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Track.cpp
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// Track.cpp : 实现文件
#include "pch.h"
#include "Track.h"
#ifndef _MATH_H_
#define _MATH_H_
#include <math.h>
#endif
#ifndef _MATRIX_H_
#define _MATRIX_H_
#include "Matrix.h"
#endif
#ifndef _VECTORN_H_
#define _VECTORN_H_
#include "VectorN.h"
#endif
#ifndef _VECTOR3X_H_
#define _VECTOR3X_H_
#include "Vector3x.h"
#endif
#ifndef _CUBICSPLINE_H_
#define _CUBICSPLINE_H_
#include "CubicSpline.h"
#endif
#ifndef _CSPLINE_H_
#define _CSPLINE_H_
#include "Spline.h"
#endif
#ifndef _EULERANGLE_H_
#define _EULERANGLE_H_
#include "EulerAngle.h"
#endif
#ifndef _EULERPARA_H_
#define _EULERPARA_H_
#include "EulerPara.h"
#endif
#ifndef _GAUSS_INTE_LIMIT_
#define GAUSS_INTE 1.0e-8
#endif
#include <vector>
// Track
//IMPLEMENT_SERIAL(Track,CObject,VERSIONABLE_SCHEMA|2)
Track::Track():m_num(0),m_name("DEFAULT TRACK")
{
m_nDiscription.Empty();
m_nConPnt.Empty();
m_nCPxyz.Empty();
m_nOrigin.reSet(0,0,0);
m_nOrientation.reSet(0,0,0);
}
Track::Track(Matrix &mx,Matrix &pmxl,Matrix &pmxr)
{
m_num = 1;
m_name = "Track0";
gauge_width = 1.500;
dp_interval = 10.000;
cant = 0.025;
m_nDiscription = mx;
EulerAngle leftcant(atan(1.0*cant),0.0, 0.0);
EulerAngle rightcant(atan(-1.0*cant),0.0, 0.0);
Matrix left(pmxl.Row(), 3);
Matrix right(pmxr.Row(), 3);
for (int i = 0; i < pmxl.Row(); i++)
{
left[i][0] = pmxl[i][0];
left[i][1] = pmxl[i][1];
}
for (int j = 0; j < pmxr.Row(); j++)
{
right[j][0] = pmxr[j][0];
right[j][1] = pmxr[j][1];
}
Matrix leftc = ~(leftcant.getRotMat()*(~left));
Matrix rightc = ~(rightcant.getRotMat()*(~right));
LProfile = leftc.getDoubleCols(0, 1);
RProfile = rightc.getDoubleCols(0, 1);
this->InitTrackDiffGeo();
this->InitCurvature();
}
Track::Track(Matrix &mxdescrip,Matrix &leftmx,Matrix &rightmx,Vector3x ori,EulerAngle ang,double gauge,double c,double interval,int sm,int dersm1st,int dersm2nd)
{
m_num=1;
m_name="Track0";
gauge_width=gauge;
m_nOrigin=ori;
m_nOrientation=ang;
cant=c;
dp_interval=interval;
m_nDiscription=mxdescrip;
EulerAngle leftcant(atan(1.0*c),0.0, 0.0);
EulerAngle rightcant(atan(-1.0*c),0.0, 0.0);
Matrix left(leftmx.Row(), 3);
Matrix right(rightmx.Row(), 3);
for (int i = 0; i < leftmx.Row(); i++)
{
left[i][0] = leftmx[i][0];
left[i][1] = leftmx[i][1];
}
for (int j = 0; j < rightmx.Row(); j++)
{
right[j][0] = rightmx[j][0];
right[j][1] = rightmx[j][1];
}
Matrix leftc = ~(leftcant.getRotMat()*(~left));
Matrix rightc = ~(rightcant.getRotMat()*(~right));
LProfile = leftc.getDoubleCols(0, 1);
RProfile = rightc.getDoubleCols(0, 1);
this->InitTrackDiffGeo(sm,dersm1st,dersm2nd);
this->InitCurvature();
}
Track::Track(Matrix &mxdescrip, Matrix &leftmx, Matrix &rightmx, Vector3x ori, EulerAngle ang, double gauge, double c, double interval, int sm, int dersm1st, int dersm2nd, int csm1, int csm2, int csm3)
{
m_num = 1;
m_name = "Track0";
gauge_width = gauge;
m_nOrigin = ori;
m_nOrientation = ang;
cant = c;
dp_interval = interval;
m_nDiscription = mxdescrip;
EulerAngle leftcant(atan(1.0*c), 0.0, 0.0);
EulerAngle rightcant(atan(-1.0*c), 0.0, 0.0);
Matrix left(leftmx.Row(), 3);
Matrix right(rightmx.Row(), 3);
for (int i = 0; i < leftmx.Row(); i++)
{
left[i][0] = leftmx[i][0];
left[i][1] = leftmx[i][1];
}
for (int j = 0; j < rightmx.Row(); j++)
{
right[j][0] = rightmx[j][0];
right[j][1] = rightmx[j][1];
}
Matrix leftc = ~(leftcant.getRotMat()*(~left));
Matrix rightc = ~(rightcant.getRotMat()*(~right));
LProfile = leftc.getDoubleCols(0, 1);
RProfile = rightc.getDoubleCols(0, 1);
this->InitTrackDiffGeo(sm, dersm1st, dersm2nd);
/*this->InitCurvature();*/
this->InitCurvature(csm1, csm2, csm3);
}
Track::Track(const Track &tk)
{
m_num=tk.m_num;
m_name=tk.m_name;
m_nDiscription=tk.getDiscription();
LProfile=tk.getLProfile();
RProfile=tk.getRProfile();
m_nOrigin=tk.getOrigin();
m_nOrientation=tk.getOrientation();
gauge_width=tk.getWidth();
cant=tk.getcant();
dp_interval=tk.getdpinterval();
m_nConPnt=tk.getConPntMat();
m_nCPxyz=tk.getCPxyzMat();
m_nArcLenDiffLeft=tk.getArcLenDiffMatLeft();
m_nArcLenDiffRight=tk.getArcLenDiffMatRight();
LeftRP_Data=tk.getLeftRPDATA();
RightRP_Data=tk.getRightRPDADA();
LeftRailCS=tk.getLeftRailCS();
RightRailCS=tk.getRightRailCS();
LRProfDeri_1st=tk.getLRP_D1st();
LRProfDeri_2nd=tk.getLRP_D2nd();
LRProfDeri_3rd = tk.getLRP_D3rd();//20191025 added
RRProfDeri_1st=tk.getRRP_D1st();
RRProfDeri_2nd=tk.getRRP_D2nd();
RRProfDeri_3rd = tk.getRRP_D3rd();//20101025 added
LProfileCS=tk.getLProfileCS();
RProfileCS=tk.getRProfileCS();
LProfile_D1st=tk.getLProfile_D1st();
LProfile_D2nd=tk.getLProfile_D2nd();
RProfile_D1st=tk.getRProfile_D1st();
RProfile_D2nd=tk.getRProfile_D2nd();
LPcurMat=tk.getLPcurMat();
RPcurMat=tk.getRPcurMat();
lrp=tk.getlrp();
rrp=tk.getrrp();
lpdeltas=tk.getlpdeltas();
lps=tk.getlps();
rpdeltas=tk.getrpdeltas();
rps=tk.getrps();
lcur=tk.getlcur();
rcur=tk.getrcur();
xindic=tk.getxindic();
}
Track& Track::operator =(const Track &tk)
{
if (this==&tk)
{
return *this;
}
else
{
m_num=tk.m_num;
m_name=tk.m_name;
m_nDiscription=tk.getDiscription();
LProfile=tk.getLProfile();
RProfile=tk.getRProfile();
m_nOrigin=tk.getOrigin();
m_nOrientation=tk.getOrientation();
gauge_width=tk.getWidth();
cant=tk.getcant();
dp_interval=tk.getdpinterval();
m_nConPnt=tk.getConPntMat();
m_nCPxyz=tk.getCPxyzMat();
m_nArcLenDiffLeft=tk.getArcLenDiffMatLeft();
m_nArcLenDiffRight=tk.getArcLenDiffMatRight();
LeftRP_Data=tk.getLeftRPDATA();
RightRP_Data=tk.getRightRPDADA();
LeftRailCS=tk.getLeftRailCS();
RightRailCS=tk.getRightRailCS();
LRProfDeri_1st=tk.getLRP_D1st();
LRProfDeri_2nd=tk.getLRP_D2nd();
LRProfDeri_3rd = tk.getLRP_D3rd();//20191025 added
RRProfDeri_1st=tk.getRRP_D1st();
RRProfDeri_2nd=tk.getRRP_D2nd();
RRProfDeri_3rd = tk.getRRP_D3rd();//20191025 added
LProfileCS=tk.getLProfileCS();
RProfileCS=tk.getRProfileCS();
LProfile_D1st=tk.getLProfile_D1st();
LProfile_D2nd=tk.getLProfile_D2nd();
RProfile_D1st=tk.getRProfile_D1st();
RProfile_D2nd=tk.getRProfile_D2nd();
LPcurMat=tk.getLPcurMat();
RPcurMat=tk.getRPcurMat();
lrp=tk.getlrp();
rrp=tk.getrrp();
lpdeltas=tk.getlpdeltas();
lps=tk.getlps();
rpdeltas=tk.getrpdeltas();
rps=tk.getrps();
lcur=tk.getlcur();
rcur=tk.getrcur();
xindic=tk.getxindic();
return *this;
}
}
void Track::setParameters(int num,CString name,Matrix description,Matrix lp,Matrix rp,Vector3x ori,EulerAngle ang,double gauge,double c,double interval)
{
m_num=num;
m_name=name;
m_nDiscription=description;
m_nOrigin=ori;
m_nOrientation=ang;
gauge_width=gauge;
cant=c;
dp_interval=interval;
EulerAngle leftcant(atan(1.0*c),0.0, 0.0);
EulerAngle rightcant(atan(-1.0*c),0.0, 0.0);
Matrix left(lp.Row(), 3);
Matrix right(rp.Row(), 3);
for (int i = 0; i < lp.Row(); i++)
{
left[i][0] = lp[i][0];
left[i][1] = lp[i][1];
}
for (int j = 0; j < rp.Row(); j++)
{
right[j][0] = rp[j][0];
right[j][1] = rp[j][1];
}
Matrix leftc = ~(leftcant.getRotMat()*(~left));
Matrix rightc = ~(rightcant.getRotMat()*(~right));
LProfile = leftc.getDoubleCols(0, 1);
RProfile = rightc.getDoubleCols(0, 1);
this->InitTrackDiffGeo();
this->InitCurvature();
}
Track::~Track()
{
}
//初始化函数//////////////////////////////////////////////////////////////////////////////////////////
void Track::setConPntMat(void) //初始化控制点信息矩阵 0映射弧长 1摇头角 2侧滚角 3竖高 4实际弧长
{
if (!m_nDiscription.IsEmpty())
{
m_nConPnt.SetMatrix(m_nDiscription.Row(),5);
for (int i=0;i<m_nDiscription.Row();i++)
{
m_nConPnt[i][0]=m_nDiscription[i][1]; // Initialize projection S
m_nConPnt[i][2]=m_nDiscription[i][3]; // Initialize Roll angle phi
m_nConPnt[i][3]=m_nDiscription[i][4]; // Initialize hight z coordinate
}
for (int i=1;i<m_nDiscription.Row();i++) // Initialize Yaw angle psi
{
m_nConPnt[i][1]=m_nConPnt[i-1][1]+(1/(m_nDiscription[i][1]-m_nDiscription[i-1][1]))*((m_nDiscription[i][2]/2)*
pow((m_nDiscription[i][1]-m_nDiscription[i-1][1]),2))+(m_nDiscription[i][1]-m_nDiscription[i-1][1])*m_nDiscription[i-1][2]/2;
}
for (int i=1;i<m_nDiscription.Row();i++) // Initialize actual arc length s
{
double slope=(m_nConPnt[i][3]-m_nConPnt[i-1][3])/(m_nConPnt[i][0]-m_nConPnt[i-1][0]);
m_nConPnt[i][4]=m_nConPnt[i-1][4]+(m_nConPnt[i][0]-m_nConPnt[i-1][0])/(cos(atan(slope))); //version1.0.2 修改s初始化函数
}
}
}
void Track::setCPxyzMat(void)
{
if (!m_nDiscription.IsEmpty())
{
m_nCPxyz.SetMatrix(m_nDiscription.Row(),3);
//设定Z坐标
for (int i=1;i<m_nDiscription.Row();i++)
{
if (m_nConPnt[i][3]==m_nConPnt[i-1][3])
{
m_nCPxyz[i][2]=m_nCPxyz[i-1][2];
}
else
{
double theta=atan((m_nConPnt[i][3]-m_nConPnt[i-1][3])/(m_nConPnt[i][0]-m_nConPnt[i-1][0]));
m_nCPxyz[i][2]=m_nCPxyz[i-1][2]+(m_nConPnt[i][4]-m_nConPnt[i-1][4])*sin(theta); //version1.0.2 修改z坐标初始化函数
}
}
//设定X坐标 20130610 modified for just gauss integration used only
for (int i=1;i<m_nDiscription.Row();i++)
{
//曲线段高斯5点积分
double conven_delta = GAUSS_INTE;
double weight[5]={0.236927,0.478629,0.568889,0.478629,0.236927};//设定权重系数
double intpnt[5]={-0.90610,-0.538469,0,0.538469,0.90610};
double inte_interval=m_nConPnt[i][0]-m_nConPnt[i-1][0];
double inte1=0.0;
double inte2=0.0;
double low,high,tmp,coff,angle;
//初始进行积分域分两段
int sub=2;
for (int k=0;k<sub;k++)
{
low=m_nConPnt[i-1][0]+k*inte_interval/sub;
high=m_nConPnt[i-1][0]+(k+1)*inte_interval/sub;
tmp=0.0;
for (int j=0;j<5;j++)
{
coff=((high-low)/2)*intpnt[j]+((high+low)/2);
angle=this->getRPYaw(coff);
tmp+=weight[j]*((high-low)/2)*cos(angle);
}
inte2+=tmp;
}
while (abs(inte2-inte1)>conven_delta)
{
inte1=inte2;
sub*=2;
inte2=0.0;
for (int k=0;k<sub;k++)
{
low=m_nConPnt[i-1][0]+k*inte_interval/sub;
high=m_nConPnt[i-1][0]+(k+1)*inte_interval/sub;
tmp=0.0;
for (int j=0;j<5;j++)
{
coff=((high-low)/2)*intpnt[j]+((high+low)/2);
angle=this->getRPYaw(coff);
tmp+=weight[j]*((high-low)/2)*cos(angle);
}
inte2+=tmp;
}
}
m_nCPxyz[i][0]=m_nCPxyz[i-1][0]+inte2;
}
//设定Y坐标 20130610 modified for just gauss integration used only
for (int i=1;i<m_nDiscription.Row();i++)
{
//曲线段高斯5点积分
double conven_delta = GAUSS_INTE;
double weight[5]={0.236927,0.478629,0.568889,0.478629,0.236927};//设定权重系数
double intpnt[5]={-0.90610,-0.538469,0,0.538469,0.90610};
double inte_interval=m_nConPnt[i][0]-m_nConPnt[i-1][0];
double inte1=0.0;
double inte2=0.0;
double low,high,tmp,coff,angle;
//初始进行积分域分两段
int sub=2;
for (int k=0;k<sub;k++)
{
low=m_nConPnt[i-1][0]+k*inte_interval/sub;
high=m_nConPnt[i-1][0]+(k+1)*inte_interval/sub;
tmp=0.0;
for (int j=0;j<5;j++)
{
coff=((high-low)/2)*intpnt[j]+((high+low)/2);
angle=this->getRPYaw(coff);
tmp+=weight[j]*((high-low)/2)*sin(angle);
}
inte2+=tmp;
}
while (abs(inte2-inte1)>conven_delta)
{
inte1=inte2;
sub*=2;
inte2=0.0;
for (int k=0;k<sub;k++)
{
low=m_nConPnt[i-1][0]+k*inte_interval/sub;
high=m_nConPnt[i-1][0]+(k+1)*inte_interval/sub;
tmp=0.0;
for (int j=0;j<5;j++)
{
coff=((high-low)/2)*intpnt[j]+((high+low)/2);
angle=this->getRPYaw(coff);
tmp+=weight[j]*((high-low)/2)*sin(angle);
}
inte2+=tmp;
}
}
m_nCPxyz[i][1]=m_nCPxyz[i-1][1]+inte2;
}
}
}
void Track::setArcLenDiffMatLeft(void)
{
if (!m_nDiscription.IsEmpty())
{
m_nArcLenDiffLeft.SetMatrix(m_nDiscription.Row(),2);
for (int ii=1;ii<m_nDiscription.Row();ii++)//第一列 轨道中心线映射弧长
{
m_nArcLenDiffLeft[ii][0]=m_nConPnt[ii][0];
}
for (int jj=1;jj<m_nDiscription.Row();jj++)
{
double conven_delta = GAUSS_INTE;
double weight[5]={0.236927,0.478629,0.568889,0.478629,0.236927};//设定权重系数
double intpnt[5]={-0.90610,-0.538469,0,0.538469,0.90610};
double inte_interval=m_nConPnt[jj][0]-m_nConPnt[jj-1][0];//两控制点间的积分区间
double inte1=0.0;
double inte2=0.0;
double low,high,tmp,coff,CH,phi,theta;
//初始进行积分域分两段
int sub=2;
for (int k=0;k<sub;k++)
{
low=m_nConPnt[jj-1][0]+k*inte_interval/sub;
high=m_nConPnt[jj-1][0]+(k+1)*inte_interval/sub;
tmp=0.0;
for (int j=0;j<5;j++)
{
coff=((high-low)/2)*intpnt[j]+((high+low)/2);
CH=this->getCH(coff);
phi=this->getRPRoll(coff);
Vector3x vec3=this->LeftRailAngle(this->TranS2s(coff));
theta=vec3[1];
tmp+=weight[j]*((high-low)/2)*CH*gauge_width*cos(phi)/cos(theta);
}
inte2+=tmp;
}
while (abs(inte2-inte1)>conven_delta)
{
inte1=inte2;
sub*=2;
inte2=0.0;
for (int k=0;k<sub;k++)
{
low=m_nConPnt[jj-1][0]+k*inte_interval/sub;
high=m_nConPnt[jj-1][0]+(k+1)*inte_interval/sub;
tmp=0.0;
for (int j=0;j<5;j++)
{
coff=((high-low)/2)*intpnt[j]+((high+low)/2);
CH=this->getCH(coff);
phi=this->getRPRoll(coff);
Vector3x vec3=this->LeftRailAngle(this->TranS2s(coff));
theta=vec3[1];
tmp+=weight[j]*((high-low)/2)*CH*gauge_width*cos(phi)/cos(theta);
}
inte2+=tmp;
}
}
m_nArcLenDiffLeft[jj][1]=m_nArcLenDiffLeft[jj-1][1]+0.5*inte2;
}
}
}
void Track::setArcLenDiffMatRight(void)// 20130610 modified for just gauss integration used only
{
if (!m_nDiscription.IsEmpty())
{
m_nArcLenDiffRight.SetMatrix(m_nDiscription.Row(),2);
for (int ii=1;ii<m_nDiscription.Row();ii++)
{
m_nArcLenDiffRight[ii][0]=m_nConPnt[ii][0];
}
for (int jj=1;jj<m_nDiscription.Row();jj++)
{
double conven_delta = GAUSS_INTE;
double weight[5]={0.236927,0.478629,0.568889,0.478629,0.236927};//设定权重系数
double intpnt[5]={-0.90610,-0.538469,0,0.538469,0.90610};
double inte_interval=m_nConPnt[jj][0]-m_nConPnt[jj-1][0];//两控制点间的积分区间
double inte1=0.0;
double inte2=0.0;
double low,high,tmp,coff,CH,phi,theta;
//初始进行积分域分两段
int sub=2;
for (int k=0;k<sub;k++)
{
low=m_nConPnt[jj-1][0]+k*inte_interval/sub;
high=m_nConPnt[jj-1][0]+(k+1)*inte_interval/sub;
tmp=0.0;
for (int j=0;j<5;j++)
{
coff=((high-low)/2)*intpnt[j]+((high+low)/2);
CH=this->getCH(coff);
phi=this->getRPRoll(coff);
Vector3x vec3=this->RightRailAngle(this->TranS2s(coff));
theta=vec3[1];
tmp+=weight[j]*((high-low)/2)*CH*gauge_width*cos(phi)/cos(theta);
}
inte2+=tmp;
}
while (abs(inte2-inte1)>conven_delta)
{
inte1=inte2;
sub*=2;
inte2=0.0;
for (int k=0;k<sub;k++)
{
low=m_nConPnt[jj-1][0]+k*inte_interval/sub;
high=m_nConPnt[jj-1][0]+(k+1)*inte_interval/sub;
tmp=0.0;
for (int j=0;j<5;j++)
{
coff=((high-low)/2)*intpnt[j]+((high+low)/2);
CH=this->getCH(coff);
phi=this->getRPRoll(coff);
Vector3x vec3=this->RightRailAngle(this->TranS2s(coff));
theta=vec3[1];
tmp+=weight[j]*((high-low)/2)*CH*gauge_width*cos(phi)/cos(theta);
}
inte2+=tmp;
}
}
m_nArcLenDiffRight[jj][1]=m_nArcLenDiffRight[jj-1][1]+0.5*inte2;
}
}
}
void Track::setLeftRPData(void)//（0 映射弧长；1 实际弧长；2 型面坐标X；3 型面坐标Y；4 型面坐标Z；5 型面摇头；6 型面点头；7 型面侧滚）
{
int Row_DisMat=m_nDiscription.Row();
int Data_Row=static_cast<int>((m_nDiscription[Row_DisMat-1][1]-m_nDiscription[0][1])/dp_interval+1);
LeftRP_Data.SetMatrix(Data_Row,8);
for (int i=0;i<Data_Row;i++)
{
LeftRP_Data[i][0]=i*dp_interval; //映射弧长 S
LeftRP_Data[i][1]=this->TranS2s(i*dp_interval)-this->getDiffArcLenLeft(this->TranS2s(i*dp_interval));//左轨，负号，得到实际弧长
Vector3x vec3=this->LeftRailRP(this->TranS2s(i*dp_interval));
LeftRP_Data[i][2]=vec3[0];
LeftRP_Data[i][3]=vec3[1];
LeftRP_Data[i][4]=vec3[2];
Vector3x vec3_angle=this->LeftRailAngle(this->TranS2s(i*dp_interval));
LeftRP_Data[i][5]=vec3_angle[0];
LeftRP_Data[i][6]=vec3_angle[1];
LeftRP_Data[i][7]=vec3_angle[2];
}
}
void Track::setRightRPData(void)//（0 映射弧长；1 实际弧长；2 型面坐标X；3 型面坐标Y；4 型面坐标Z；5 型面摇头；6 型面点头；7 型面侧滚）
{
int Row_DisMat=m_nDiscription.Row();
int Data_Row=static_cast<int>((m_nDiscription[Row_DisMat-1][1]-m_nDiscription[0][1])/dp_interval+1);
RightRP_Data.SetMatrix(Data_Row,8);
for (int i=0;i<Data_Row;i++)
{
RightRP_Data[i][0]=i*dp_interval; //映射弧长 S
RightRP_Data[i][1]=this->TranS2s(i*dp_interval)+this->getDiffArcLenRight(this->TranS2s(i*dp_interval));//右轨，正号
Vector3x vec3=this->RightRailRP(this->TranS2s(i*dp_interval));
RightRP_Data[i][2]=vec3[0];
RightRP_Data[i][3]=vec3[1];
RightRP_Data[i][4]=vec3[2];
Vector3x vec3_angle=this->RightRailAngle(this->TranS2s(i*dp_interval));
RightRP_Data[i][5]=vec3_angle[0];
RightRP_Data[i][6]=vec3_angle[1];
RightRP_Data[i][7]=vec3_angle[2];
}
}
void Track::setLeftCSs(void)//设置左轨型面坐标系样条曲线
{
for (int i=1;i<=6;i++)
{
// as functons of the actural arc length
Matrix mx=this->getLeftRPDATA().getDoubleCols(1,(i+1));
CubicSpline cs(mx);
LeftRailCS.push_back(cs);
}
}
void Track::setRightCSs(void)//设置右轨型面坐标系样条曲线
{
for(int i=1;i<=6;i++)
{
//as functions of the actural arc length
Matrix mx=this->getRightRPDADA().getDoubleCols(1,(i+1));
CubicSpline cs(mx);
RightRailCS.push_back(cs);
}
}
void Track::setLeftProfile_Derivate(void)
{
for (int i=0;i<6;i++)
{
//CubicSpline used
CubicSpline cs=LeftRailCS[i].DerivativeC();
LRProfDeri_1st.push_back(cs);
CubicSpline cs2=LRProfDeri_1st[i].DerivativeC();
LRProfDeri_2nd.push_back(cs2);
//20191025 added
CubicSpline cs3 = LRProfDeri_2nd[i].DerivativeC();
LRProfDeri_3rd.push_back(cs3);
}
}
void Track::setRightProfile_Derivate(void)
{
for (int i=0;i<6;i++)
{
//CubicSpline used
CubicSpline cs=RightRailCS[i].DerivativeC();
RRProfDeri_1st.push_back(cs);
CubicSpline cs2=RRProfDeri_1st[i].DerivativeC();
RRProfDeri_2nd.push_back(cs2);
//20191025 added
CubicSpline cs3 = RRProfDeri_2nd[i].DerivativeC();
RRProfDeri_3rd.push_back(cs3);
}
}
void Track::setProfileCS(void)
{
LProfileCS.setParameters(LProfile);
RProfileCS.setParameters(RProfile);
LProfile_D1st = LProfileCS.Derivative();
//20200916
/*LProfile_D2nd = LProfile_D1st.Derivative();*/
LProfile_D2nd = LProfileCS.Derivative2nd();
RProfile_D1st = RProfileCS.Derivative();
//20200916
/*RProfile_D2nd = RProfile_D1st.Derivative();*/
RProfile_D2nd = RProfileCS.Derivative2nd();
}
void Track::setProfileCS(int sm0,int sm1,int sm2)
{
LProfileCS.setParameters(LProfile);
RProfileCS.setParameters(RProfile);
LProfileCS.gaussian_smothing_original(sm0,0.99);
RProfileCS.gaussian_smothing_original(sm0, 0.99);
LProfileCS.gaussian_smothing_derivative(sm1, 0.99);
RProfileCS.gaussian_smothing_derivative(sm1, 0.99);
LProfileCS.gaussian_smothing_derivative2nd(sm2, 0.99);
RProfileCS.gaussian_smothing_derivative2nd(sm2, 0.99);
LProfile_D1st = LProfileCS.Derivative();
LProfile_D2nd = LProfileCS.Derivative2nd();
RProfile_D1st = RProfileCS.Derivative();
RProfile_D2nd = RProfileCS.Derivative2nd();
}
void Track::setPcurMat(void)
{
LPcurMat.SetMatrix(LProfile.Row(),3);
RPcurMat.SetMatrix(RProfile.Row(),3);
for (int i=0;i<LProfile.Row();i++)
{
LPcurMat[i][0]=i;
LPcurMat[i][1]=LProfile[i][0];
LPcurMat[i][2]=LProfile[i][1];
}
for (int i=0;i<RProfile.Row();i++)
{
RPcurMat[i][0]=i;
RPcurMat[i][1]=RProfile[i][0];
RPcurMat[i][2]=RProfile[i][1];
}
}
void Track::setSPcur(void)
{
CubicSpline lpx(LPcurMat.getDoubleCols(0,1));
lrp.push_back(lpx);
CubicSpline lpy(LPcurMat.getDoubleCols(0,2));
lrp.push_back(lpy);
CubicSpline lpxd=lpx.Derivative();
lrp.push_back(lpxd);
CubicSpline lpyd=lpy.Derivative();
lrp.push_back(lpyd);
CubicSpline rpx(RPcurMat.getDoubleCols(0,1));
rrp.push_back(rpx);
CubicSpline rpy(RPcurMat.getDoubleCols(0,2));
rrp.push_back(rpy);
CubicSpline rpxd=rpx.Derivative();
rrp.push_back(rpxd);
CubicSpline rpyd=rpy.Derivative();
rrp.push_back(rpyd);
}
void Track::setcurDeltaS(void)
{
lpdeltas.SetMatrix(LPcurMat.Row()-1,2);
rpdeltas.SetMatrix(RPcurMat.Row()-1,2);
//高斯积分
double conven_delta = GAUSS_INTE; //设定gauss积分误差限
double weight[5]={0.236927,0.478629,0.568889,0.478629,0.236927};//设定权重系数
double intpnt[5]={-0.90610,-0.538469,0,0.538469,0.90610};
///left rail geometry for curvature computation
for (int i=1;i<LPcurMat.Row();i++)
{
double inte_interval=LPcurMat[i][0]-LPcurMat[i-1][0];
double inte1=0.0;
double inte2=0.0;
double low,high,tmp,coff;
int sub=2;
for (int k=0;k<sub;k++)
{
low=LPcurMat[i-1][0]+k*inte_interval/sub;
high=LPcurMat[i-1][0]+(k+1)*inte_interval/sub;
tmp=0.0;
for (int j=0;j<5;j++)
{
coff=((high-low)/2)*intpnt[j]+((high+low)/2);
tmp+=weight[j]*((high-low)/2)*sqrt(pow(lrp[2].ValueAt(coff),2.0)+pow(lrp[3].ValueAt(coff),2.0));
}
inte2+=tmp;
}
while (abs(inte2-inte1)>conven_delta)
{
inte1=inte2;
sub*=2;
inte2=0.0;
for (int k=0;k<sub;k++)
{
low=LPcurMat[i-1][0]+k*inte_interval/sub;
high=LPcurMat[i-1][0]+(k+1)*inte_interval/sub;
tmp=0.0;
for (int j=0;j<5;j++)
{
coff=((high-low)/2)*intpnt[j]+((high+low)/2);
tmp+=weight[j]*((high-low)/2)*sqrt(pow(lrp[2].ValueAt(coff),2.0)+pow(lrp[3].ValueAt(coff),2.0));
}
inte2+=tmp;
}
}
lpdeltas[i-1][0]=i-1;
lpdeltas[i-1][1]=inte2;
}
//right rail geometry for curvature computation
for (int i = 1; i<RPcurMat.Row(); i++)
{
double inte_interval=RPcurMat[i][0]-RPcurMat[i-1][0];
double inte1=0.0;
double inte2=0.0;
double low,high,tmp,coff;
int sub=2;
for (int k=0;k<sub;k++)
{
low=RPcurMat[i-1][0]+k*inte_interval/sub;
high=RPcurMat[i-1][0]+(k+1)*inte_interval/sub;
tmp=0.0;
for (int j=0;j<5;j++)
{
coff=((high-low)/2)*intpnt[j]+((high+low)/2);
tmp+=weight[j]*((high-low)/2)*sqrt(pow(rrp[2].ValueAt(coff),2.0)+pow(rrp[3].ValueAt(coff),2.0));
}
inte2+=tmp;
}
while (abs(inte2-inte1)>conven_delta)
{
inte1=inte2;
sub*=2;
inte2=0.0;
for (int k=0;k<sub;k++)
{
low=RPcurMat[i-1][0]+k*inte_interval/sub;
high=RPcurMat[i-1][0]+(k+1)*inte_interval/sub;
tmp=0.0;
for (int j=0;j<5;j++)
{
coff=((high-low)/2)*intpnt[j]+((high+low)/2);
tmp+=weight[j]*((high-low)/2)*sqrt(pow(rrp[2].ValueAt(coff),2.0)+pow(rrp[3].ValueAt(coff),2.0));
}
inte2+=tmp;
}
}
rpdeltas[i-1][0]=i-1;
rpdeltas[i-1][1]=inte2;
}
lps.SetMatrix(LPcurMat.Row(),4);
rps.SetMatrix(RPcurMat.Row(),4);
for (int i=0;i<LPcurMat.Row();i++)
{
lps[i][0]=i;
if (i>0)
{
lps[i][1]=lpdeltas[i-1][1]+lps[i-1][1];
}
lps[i][2]=LPcurMat[i][1];//x
lps[i][3]=LPcurMat[i][2];//y
}
for (int i=0;i<RPcurMat.Row();i++)
{
rps[i][0]=i;
if (i>0)
{
rps[i][1]=rpdeltas[i-1][1]+rps[i-1][1];
}
rps[i][2]=RPcurMat[i][1];//x
rps[i][3]=RPcurMat[i][2];//y
}
}
void Track::setcurSp(void)
{
//left rail profile curvature
CubicSpline cs1(lps.getDoubleCols(1,2));
CubicSpline cs2(lps.getDoubleCols(1,3));
CubicSpline cs3=cs1.Derivative();
CubicSpline cs4=cs2.Derivative();
CubicSpline cs5=cs3.Derivative();
CubicSpline cs6=cs4.Derivative();
lcur.push_back(cs1);
lcur.push_back(cs2);
lcur.push_back(cs3);
lcur.push_back(cs4);
lcur.push_back(cs5);
lcur.push_back(cs6);
//right rail profile curvature
CubicSpline cs7(rps.getDoubleCols(1,2));
CubicSpline cs8(rps.getDoubleCols(1,3));
CubicSpline cs9=cs7.Derivative();
CubicSpline cs10=cs8.Derivative();
CubicSpline cs11=cs9.Derivative();
CubicSpline cs12=cs10.Derivative();
rcur.push_back(cs7);
rcur.push_back(cs8);
rcur.push_back(cs9);
rcur.push_back(cs10);
rcur.push_back(cs11);
rcur.push_back(cs12);
CubicSpline lxindic(lps.getDoubleCols(2,1));
CubicSpline rxindic(rps.getDoubleCols(2,1));
xindic.push_back(lxindic); xindic.push_back(rxindic);
}
void Track::setcurSp(int csm1, int csm2, int csm3)
{
//left rail profile curvature
CubicSpline cs1(lps.getDoubleCols(1, 2));
CubicSpline cs2(lps.getDoubleCols(1, 3));
//
cs1.gaussian_smothing_original(csm1, 0.99);
cs2.gaussian_smothing_original(csm1, 0.99);
cs1.gaussian_smothing_derivative(csm2, 0.99);
cs2.gaussian_smothing_derivative(csm2, 0.99);
cs1.gaussian_smothing_derivative2nd(csm3, 0.99);
cs2.gaussian_smothing_derivative2nd(csm3, 0.99);
CubicSpline cs3 = cs1.Derivative();
CubicSpline cs4 = cs2.Derivative();
CubicSpline cs5 = cs1.Derivative2nd();
CubicSpline cs6 = cs2.Derivative2nd();
lcur.push_back(cs1);
lcur.push_back(cs2);
lcur.push_back(cs3);
lcur.push_back(cs4);
lcur.push_back(cs5);
lcur.push_back(cs6);
//right rail profile curvature
CubicSpline cs7(rps.getDoubleCols(1, 2));
CubicSpline cs8(rps.getDoubleCols(1, 3));
cs7.gaussian_smothing_original(csm1, 0.99);
cs8.gaussian_smothing_original(csm1, 0.99);
cs7.gaussian_smothing_derivative(csm2, 0.99);
cs8.gaussian_smothing_derivative(csm2, 0.99);
cs7.gaussian_smothing_derivative2nd(csm3, 0.99);
cs8.gaussian_smothing_derivative2nd(csm3, 0.99);
CubicSpline cs9 = cs7.Derivative();
CubicSpline cs10 = cs8.Derivative();
CubicSpline cs11 = cs7.Derivative2nd();
CubicSpline cs12 = cs8.Derivative2nd();
rcur.push_back(cs7);
rcur.push_back(cs8);
rcur.push_back(cs9);
rcur.push_back(cs10);
rcur.push_back(cs11);
rcur.push_back(cs12);
//
CubicSpline lxindic(lps.getDoubleCols(2, 1));
CubicSpline rxindic(rps.getDoubleCols(2, 1));
//
xindic.push_back(lxindic);
xindic.push_back(rxindic);
}
void Track::InitTrackDiffGeo(void)
{
this->setConPntMat();
this->setCPxyzMat();
this->setArcLenDiffMatLeft();
this->setArcLenDiffMatRight();// left rail coordinates s x y z psi theta phi
this->setLeftRPData(); // right rail coordinates s x y z psi theta phi
this->setRightRPData(); // left rail coordinates cubic splines respect to s
this->setLeftCSs(); // right rail coordinates cubic splines respect to s
this->setRightCSs(); // rail profile coordinates cubic splines group
this->setLeftProfile_Derivate();
this->setRightProfile_Derivate();
this->setProfileCS();
}
void Track::InitTrackDiffGeo(int sm0,int sm1,int sm2)
{
this->setConPntMat();
this->setCPxyzMat();
this->setArcLenDiffMatLeft();
this->setArcLenDiffMatRight();
this->setLeftRPData();
this->setRightRPData();
this->setLeftCSs();
this->setRightCSs();
this->setLeftProfile_Derivate();
this->setRightProfile_Derivate();
this->setProfileCS(sm0,sm1,sm2);
}
void Track::InitCurvature(void)
{
this->setPcurMat();
this->setSPcur();
this->setcurDeltaS();
this->setcurSp();
}
void Track::InitCurvature(int csm1, int csm2, int csm3)
{
this->setPcurMat();
this->setSPcur();
this->setcurDeltaS();
/*this->setcurSp();*/
this->setcurSp(csm1, csm2, csm3);
}
//辅助函数
int Track::LocSegmentS(double S)
{
if (S==0.0)
{
return 0;
}
int low=0;
int high=m_nDiscription.Row()-2;
int mid=0;
while (low<=high)
{
mid=(low+high)/2;
if ((S>m_nDiscription[mid][1])&&(S<=m_nDiscription[mid+1][1]))
{
return mid;
}
if (m_nDiscription[mid+1][1]<S)
{
low=mid+1;
}
if (m_nDiscription[mid][1]>=S)
{
high=mid-1;
}
}
return -1;
}
int Track::LocSegments(double s)
{
if (s==0.0)
{
return 0;
}
int low=0;
int high=m_nDiscription.Row()-2;
int mid=0;
while(low<=high)
{
mid = (low + high) / 2;
if ((s>m_nConPnt[mid][4])&&(s<=m_nConPnt[mid+1][4]))
{
return mid;
}
if (m_nConPnt[mid+1][4]<s)
{
low=mid+1;
}