/usr/include/sofa/component/misc/WriteState.inl is in libsofa1-dev 1.0~beta4-10ubuntu2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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* 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
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