multi_body_system_output_extractor.h

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#pragma once
 
#include <libopynsim/documents/output_extractors/output_extractor.h>
#include <libopynsim/documents/output_extractors/shared_output_extractor.h>
#include <libopynsim/documents/output_extractors/output_value_extractor.h>
 
#include <liboscar/utilities/c_string_view.h>
#include <liboscar/utilities/uid.h>
 
#include <cstddef>
#include <string>
#include <string_view>
 
namespace OpenSim { class Component; }
namespace SimTK { class MultibodySystem; }
 
namespace opyn
{
    // an output extractor that uses a free-function to extract a single value from
    // a SimTK::MultiBodySystem
    //
    // handy for extracting simulation stats (e.g. num steps taken etc.)
    class MultiBodySystemOutputExtractor final : public OutputExtractor {
    public:
        using ExtractorFn = float (*)(const SimTK::MultibodySystem&);
 
        MultiBodySystemOutputExtractor(
            std::string_view name,
            std::string_view description,
            ExtractorFn extractor) :
 
            m_Name{name},
            m_Description{description},
            m_Extractor{extractor}
        {}
 
        osc::UID getAuxiliaryDataID() const { return m_AuxiliaryDataID; }
        ExtractorFn getExtractorFunction() const { return m_Extractor; }
 
    private:
        osc::CStringView implGetName() const final { return m_Name; }
        osc::CStringView implGetDescription() const final { return m_Description; }
        OutputExtractorDataType implGetOutputType() const final { return opyn::OutputExtractorDataType::Float; }
        OutputValueExtractor implGetOutputValueExtractor(const OpenSim::Component&) const final;
        size_t implGetHash() const final;
        bool implEquals(const OutputExtractor&) const final;
 
        osc::UID m_AuxiliaryDataID;
        std::string m_Name;
        std::string m_Description;
        ExtractorFn m_Extractor;
    };
 
    int GetNumMultiBodySystemOutputExtractors();
    const MultiBodySystemOutputExtractor& GetMultiBodySystemOutputExtractor(int idx);
    SharedOutputExtractor GetMultiBodySystemOutputExtractorDynamic(int idx);
}