C++ FunctionSet::setSize方法代码示例

/**
 * 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.........