_6x6
        } Dim;

        if (IsStringWithDelims()) {
                const char *s = GetStringWithDelims();
                if (strcasecmp(s, "1") == 0) {
                        Dim = DIM_1;

                } else if (strcasecmp(s, "3") == 0) {
                        Dim = DIM_3;

                } else if (strcasecmp(s, "6") == 0) {
                        Dim = DIM_6;

                } else if (strcasecmp(s, "3x3") == 0) {
                        Dim = DIM_3x3;

                } else if (strcasecmp(s, "6x6") == 0) {
                        Dim = DIM_6x6;

                } else {
                        silent_cerr("unable to read template drive caller " << uLabel
                                << " (" << (sName.empty() ? "unknown" : sName.c_str()) << ") "
                                "unsupported type \"" << s << "\" "
                                "at line " << GetLineData() << std::endl);
                        throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
                }

        } else {
                int dim = GetInt();
                switch (dim) {
                case 1:
                        Dim = DIM_1;
                        break;

                case 3:
                        Dim = DIM_3;
                        break;

                case 6:
                        Dim = DIM_6;
                        break;

                default:
                        silent_cerr("unable to read template drive caller " << uLabel 
                                << " (" << (sName.empty() ? "unknown" : sName.c_str()) << ") "
                                "unsupported order " << dim << " "
                                "at line " << GetLineData() << std::endl);
                        throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
                }
        }

        std::string type;
        switch (Dim) {
        case DIM_1: {
                type = "doublereal ";
                TplDriveCaller<doublereal> *pDC = GetTplDriveCaller<doublereal>();
                if (pDC == NULL) {
                        silent_cerr("unable to read doublereal template drive caller " << uLabel
                                << " (" << (sName.empty() ? "unknown" : sName.c_str()) << ") "
                                "at line " << GetLineData() << std::endl);
                        throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
                }

#if 0
                pDC->PutLabel(uLabel);
                if (!sName.empty()) {
                        pDC->PutName(sName);
                }
#endif
        
                if (!DC1D.insert(DC1DType::value_type(uLabel, pDC)).second) {
                        silent_cerr("doublereal template drive caller" << uLabel
                                << " (" << (sName.empty() ? "unknown" : sName.c_str()) << ") "
                                "already defined at line " 
                                << GetLineData() << std::endl);
                        throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
                }
                } break;

        case DIM_3: {
                type = "Vec3 ";
                TplDriveCaller<Vec3> *pDC = GetTplDriveCaller<Vec3>();
                if (pDC == NULL) {
                        silent_cerr("unable to read Vec3 template drive caller " << uLabel
                                << " (" << (sName.empty() ? "unknown" : sName.c_str()) << ") "
                                "at line " << GetLineData() << std::endl);
                        throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
                }

#if 0
                pDC->PutLabel(uLabel);
                if (!sName.empty()) {
                        pDC->PutName(sName);
                }
#endif
        
                if (!DC3D.insert(DC3DType::value_type(uLabel, pDC)).second) {
                        silent_cerr("Vec3 template drive caller" << uLabel
                                << " (" << (sName.empty() ? "unknown" : sName.c_str()) << ") "
                                "already defined at line " 
                                << GetLineData() << std::endl);
                        throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
                }
                } break;

        case DIM_6: {
                type = "Vec6 ";
                TplDriveCaller<Vec6> *pDC = GetTplDriveCaller<Vec6>();
                if (pDC == NULL) {
                        silent_cerr("unable to read Vec6 template drive caller " << uLabel
                                << " (" << (sName.empty() ? "unknown" : sName.c_str()) << ") "
                                "at line " << GetLineData() << std::endl);
                        throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
                }

#if 0
                pDC->PutLabel(uLabel);
                if (!sName.empty()) {
                        pDC->PutName(sName);
                }
#endif
        
                if (!DC6D.insert(DC6DType::value_type(uLabel, pDC)).second) {
                        silent_cerr("Vec6 template drive caller" << uLabel
                                << " (" << (sName.empty() ? "unknown" : sName.c_str()) << ") "
                                "already defined at line " 
                                << GetLineData() << std::endl);
                        throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
                }
                } break;

        case DIM_3x3: {
                type = "Mat3x3 ";
                TplDriveCaller<Mat3x3> *pDC = GetTplDriveCaller<Mat3x3>();
                if (pDC == NULL) {
                        silent_cerr("unable to read Mat3x3 template drive caller " << uLabel
                                << " (" << (sName.empty() ? "unknown" : sName.c_str()) << ") "
                                "at line " << GetLineData() << std::endl);
                        throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
                }

#if 0
                pDC->PutLabel(uLabel);
                if (!sName.empty()) {
                        pDC->PutName(sName);
                }
#endif
        
                if (!DC3x3D.insert(DC3x3DType::value_type(uLabel, pDC)).second) {
                        silent_cerr("Mat3x3 template drive caller" << uLabel
                                << " (" << (sName.empty() ? "unknown" : sName.c_str()) << ") "
                                "already defined at line " 
                                << GetLineData() << std::endl);
                        throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
                }
                } break;

        case DIM_6x6: {
                type = "Mat6x6 ";
                TplDriveCaller<Mat6x6> *pDC = GetTplDriveCaller<Mat6x6>();
                if (pDC == NULL) {
                        silent_cerr("unable to read Mat6x6 template drive caller " << uLabel
                                << " (" << (sName.empty() ? "unknown" : sName.c_str()) << ") "
                                "at line " << GetLineData() << std::endl);
                        throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
                }

#if 0
                pDC->PutLabel(uLabel);
                if (!sName.empty()) {
                        pDC->PutName(sName);
                }
#endif
        
                if (!DC6x6D.insert(DC6x6DType::value_type(uLabel, pDC)).second) {
                        silent_cerr("Mat6x6 template drive caller" << uLabel
                                << " (" << (sName.empty() ? "unknown" : sName.c_str()) << ") "
                                "already defined at line " 
                                << GetLineData() << std::endl);
                        throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
                }
                } break;
        }

        if (IsArg()) {
                silent_cerr("semicolon expected after " << type << "template drive caller " << uLabel
                        << " (" << (sName.empty() ? "unknown" : sName.c_str()) << ") "
                        "at line " << GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        return true;
}

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Friends And Related Function Documentation

friend struct C81DataDR

friend

Definition at line 193 of file mbpar.h.

friend struct ConstLawDR

friend

Definition at line 203 of file mbpar.h.

friend struct DriveCallerDR

friend

Definition at line 214 of file mbpar.h.

friend struct HFluidDR

friend

Definition at line 182 of file mbpar.h.

friend struct ModuleLoadDR

friend

Definition at line 250 of file mbpar.h.

friend struct RefFrameDR

friend

Definition at line 171 of file mbpar.h.

friend struct SFuncDR

friend

Definition at line 245 of file mbpar.h.

friend struct TplDriveCallerDR

friend

Definition at line 238 of file mbpar.h.

Member Data Documentation

ADType MBDynParser::AD

protected

Definition at line 190 of file mbpar.h.

Referenced by C81Data_int(), GetC81Data(), GetC81DataContainer(), and ~MBDynParser().

CL1DType MBDynParser::CL1D

protected

Definition at line 198 of file mbpar.h.

Referenced by ConstitutiveLaw_int(), GetConstLaw1D(), and ~MBDynParser().

CL3DType MBDynParser::CL3D

protected

Definition at line 199 of file mbpar.h.

Referenced by ConstitutiveLaw_int(), GetConstLaw3D(), and ~MBDynParser().

CL6DType MBDynParser::CL6D

protected

Definition at line 200 of file mbpar.h.

Referenced by ConstitutiveLaw_int(), GetConstLaw6D(), and ~MBDynParser().

DCType MBDynParser::DC

protected

Definition at line 211 of file mbpar.h.

Referenced by DriveCaller_int(), GetDrive(), GetDriveCallerContainer(), SetDataManager(), and ~MBDynParser().

DC1DType MBDynParser::DC1D

protected

Definition at line 231 of file mbpar.h.

Referenced by GetDriveCaller1DContainer(), GetTplDrive(), and TplDriveCaller_int().

DC3DType MBDynParser::DC3D

protected

Definition at line 232 of file mbpar.h.

Referenced by GetDriveCaller3DContainer(), GetTplDrive(), and TplDriveCaller_int().

DC3x3DType MBDynParser::DC3x3D

protected

Definition at line 234 of file mbpar.h.

Referenced by GetDriveCaller3x3DContainer(), GetTplDrive(), and TplDriveCaller_int().

DC6DType MBDynParser::DC6D

protected

Definition at line 233 of file mbpar.h.

Referenced by GetDriveCaller6DContainer(), GetTplDrive(), and TplDriveCaller_int().

DC6x6DType MBDynParser::DC6x6D

protected

Definition at line 235 of file mbpar.h.

Referenced by GetDriveCaller6x6DContainer(), GetTplDrive(), and TplDriveCaller_int().

HFType MBDynParser::HF

protected

Definition at line 179 of file mbpar.h.

Referenced by GetHydraulicFluid(), GetHydraulicFluidContainer(), HydraulicFluid_int(), and ~MBDynParser().

std::stack<const Manip *> MBDynParser::manip

private

Definition at line 262 of file mbpar.h.

Referenced by bEmptyManip(), GetManip(), PopManip(), and PushManip().

bool MBDynParser::moduleInitialized

protected

Definition at line 248 of file mbpar.h.

Referenced by ModuleLoad_int(), and ~MBDynParser().

DataManager* MBDynParser::pDM

protected

Definition at line 252 of file mbpar.h.

Referenced by ConstitutiveLaw_int(), DriveCaller_int(), GetConstLaw1D(), GetConstLaw3D(), GetConstLaw6D(), GetDataManager(), GetDriveCaller(), GetScalarFunction(), GetTplDriveCaller(), model_elem(), model_node(), ModuleLoad_int(), Reference_int(), ScalarFunction_int(), and SetDataManager().

RFType MBDynParser::RF

protected

Definition at line 166 of file mbpar.h.

Referenced by GetRef(), GetReferenceFrameContainer(), OutputFrames(), ReadAerodynamicModal(), ReadStructNode(), ReadVariableBody(), Reference_int(), and ~MBDynParser().

SFType MBDynParser::SF

protected

Definition at line 242 of file mbpar.h.

Referenced by GetScalarFunction(), SetScalarFunction(), and ~MBDynParser().

---

The documentation for this class was generated from the following files:

• mbpar.h
• mbpar.cc