StiffnessIO.h

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/*
* ==========================================================================
*               This file is part of the implementation of
*
*               <FrameFab: Robotic Fabrication of Frame Shapes>
*               Yijiang Huang, Juyong Zhang, Xin Hu, Guoxian Song, Zhongyuan Liu, Lei Yu, Ligang Liu
*               In ACM Transactions on Graphics (Proc. SIGGRAPH Asia 2016)
----------------------------------------------------------------------------
*               class:  StiffnessIO
*
*               Description: This module takes charge of outputting stiffness matrix related results.
*
*               Version:  1.0
*               Created:  Mar/23/2016
*               Updated:  Aug/24/2016
*
*               Author:  Xin Hu, Yijiang Huang, Guoxian Song
*               Company:  GCL@USTC
*               Citation:       Some part of this module is modified from frame3dd_io.c
*                                       output related submodule.
*                       Title:                  Frame3dd source code
*                                                       Static and dynamic structural analysis of 2D and 3D frames and trusses with
*                                                       elastic and geometric stiffness.
*                       Author:                 Henri P. Gavin
*                       Code Version:   20140514+
*                       Availability:   http://frame3dd.sourceforge.net/
----------------------------------------------------------------------------
*               Copyright (C) 2016  Yijiang Huang, Xin Hu, Guoxian Song, Juyong Zhang
*               and Ligang Liu.
*
*               FrameFab is free software: you can redistribute it and/or modify
*               it under the terms of the GNU General Public License as published by
*               the Free Software Foundation, either version 3 of the License, or
*               (at your option) any later version.
*
*               FrameFab 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 General Public License for more details.
*
*               You should have received a copy of the GNU General Public License
*               along with FrameFab.  If not, see <http://www.gnu.org/licenses/>.
* ==========================================================================
*/

#ifndef STIFFNESS_IO_H
#define STIFFNESS_IO_H

#include <stdio.h>
#include <iostream>
#include <fstream>
#include <vector>
#include <string>
#include <Eigen/Dense>

#include "choreo_task_sequence_planner/utils/CoordTrans.h"
#include "choreo_task_sequence_planner/utils/Statistics.h"

#include "choreo_task_sequence_planner/utils/GCommon.h"
#include "choreo_task_sequence_planner/utils/StiffnessSolver.h"

#include "choreo_task_sequence_planner/FiberPrintPARM.h"
#include "choreo_task_sequence_planner/utils/DualGraph.h"
#include "choreo_task_sequence_planner/utils/CoordTrans.h"

#define MYOUT std::cout
#define MYEND std::endl

class StiffnessIO
{
 public:
  typedef Eigen::MatrixXd MX;
  typedef Eigen::Matrix3d M3;
  typedef Eigen::VectorXd VX;
  typedef Eigen::Vector3d V3;
  typedef Eigen::VectorXi VXi;
  typedef       Eigen::MatrixXi MXi;

  typedef std::vector<V3> vec3;

 public:
  StiffnessIO(){};
  ~StiffnessIO(){};

 public:

  void  OutputPath(const char *fname, char fullpath[], const int len, char *default_outdir, int verbose);

  /*--- GnuPlot file output ---*/
  /*
  * GnuPltStaticMesh - create mesh data of deformed and undeformed mesh, use gnuplot     Mar/20/2016
  */
  void GnuPltStaticMesh(
                  const char *fpath,
                  const char *meshpath, const char *plotpath,
                  VX &D,
                  double exagg_static, float scale,
                  DualGraph *ptr_dualgraph, WireFrame *ptr_frame
  );

  /*
  * GnuPltCubicBentBeam -                                                                                       Mar/20/2016
  *     computes cubic deflection functions from end deflections
  *     and end rotations.  Saves deflected shapes to a file.
  *     These bent shapes are exact for mode-shapes, and for frames
  *     loaded at their nodes.
  */
  void GnuPltCubicBentBeam(
                  vector<point> &beam,
                  VX &D,                        /* calculated deformation */
                  int dual_i, DualGraph *ptr_dualgraph, WireFrame *ptr_frame,
                  double exagg
  );

  /*
  * WriteInputData - write input data to a .3dd file                    Mar/20/2016
  */
  void WriteInputData(
                  const char *fpath,
                  DualGraph *ptr_dualgraph,
                  FiberPrintPARM *ptr_parm,
                  int verbose
  );

  /*
  * SaveUpperMatrix - save a symmetric matrix of dimension [1..n][1..n] Nov/26/2015
  * to the named file, use only upper-triangular part
  */
  void SaveUpperMatrix(char filename[], const MX &A, int n);

  /*
  * SaveDeformVector - save displacement vector of dimemsion [1...6*N]  Nov/26/2015
  * to the named file
  */            ;
  void SaveDisplaceVector(char filename[], const VX &D, int n, DualGraph *ptr_dual_graph);

 public:
  void  dots(FILE *fp, int n)
  {
          int i;
          for (i = 1; i <= n; i++)      fprintf(fp, ".");
  }

  const char *TempDir()
  {
          char *tmp;
          tmp = getenv("TEMP");
          if (tmp == NULL) {
                  fprintf(stderr,
                                  "ERROR: Environment Variables %%TEMP%% and %%FRAME3DD_OUTDIR%% are not set.  "
                                                  "At least one of these variables must be set so that FrameFab knows where to "
                                                  "write its temporary files.  Set one of these variable, then re-run FrameFab.");
                  exit(15);
          }
          return tmp;
  }

 private:
  CoordTrans            trsf_;
  StiffnessSolver       solver_;        // solver_: LU decomposition for cubic bent beam computaion
};
#endif