void G_parser::rewrite(rule& r, vector<int>& seq_t){
cout << "rewriting_Rule:";
//for (int i=0; i<r.left_str.size(); i++) cout << r.left_str[i] << ", ";
cout << endl;
vector<elem_ID> production;
int choice = rewrite_choice(r);
//produce from rule
for (int i=0; i<r.right_side[choice].right_str.size(); i++){
production.push_back(elem_ID());
production[i].name = r.right_side[choice].right_str[i];
//else (generals.leftmost_time == {0 ,0})
vector<int> t_aux(2);
t_aux[0] = r.leftmost_time[0] % t_sign;
t_aux[1] = ((r.leftmost_time[1]+i / harm_rh) + form_length) % form_length;
production[i].time = t_aux;
}
update_cycle(production, r, seq_t);
//production.clear();
/*
for (int i=0; i<production.size(); i++){
cout << "name" << i << ": " << production[i].name << ", time: " << production[i].time[0] << " & " << production[i].time[1] << endl;
}
*/
}
void ReadFile(std::string filename, Eigen::Vector3d &t, double &qw, double &qx,double &qy,double &qz){
t<<0.0,0.0,0.0;
double dummy;
double qw_aux,qx_aux,qy_aux,qz_aux;
Eigen::Vector3d t_aux(0.0,0.0,0.0);
qw=qx=qy=qz=0.0;
int npoint=0;
std::ifstream file(filename.data());
while(!file.eof()){
file >> dummy;
file >> t_aux(0);
file >> t_aux(1);
file >> t_aux(2);
file >> dummy; file >> dummy; file >> dummy;
file >> qw_aux;
file >> qx_aux;
file >> qy_aux;
file >> qz_aux;
t+=t_aux;
qw+=qw_aux;
qx+=qx_aux;
qy+=qy_aux;
qz+=qz_aux;
npoint++;
}
file.close();
qw=qw/npoint;
qx=qx/npoint;
qy=qy/npoint;
qz=qz/npoint;
t=t/npoint;
}
