mbsim 4.0.0 MBSim Kernel

frame_observer.h
1 /* Copyright (C) 2004-2017 MBSim Development Team
2 *
3 * This library is free software; you can redistribute it and/or
4 * modify it under the terms of the GNU Lesser General Public
5 * License as published by the Free Software Foundation; either
6 * version 2.1 of the License, or (at your option) any later version.
7 *
8 * This library is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * Lesser General Public License for more details.
12 *
13 * You should have received a copy of the GNU Lesser General Public
14 * License along with this library; if not, write to the Free Software
15 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
16 *
17 * Contact: martin.o.foerg@gmail.com
18 */
19
20 #ifndef _FRAME_OBSERVER_H__
21 #define _FRAME_OBSERVER_H__
22
23 #include "mbsim/observers/observer.h"
24
25 #include <mbsim/utils/boost_parameters.h>
26 #include <mbsim/utils/openmbv_utils.h>
27
28 namespace MBSim {
29
30 class Frame;
31
32 class FrameObserver : public Observer {
33 protected:
34 Frame* frame;
35 std::string saved_frame;
36 std::shared_ptr<OpenMBVArrow> ombvPositionArrow, ombvVelocityArrow, ombvAngularVelocityArrow, ombvAccelerationArrow, ombvAngularAccelerationArrow;
37 std::shared_ptr<OpenMBV::Arrow> openMBVPosition, openMBVVelocity, openMBVAngularVelocity, openMBVAcceleration, openMBVAngularAcceleration;
38 #ifndef SWIG
39 double (FrameObserver::*evalOMBVPositionColorRepresentation[2])();
40 double (FrameObserver::*evalOMBVVelocityColorRepresentation[2])();
41 double (FrameObserver::*evalOMBVAngularVelocityColorRepresentation[2])();
42 double (FrameObserver::*evalOMBVAccelerationColorRepresentation[2])();
43 double (FrameObserver::*evalOMBVAngularAccelerationColorRepresentation[2])();
44 #endif
45 double evalNone() { return 0.5; }
46 double evalAbsolutePosition();
47 double evalAbsoluteVelocitiy();
48 double evalAbsoluteAngularVelocitiy();
49 double evalAbsoluteAcceleration();
50 double evalAbsoluteAngularAcceleration();
51
52 public:
53 FrameObserver(const std::string &name="");
54 void setFrame(Frame *frame_) { frame = frame_; }
55 void setOutputFrame(Frame *outputFrame_) { outputFrame = outputFrame_; }
56
57 void init(InitStage stage, const InitConfigSet &config);
58 void plot();
59 void initializeUsingXML(xercesc::DOMElement *element);
60
61 BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBVPosition, tag, (optional (scaleLength,(double),1)(scaleSize,(double),1)(referencePoint,(OpenMBVArrow::ReferencePoint),OpenMBVArrow::fromPoint)(colorRepresentation,(OpenMBVArrow::ColorRepresentation),OpenMBVArrow::none)(minimalColorValue,(double),0)(maximalColorValue,(double),1)(diffuseColor,(const fmatvec::Vec3&),fmatvec::Vec3(std::vector<double>{-1,1,1}))(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) {
62 ombvPositionArrow = std::shared_ptr<OpenMBVArrow>(new OpenMBVArrow(scaleLength,scaleSize,OpenMBVArrow::toHead,referencePoint,colorRepresentation,minimalColorValue,maximalColorValue,diffuseColor,transparency,pointSize,lineWidth));
63 }
64 BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBVVelocity, tag, (optional (scaleLength,(double),1)(scaleSize,(double),1)(referencePoint,(OpenMBVArrow::ReferencePoint),OpenMBVArrow::fromPoint)(colorRepresentation,(OpenMBVArrow::ColorRepresentation),OpenMBVArrow::none)(minimalColorValue,(double),0)(maximalColorValue,(double),1)(diffuseColor,(const fmatvec::Vec3&),fmatvec::Vec3(std::vector<double>{-1,1,1}))(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) {
65 ombvVelocityArrow = std::shared_ptr<OpenMBVArrow>(new OpenMBVArrow(scaleLength,scaleSize,OpenMBVArrow::toHead,referencePoint,colorRepresentation,minimalColorValue,maximalColorValue,diffuseColor,transparency,pointSize,lineWidth));
66 }
67 BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBVAngularVelocity, tag, (optional (scaleLength,(double),1)(scaleSize,(double),1)(referencePoint,(OpenMBVArrow::ReferencePoint),OpenMBVArrow::fromPoint)(colorRepresentation,(OpenMBVArrow::ColorRepresentation),OpenMBVArrow::none)(minimalColorValue,(double),0)(maximalColorValue,(double),1)(diffuseColor,(const fmatvec::Vec3&),fmatvec::Vec3(std::vector<double>{-1,1,1}))(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) {
68 ombvAngularVelocityArrow = std::shared_ptr<OpenMBVArrow>(new OpenMBVArrow(scaleLength,scaleSize,OpenMBVArrow::toDoubleHead,referencePoint,colorRepresentation,minimalColorValue,maximalColorValue,diffuseColor,transparency,pointSize,lineWidth));
69 }
70 BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBVAcceleration, tag, (optional (scaleLength,(double),1)(scaleSize,(double),1)(referencePoint,(OpenMBVArrow::ReferencePoint),OpenMBVArrow::fromPoint)(colorRepresentation,(OpenMBVArrow::ColorRepresentation),OpenMBVArrow::none)(minimalColorValue,(double),0)(maximalColorValue,(double),1)(diffuseColor,(const fmatvec::Vec3&),fmatvec::Vec3(std::vector<double>{-1,1,1}))(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) {
71 ombvAccelerationArrow = std::shared_ptr<OpenMBVArrow>(new OpenMBVArrow(scaleLength,scaleSize,OpenMBVArrow::toHead,referencePoint,colorRepresentation,minimalColorValue,maximalColorValue,diffuseColor,transparency,pointSize,lineWidth));
72 }
73 BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBVAngularAcceleration, tag, (optional (scaleLength,(double),1)(scaleSize,(double),1)(referencePoint,(OpenMBVArrow::ReferencePoint),OpenMBVArrow::fromPoint)(colorRepresentation,(OpenMBVArrow::ColorRepresentation),OpenMBVArrow::none)(minimalColorValue,(double),0)(maximalColorValue,(double),1)(diffuseColor,(const fmatvec::Vec3&),fmatvec::Vec3(std::vector<double>{-1,1,1}))(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) {
74 ombvAngularAccelerationArrow = std::shared_ptr<OpenMBVArrow>(new OpenMBVArrow(scaleLength,scaleSize,OpenMBVArrow::toDoubleHead,referencePoint,colorRepresentation,minimalColorValue,maximalColorValue,diffuseColor,transparency,pointSize,lineWidth));
75 }
76 private:
77 Frame *outputFrame { nullptr };
78 std::string saved_outputFrame;
79 };
80
81 }
82
83 #endif
MBSim::OpenMBVArrow
Definition: openmbv_utils.h:79
MBSim::FrameObserver::plot
void plot()
plots time dependent data
Definition: frame_observer.cc:110
MBSim::Element::InitStage
InitStage
The stages of the initialization.
Definition: element.h:62
MBSim::FrameObserver::init
void init(InitStage stage, const InitConfigSet &config)
plots time series header
Definition: frame_observer.cc:50
MBSim::Element::name
std::string name
name of element
Definition: element.h:260
MBSim::Frame
cartesian frame on bodies used for application of e.g. links and loads
Definition: frame.h:39
MBSim::FrameObserver
Definition: frame_observer.h:32
MBSim::Observer
Definition: observer.h:26
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30