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
|
/******************************************************************************
* 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_COMPARESTATE_H
#define SOFA_COMPONENT_MISC_COMPARESTATE_H
#include <sofa/component/misc/ReadState.h>
#include <sofa/simulation/common/Visitor.h>
#include <fstream>
namespace sofa
{
namespace component
{
namespace misc
{
/** Compare State vectors from file at each timestep
*/
class SOFA_COMPONENT_MISC_API CompareState: public ReadState
{
public:
/** Default constructor
*/
CompareState();
void handleEvent(sofa::core::objectmodel::Event* event);
/// Compute the total errors (positions and velocities)
void processCompareState();
/** Pre-construction check method called by ObjectFactory.
Check that DataTypes matches the MechanicalState.*/
template<class T>
static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
{
if (dynamic_cast<core::componentmodel::behavior::BaseMechanicalState*>(context->getMechanicalState()) == NULL)
return false;
return BaseObject::canCreate(obj, context, arg);
}
/// Return the total errors (position and velocity)
double getTotalError(){return totalError_X + totalError_V;}
/// Return the total errors (position and velocity)
double getErrorByDof(){return dofError_X + dofError_V;}
protected :
/// total error for positions
double totalError_X;
double dofError_X;
/// total error for velocities
double totalError_V;
double dofError_V;
};
/// Create CompareState component in the graph each time needed
class SOFA_COMPONENT_MISC_API CompareStateCreator: public Visitor
{
public:
CompareStateCreator() : sceneName(""), counterCompareState(0), createInMapping(false) {}
CompareStateCreator(std::string &n, bool i=true, int c=0 ) { sceneName=n;init=i; counterCompareState=c; }
virtual Result processNodeTopDown( simulation::Node* );
void setSceneName(std::string &n) { sceneName = n; }
void setCounter(int c) { counterCompareState = c; }
void setCreateInMapping(bool b) { createInMapping=b; }
protected:
void addCompareState(sofa::core::componentmodel::behavior::BaseMechanicalState *ms, simulation::Node* gnode);
bool init;
std::string sceneName;
int counterCompareState; //avoid to have two same files if two mechanical objects has the same name
bool createInMapping;
};
class SOFA_COMPONENT_MISC_API CompareStateResult: public Visitor
{
public:
CompareStateResult() { error=errorByDof=0; numCompareState=0;}
virtual Result processNodeTopDown( simulation::Node* );
double getTotalError() { return error; }
double getErrorByDof() { return errorByDof; }
unsigned int getNumCompareState() { return numCompareState; }
protected:
double error;
double errorByDof;
unsigned int numCompareState;
};
} // namespace misc
} // namespace component
} // namespace sofa
#endif
|
