/usr/include/sofa/component/misc/WriteState.inl is in libsofa1-dev 1.0~beta4-9.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 | /******************************************************************************
* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This library is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
*******************************************************************************
* SOFA :: Modules *
* *
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#ifndef SOFA_COMPONENT_MISC_WRITESTATE_INL
#define SOFA_COMPONENT_MISC_WRITESTATE_INL
#include <sofa/component/misc/WriteState.h>
#include <sofa/simulation/common/Node.h>
#include <sofa/core/objectmodel/DataFileName.h>
#include <fstream>
namespace sofa
{
namespace component
{
namespace misc
{
WriteState::WriteState()
: f_filename( initData(&f_filename, "filename", "output file name"))
, f_writeX( initData(&f_writeX, true, "writeX", "flag enabling output of X vector"))
, f_writeV( initData(&f_writeV, false, "writeV", "flag enabling output of V vector"))
, f_interval( initData(&f_interval, 0.0, "interval", "time duration between outputs"))
, f_time( initData(&f_time, helper::vector<double>(0), "time", "set time to write outputs"))
, f_period( initData(&f_period, 0.0, "period", "period between outputs"))
, f_DOFsX( initData(&f_DOFsX, helper::vector<unsigned int>(0), "DOFsX", "set the position DOFs to write"))
, f_DOFsV( initData(&f_DOFsV, helper::vector<unsigned int>(0), "DOFsV", "set the velocity DOFs to write"))
, f_stopAt( initData(&f_stopAt, 0.0, "stopAt", "stop the simulation when the given threshold is reached"))
, f_keperiod( initData(&f_keperiod, 0.0, "keperiod", "set the period to measure the kinetic energy increase"))
, mmodel(NULL)
, outfile(NULL)
, nextTime(0)
, lastTime(0)
, kineticEnergyThresholdReached(false)
, timeToTestEnergyIncrease(0)
, savedKineticEnergy(0)
{
this->f_listening.setValue(true);
}
WriteState::~WriteState()
{
if (outfile)
delete outfile;
}
void WriteState::init()
{
mmodel = dynamic_cast<core::componentmodel::behavior::BaseMechanicalState*>(this->getContext()->getMechanicalState());
// test the size and range of the DOFs to write in the file output
if (mmodel)
{
timeToTestEnergyIncrease = f_keperiod.getValue();
}
///////////// end of the tests.
const std::string& filename = f_filename.getFullPath();
if (!filename.empty())
{
// std::ifstream infile(filename.c_str());
// if( infile.is_open() )
// {
// serr << "ERROR: file "<<filename<<" already exists. Remove it to record new motion."<<sendl;
// }
// else
{
outfile = new std::ofstream(filename.c_str());
if( !outfile->is_open() )
{
serr << "Error creating file "<<filename<<sendl;
delete outfile;
outfile = NULL;
}
}
}
}
void WriteState::reset()
{
nextTime = 0;
lastTime = 0;
kineticEnergyThresholdReached = false;
timeToTestEnergyIncrease = f_keperiod.getValue();
savedKineticEnergy = 0;
}
void WriteState::handleEvent(sofa::core::objectmodel::Event* event)
{
if (/* simulation::AnimateBeginEvent* ev = */ dynamic_cast<simulation::AnimateBeginEvent*>(event))
{
if (outfile && mmodel)
{
if (!kineticEnergyThresholdReached)
{
double time = getContext()->getTime();
// the time to measure the increase of energy is reached
if (f_stopAt.getValue())
{
if (time > timeToTestEnergyIncrease)
{
simulation::Node *gnode = dynamic_cast<simulation::Node *>(this->getContext());
if (!gnode->mass)
{ // Error: the mechanical model has no mass
serr << "Error: Kinetic energy can not be computed. The mass for " << mmodel->getName() << " has no been defined" << sendl;
exit(-1);
}
else
{// computes the energy increase
if (fabs(gnode->mass->getKineticEnergy() - savedKineticEnergy) < f_stopAt.getValue())
{
sout << "WriteState has been stopped. Kinetic energy threshold has been reached" << sendl;
kineticEnergyThresholdReached = true;
}
else
{ // save the last energy measured
savedKineticEnergy = gnode->mass->getKineticEnergy();
// increase the period to measure the energy
timeToTestEnergyIncrease+=f_keperiod.getValue();
}
}
}
}
if (nextTime<f_time.getValue().size())
{
// store the actual time instant
lastTime = f_time.getValue()[nextTime];
if (time >= lastTime) // if the time simulation is >= that the actual time instant
{
// write the X state
(*outfile) << "T= "<< time << "\n";
if (f_writeX.getValue())
{
(*outfile) << " X= ";
mmodel->writeX(*outfile);
(*outfile) << "\n";
}
//write the V state
if (f_writeV.getValue())
{
(*outfile) << " V= ";
mmodel->writeV(*outfile);
(*outfile) << "\n";
}
outfile->flush();
nextTime++;
}
}
else
{
// write the state using a period
if (time >= (lastTime + f_period.getValue()))
{
(*outfile) << "T= "<< time << "\n";
if (f_writeX.getValue())
{
(*outfile) << " X= ";
mmodel->writeX(*outfile);
(*outfile) << "\n";
}
if (f_writeV.getValue())
{
(*outfile) << " V= ";
mmodel->writeV(*outfile);
(*outfile) << "\n";
}
outfile->flush();
lastTime += f_period.getValue();
}
}
}
}
}
}
} // namespace misc
} // namespace component
} // namespace sofa
#endif
|