SplitStreamFileFormatReader::SplitStreamFileFormatReader(QObject *parent): LogFileFormatReader(parent)
{
string temp_accel_names[] = {"Gps", "Compass", "Odometry", "Falling", "Fallen", "MotionGetupActive", "LLegEndEffector", "RLegEndEffector"};
vector<string> sensor_names(temp_accel_names, temp_accel_names + sizeof(temp_accel_names)/sizeof(*temp_accel_names));
m_tempSensors.addSensors(sensor_names);
setKnownDataTypes();
m_fileGood = false;
}
mystr Sensitivity::GetHeaderString() const //returns header for output file
{
mystr str("%HOTINT_Sensitivity_Analysis_Solution_File\n");
if(mbs->GetModelFunctionsIndex0()!=-1)
{
str = str + "%" + mbs->GetModelsLibrary()->GetModelInterface(mbs->GetModelFunctionsIndex0())->GetMBSModelName() + "\n";
}
time_t t; time(&t); struct tm *ts; ts = localtime(&t); // get current date and time
str = str + "%" + asctime(ts);
str = str + "%Comment: " + mbs->GetSolSet().sol_file_header_comment + "\n";
str = str + "%Compute sensitivity of sensor values with respect to parameters\n";
mystr colnumbers, colnames;
// sensors
str = str + "%Sensors: (rows of sensitivity matrix)\n";
colnames = "%";
colnumbers = "%";
for(int i=1; i<=sensor_names.Length();i++)
{
colnames = colnames + *sensor_names(i) + mystr(" ");
colnumbers = colnumbers + mystr(i);
for(int j=colnumbers.Length(); j<colnames.Length(); j++)
{
colnumbers = colnumbers + " ";
}
}
str = str + colnumbers + mystr("\n");
str = str + colnames + mystr("\n");
// parameters
str = str + "%Parameters: (columns of sensitivity matrix)\n";
colnumbers = "%";
colnames = "%";
for(int i=1; i<=param_names.Length();i++)
{
colnames = colnames + *param_names(i) + mystr(" ");
colnumbers = colnumbers + mystr(i);
for(int j=colnumbers.Length(); j<colnames.Length(); j++)
{
colnumbers = colnumbers + " ";
}
}
str = str + colnumbers + mystr("\n");
str = str + colnames + mystr("\n");
return str;
}
void Sensitivity::Init()
{
mbs->OpenFiles(0); //open files already here, do not append
ElementDataContainer* edc = mbs->GetMBS_EDC_Options();
mystr method = edc->TreeGetString("SolverOptions.Sensitivity.method");
// choose type of analysis
if(method.Compare(mystr("Forward")))
{
type_diff = 1; // 1 ... df/dx =~ (f(x+dx)-f(x))/dx forward differentiation
}
else if(method.Compare(mystr("Backward")))
{
type_diff = -1; // -1 ... df/dx =~ (f(x)-f(x-dx))/dx backward differentiation
}
else
{
type_diff = 0; // 0 ... df/dx =~ (f(x+dx/2)-f(x-dx/2))/dx central differentiation
}
// get parameter names
if(edc->TreeGetInt("SolverOptions.Sensitivity.use_optimization_parameters"))
{
number_of_params = edc->TreeGetInt("SolverOptions.Optimization.Parameters.number_of_params");
for (int col=1; col <= number_of_params; col++)
{
mystr str = edc->TreeGetString(mystr("SolverOptions.Optimization.Parameters.param_name")+mystr(col));
param_names(col) = new mystr(str);
}
}
else
{
number_of_params = edc->TreeGetInt("SolverOptions.Sensitivity.Parameters.number_of_params");
for (int col=1; col <= number_of_params; col++)
{
mystr str = edc->TreeGetString(mystr("SolverOptions.Sensitivity.Parameters.param_name")+mystr(col));
param_names(col) = new mystr(str);
}
}
abs_diff_val = edc->TreeGetDouble("SolverOptions.Sensitivity.num_diff_parameter_absolute");
rel_diff_val = edc->TreeGetDouble("SolverOptions.Sensitivity.num_diff_parameter_relative");
NCompSensors = 0; // sensor with computation value (case use_final_sensor_values == 0)
for(int i = 1; i<=mbs->NSensors();i++)
{
mystr str = "";
if(mbs->GetMBS_EDC_Options()->TreeGetInt("SolverOptions.Sensitivity.use_final_sensor_values",0))
{
str = mbs->GetSensor(i).GetSensorName();
sensor_names(i) = new mystr(str); // store names for header
}
else
{
if(mbs->GetSensor(i).HasSensorProcessingEvaluationData())
{
str = mbs->GetSensor(i).GetSensorName();
NCompSensors++;
sensor_names(NCompSensors) = new mystr(str); // store names for header
}
}
}
mbs->SolParFile() << GetHeaderString(); // write header into output file (use sensor_names and parameter_names)
}
