C++ FunctionSet::contains方法代码示例

/**
 * Set the functions for the tasks.  Functions are set based on the
 * correspondence of the function and the task.  For example,
 * a task with the name "x" will search for a function or functions
 * with the name "x".  For tasks that require 3 functions, such
 * as CMC_Point tasks, the assumption is that there will be three
 * consecutive functions named "x" in the function set.  If the correct
 * number of functions is not found, the task is disabled.
 *
 * @param aFuncSet Function set.
 * @return Pointer to the previous function set.
 */
void CMC_TaskSet::
setFunctions(FunctionSet &aFuncSet)
{
    // LOOP THROUGH TRACK OBJECTS
    int i,j,iFunc=0;
    int nTrk;
    string name;
    Function *f[3];
    for(i=0;i<getSize();i++) {

        // OBJECT
        TrackingTask& ttask = get(i);

        if (dynamic_cast<StateTrackingTask*>(&ttask)!=NULL) {
            StateTrackingTask& sTask = dynamic_cast<StateTrackingTask&>(ttask);
            if (aFuncSet.contains(sTask.getName())){
                sTask.setTaskFunctions(&aFuncSet.get(sTask.getName()));
            }
            else{
                cout << "State tracking task " << sTask.getName() 
                    << "has no data to track and will be ignored" << std::endl;
            }
            continue;
        }
        // If CMC_Task process same way as pre 2.0.2
        if (dynamic_cast<CMC_Task*>(&ttask)==NULL) 
            continue;

        CMC_Task& task = dynamic_cast<CMC_Task&>(ttask);
        // NAME
        name = task.getName();
        if(name.empty()) continue;

        // FIND FUNCTION(S)
        f[0] = f[1] = f[2] = NULL;
        nTrk = task.getNumTaskFunctions();
        iFunc = aFuncSet.getIndex(name,iFunc);
        if (iFunc < 0){
            const Coordinate& coord = _model->getCoordinateSet().get(name);
            name = coord.getJoint().getName() + "/" + name + "/value";
            iFunc = aFuncSet.getIndex(name, iFunc);
            if (iFunc < 0){
                string msg = "CMC_TaskSet::setFunctionsForVelocity: function for task '";
                msg += name + " not found.";
                throw Exception(msg);
            }
        }

        for(j=0;j<nTrk;j++) {
            try {
                f[j] = &aFuncSet.get(iFunc);
            } catch(const Exception& x) {
                x.print(cout);
            }
            if(f[j]==NULL) break;
            if(name == f[j]->getName()) {
                iFunc++;
            } else {
                f[j] = NULL;
                break;
            }
        }
        task.setTaskFunctions(f[0],f[1],f[2]);
    }
}

/**
 * Run the inverse Dynamics tool.
 */
bool InverseDynamicsTool::run()
{
	bool success = false;
	bool modelFromFile=true;
	try{
		//Load and create the indicated model
		if (!_model) 
			_model = new Model(_modelFileName);
		else
			modelFromFile = false;
		_model->printBasicInfo(cout);

		cout<<"Running tool " << getName() <<".\n"<<endl;

		// Do the maneuver to change then restore working directory 
		// so that the parsing code behaves properly if called from a different directory.
		string saveWorkingDirectory = IO::getCwd();
		string directoryOfSetupFile = IO::getParentDirectory(getDocumentFileName());
		IO::chDir(directoryOfSetupFile);

		const CoordinateSet &coords = _model->getCoordinateSet();
		int nq = _model->getNumCoordinates();

		FunctionSet *coordFunctions = NULL;
		//Storage *coordinateValues = NULL;

		if(hasCoordinateValues()){
			if(_lowpassCutoffFrequency>=0) {
				cout<<"\n\nLow-pass filtering coordinates data with a cutoff frequency of "<<_lowpassCutoffFrequency<<"..."<<endl<<endl;
				_coordinateValues->pad(_coordinateValues->getSize()/2);
				_coordinateValues->lowpassIIR(_lowpassCutoffFrequency);
				if (getVerboseLevel()==Debug) _coordinateValues->print("coordinateDataFiltered.sto");
			}
			// Convert degrees to radian if indicated
			if(_coordinateValues->isInDegrees()){
				_model->getSimbodyEngine().convertDegreesToRadians(*_coordinateValues);
			}
			// Create differentiable splines of the coordinate data
			coordFunctions = new GCVSplineSet(5, _coordinateValues);

			//Functions must correspond to model coordinates and their order for the solver
			for(int i=0; i<nq; i++){
				if(coordFunctions->contains(coords[i].getName())){
					coordFunctions->insert(i,coordFunctions->get(coords[i].getName()));
				}
				else{
					coordFunctions->insert(i,new Constant(coords[i].getDefaultValue()));
					std::cout << "InverseDynamicsTool: coordinate file does not contain coordinate " << coords[i].getName() << " assuming default value" << std::endl;
				}
			}
			if(coordFunctions->getSize() > nq){
				coordFunctions->setSize(nq);
			}
		}
		else{
			IO::chDir(saveWorkingDirectory);
			throw Exception("InverseDynamicsTool: no coordinate file found.");

		}

		bool externalLoads = createExternalLoads(_externalLoadsFileName, *_model, _coordinateValues);
		// Initialize the the model's underlying computational system and get its default state.
		SimTK::State& s = _model->initSystem();

		// Exclude user-specified forces from the dynamics for this analysis
		disableModelForces(*_model, s, _excludedForces);

		double first_time = _coordinateValues->getFirstTime();
		double last_time = _coordinateValues->getLastTime();

		// Determine the starting and final time for the Tool by comparing to what data is available
		double start_time = ( first_time > _timeRange[0]) ? first_time : _timeRange[0];
		double final_time = ( last_time < _timeRange[1]) ? last_time : _timeRange[1];
		int start_index = _coordinateValues->findIndex(start_time);
		int final_index = _coordinateValues->findIndex(final_time);

		// create the solver given the input data
		InverseDynamicsSolver ivdSolver(*_model);

		const clock_t start = clock();

		int nt = final_index-start_index+1;
		
		Array_<double> times(nt, 0.0);
		for(int i=0; i<nt; i++){
			times[i]=_coordinateValues->getStateVector(start_index+i)->getTime();
		}

		// Preallocate results
		Array_<Vector> genForceTraj(nt, Vector(nq, 0.0));

		// solve for the trajectory of generlized forces that correspond to the coordinate
		// trajectories provided
		ivdSolver.solve(s, *coordFunctions, times, genForceTraj);


		success = true;
//.........这里部分代码省略.........