WhorlHistory.cpp

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//////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file       WhorlHistory.cpp
 *  \brief      An abstract class to store Whorl data.
 *  \author $Author: jayhawk_hokie $
 *  \version $Revision: 1.4 $
 *  \date    $Date: 2007/05/31 17:38:48 $
 *//////////////////////////////////////////////////////////////////////////////////////////////////
/*  
 */
//////////////////////////////////////////////////////////////////////////////////////////////////

#include "WhorlHistory.h"
   
/*! \brief Constructs an empty Whorl history.
 *  @param _handle is a TiXmlHanlde with the configuration parameters.
 *  @param _WhorlName is a string with the name of the Simulator.
 */
WhorlHistory::WhorlHistory( TiXmlHandle _handle, string _WhorlName )
{
        m_File = new ofstream;
        Parse( _handle, _WhorlName );
        Initialize( );
}

/*! \brief Default Deconstructor */
WhorlHistory::~WhorlHistory()
{
        Deinitialize( );
}

/*! \brief Initialze function */
int WhorlHistory::Initialize( )
{
        m_File->open( m_FileName.c_str( ) );
        return( 0 );
}

/*! \brief Deinitialze function */
int WhorlHistory::Deinitialize( )
{
        m_File->close( );
        delete m_File; // delete pointer
        return( 0 );
}

/*! \brief Parse Config file for logging parameters.
 *  @param _handle is a TiXmlHanlde with the configuration parameters.
 *  @param _WhorlName is a string with the name of the Simulator.
 */
int WhorlHistory::Parse( TiXmlHandle _handle, string _WhorlName )
{
        //const char *observer;
        m_FilePath = _handle.FirstChild( _WhorlName ).FirstChild( "DATA_LOGGING" ).Child( "MAIN_PATH", 0 ).Element() -> Attribute( "value" );
        m_TestID = _handle.FirstChild( _WhorlName ).FirstChild( "DATA_LOGGING" ).Child( "TEST_ID", 0 ).Element() -> Attribute( "value" );
        m_FileExtension = _handle.FirstChild( _WhorlName ).FirstChild( "DATA_LOGGING" ).Child( "FILE_EXTENSION", 0 ).Element() -> Attribute( "value" );
        m_ObjectName = _WhorlName;
        m_FileName = m_FilePath;
        m_FileName.append( m_TestID );
        m_FileName.append( "_" );
        m_FileName.append( m_ObjectName );
        m_FileName.append( m_FileExtension );
        return( 0 );
}

/*! \brief Append the time, attitude, and other states of the Simulator to a file.
 *  @param _Time is an ssfTime object that holds the time of wheel speed measurement.
 *  @param _AttitudeState is a Vector for attitude representation 1x(1:4) quaternion 1x(5:7) angular rates [rad/s]
 *  @param _AttitudeControl is a Vector for attitude control 1x3 [N-m]
 */
void WhorlHistory::AppendHistory( ssfTime _Time, Vector _AttitudeState, Vector _AttitudeControl )
{
        ostringstream appendString;
        appendString  << _Time;

        /* Attitude Vector 1x7 */
        for( int i=0; i<7; i++ )
        {
                appendString << " " << _AttitudeState(i+1);
        }
        /* Control Vector 1x7 */
        for( int i=0; i<3; i++ )
        {
                appendString << " " << _AttitudeControl(i+1);
        }

        *m_File << appendString.str( ) << endl;

        return;
}

/*! \brief Append the time, attitude, and other states of the Simulator to a file.
 *  @param _Time is an ssfTime object that holds the time of wheel speed measurement.
 *  @param _AttitudeState is a Vector for attitude representation 1x(1:4) quaternion 1x(5:7) angular rates [rad/s]
 *  @param _AttitudeControl is a Vector for attitude control 1x3 [N-m]
 *  @param _MRP is a Vector for attitude 1x3 
 */
void WhorlHistory::AppendHistory( ssfTime _Time, Vector _AttitudeState, Vector _AttitudeControl, Vector _MRP )
{
        ostringstream appendString;
        appendString  << _Time;

        /* Attitude Vector 1x7 */
        for( int i=0; i<7; i++ )
        {
                appendString << " " << _AttitudeState(i+1);
        }
        /* Control Vector 1x3 */
        for( int i=0; i<3; i++ )
        {
                appendString << " " << _AttitudeControl(i+1);
        }
        /* MRP Vector 1x3 */
        for( int i=0; i<3; i++ )
        {
                appendString << " " << _MRP(i+1);
        }

        *m_File << appendString.str( ) << endl;

        return;
}

/*! \brief Append the time, attitude, and other states of the Simulator to a file.
 *  @param _Time is an ssfTime object that holds the time of wheel speed measurement.
 *  @param _AttitudeState is a Vector for attitude representation 1x(1:4) quaternion 1x(5:7) angular rates [rad/s]
 *  @param _AttitudeControl is a Vector for attitude control 1x3 [N-m]
 *  @param _MRP is a Vector for attitude 1x3 
 */
void WhorlHistory::AppendHistory( ssfTime _Time, Vector _AttitudeState, Vector _AttitudeControl, Vector _MRP, 
        Vector _ReferenceAttitudeState, Vector _ReferenceMRP, Vector _ControlError )
{
        ostringstream appendString;
        appendString  << _Time;

        /* Attitude Vector 1x7 */
        for( int i=0; i<7; i++ )
        {
                appendString << " " << _AttitudeState(i+1);
        }
        /* Control Vector 1x3 */
        for( int i=0; i<3; i++ )
        {
                appendString << " " << _AttitudeControl(i+1);
        }
        /* MRP Vector 1x3 */
        for( int i=0; i<3; i++ )
        {
                appendString << " " << _MRP(i+1);
        }
        /* Reference Attitude Vector 1x7 */
        for( int i=0; i<7; i++ )
        {
                appendString << " " << _ReferenceAttitudeState(i+1);
        }
        /* Reference MRP Vector 1x3 */
        for( int i=0; i<3; i++ )
        {
                appendString << " " << _ReferenceMRP(i+1);
        }
        /* Control Error Vector 1x3 */
        for( int i=0; i<6; i++ )
        {
                appendString << " " << _ControlError(i+1);
        }

        *m_File << appendString.str( ) << endl;

        return;
}


// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: WhorlHistory.cpp,v $
*       Revision 1.4  2007/05/31 17:38:48  jayhawk_hokie
*       Added control error logging.
*       
*       Revision 1.3  2007/04/09 14:05:49  jayhawk_hokie
*       Changed data logging for Whorl.
*       
*       Revision 1.2  2003/07/22 21:59:39  mavandyk
*       Fixed several bugs.  Some functions have been commented out.
*       
*       Revision 1.1  2003/07/07 14:37:24  simpliciter
*       Initial submission.  Should work once measurement issues are resolved.
*       
*
******************************************************************************/

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