Robotran C Documentation
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MbsDirdynOptions Struct Reference

Structure defining the option of a direct dynamic. More...

#include <mbs_dirdyn_struct.h>

Public Attributes

double t0
 initial time of the simulation, default = 0.0 More...
 
double tf
 final time of the simulation, default = 5.0 More...
 
double dt0
 initial value of the integration step size, default = 0.001 More...
 
int save2file
 Determine whether results are written to files on disk (in resultsR folder): 1: results are saved 0: results are not saved default = 1. More...
 
char * resfilename
 The keyword used for determining the name of result files Default: 'dirdyn', or 'oneshot' in case the flag_oneshot is activated. More...
 
const char * respath
 Path in which result file are saved. More...
 
const char * animpath
 Path in which anim file is saved. More...
 
int save_anim
 1 to save the anim file, 0 otherwise (only valid if 'save2file' is set to 1), default = 1 More...
 
int save_visu
 1 to save the visualizazion file (as it appears in 'user_realtime_visu.c'), 0 otherwise (only valid if 'save2file' is set to 1), default = 0 More...
 
int framerate
 number of frame per second for the .anim file, default = 1000 More...
 
int saveperiod
 The number of time steps between two buffer records default: 1 (every time step are recorded) More...
 
int max_save_user
 The maximal number of user variables saved default: 12. More...
 
int buffersize
 The number of time step that can be recorded in the buffer. More...
 
char * buffer_format
 
int realtime
 1 to activate to real-time features, 0 to deactivate them, default = 0 More...
 
int accelred
 1 to use accelred, 0 otherwise, default = 0 More...
 
int flag_oneshot
 1 to compute the derivative function only once (no time integration !), default = 0 The time is the value found in the option t0 The default resfilename is changed to 'oneshot'. More...
 
int flag_compute_Qc
 choose to compute (or not) the Qc for driven variables. More...
 
int compute_all_uxd
 choose to compute (or not) the user derivative during dirdyn time integration. For dirdyn only. default = 1 More...
 
int * compute_Qc
 If options-flag_compute_Qc is set to 0, the vector allows to compute only the needed Qc. More...
 
int integrator
 Set integrator to use, available value: RK4, Dopri5, Rosenbrock, EulerEx, Eulaire, EulerIm, Bader, WMethods, Custom; default=RK4. See integrator.h for more details. More...
 
int verbose
 1 to get print indications related to time adaptive integrator, 0 otherwise, default = 1 More...
 
int flag_stop_stiff
 1 to stop integration if it become stiff, 0 (default value) otherwise, default = 0 More...
 
int flag_precise_dynamics
 = 1 to call the direct dynamics at the beginning of each time step of integration. More...
 
int flag_baumgarte_stabilization
 1 if user wants baumgarte stabilization of the independant accelerations More...
 
double baumgarte_alpha
 alpha parameter of baumgarte stabilization (>0), default = 0.1 (1/s) More...
 
double baumgarte_beta
 beta parameter of baumgarte stabilization (>0), default = 0.1 (1/s) More...
 
int flag_waypoint
 1 to use waypoints, 0 otherwise, default =0 More...
 
int flag_solout_wp
 1 to call solout only at required waypoints (only if flag_waypoint activated), default = 0 More...
 
double delta_t_wp
 time interval between two waypoints [s], default = 1.0e-3 More...
 
int nmax
 maximal number of steps [-], default = 1e9 More...
 
double toler
 mixed error tolerances [-], default = 1.0e-3 More...
 
double rtoler
 relative error tolerances [-], default = 1.0e-3 More...
 
double atoler
 absolute error tolerances [-], default = 1.0e-6 More...
 
double dt_max
 maximal time step [s], default = 1.0e-3 More...
 
int n_freeze
 number of time step when the jacobian is freezed (computed once at the start of the n_freeze time steps), default = 0; More...
 
int show_failed_closure
 1 to generate animation of the failed Newton-Raphson procedure, default = 0. More...
 

Detailed Description

Structure defining the option of a direct dynamic.

Member Data Documentation

◆ accelred

int accelred

1 to use accelred, 0 otherwise, default = 0

◆ animpath

const char* animpath

Path in which anim file is saved.

Default: the animationR folder of the project

◆ atoler

double atoler

absolute error tolerances [-], default = 1.0e-6

◆ baumgarte_alpha

double baumgarte_alpha

alpha parameter of baumgarte stabilization (>0), default = 0.1 (1/s)

◆ baumgarte_beta

double baumgarte_beta

beta parameter of baumgarte stabilization (>0), default = 0.1 (1/s)

◆ buffer_format

char* buffer_format

◆ buffersize

int buffersize

The number of time step that can be recorded in the buffer.

Results are written to disk when the buffer is full. default: -1, compute the buffer size for saving results only once at the end according to dt0, t0 and tf.

◆ compute_all_uxd

int compute_all_uxd

choose to compute (or not) the user derivative during dirdyn time integration. For dirdyn only. default = 1

◆ compute_Qc

int* compute_Qc

If options-flag_compute_Qc is set to 0, the vector allows to compute only the needed Qc.

For dirdyn only. Empty vector by default. If compute_Qc = [njoint 1 0 0 1 0], we will compute Qc(1) and Qc(4) only. length by default to njoint+1, compute_Qc[0] = njoint

◆ delta_t_wp

double delta_t_wp

time interval between two waypoints [s], default = 1.0e-3

◆ dt0

double dt0

initial value of the integration step size, default = 0.001

◆ dt_max

double dt_max

maximal time step [s], default = 1.0e-3

◆ flag_baumgarte_stabilization

int flag_baumgarte_stabilization

1 if user wants baumgarte stabilization of the independant accelerations

◆ flag_compute_Qc

int flag_compute_Qc

choose to compute (or not) the Qc for driven variables.

For dirdyn only. ==1 by default this allows to go faster

◆ flag_oneshot

int flag_oneshot

1 to compute the derivative function only once (no time integration !), default = 0 The time is the value found in the option t0 The default resfilename is changed to 'oneshot'.

◆ flag_precise_dynamics

int flag_precise_dynamics

= 1 to call the direct dynamics at the beginning of each time step of integration.

default = 1 Not calling it (flag = 0) will be faster to compute but will create small errors in the results

◆ flag_solout_wp

int flag_solout_wp

1 to call solout only at required waypoints (only if flag_waypoint activated), default = 0

◆ flag_stop_stiff

int flag_stop_stiff

1 to stop integration if it become stiff, 0 (default value) otherwise, default = 0

◆ flag_waypoint

int flag_waypoint

1 to use waypoints, 0 otherwise, default =0

◆ framerate

int framerate

number of frame per second for the .anim file, default = 1000

◆ integrator

int integrator

Set integrator to use, available value: RK4, Dopri5, Rosenbrock, EulerEx, Eulaire, EulerIm, Bader, WMethods, Custom; default=RK4. See integrator.h for more details.

◆ max_save_user

int max_save_user

The maximal number of user variables saved default: 12.

◆ n_freeze

int n_freeze

number of time step when the jacobian is freezed (computed once at the start of the n_freeze time steps), default = 0;

◆ nmax

int nmax

maximal number of steps [-], default = 1e9

◆ realtime

int realtime

1 to activate to real-time features, 0 to deactivate them, default = 0

◆ resfilename

char* resfilename

The keyword used for determining the name of result files Default: 'dirdyn', or 'oneshot' in case the flag_oneshot is activated.

◆ respath

const char* respath

Path in which result file are saved.

Default: the resultsR folder of the project

◆ rtoler

double rtoler

relative error tolerances [-], default = 1.0e-3

◆ save2file

int save2file

Determine whether results are written to files on disk (in resultsR folder): 1: results are saved 0: results are not saved default = 1.

◆ save_anim

int save_anim

1 to save the anim file, 0 otherwise (only valid if 'save2file' is set to 1), default = 1

◆ save_visu

int save_visu

1 to save the visualizazion file (as it appears in 'user_realtime_visu.c'), 0 otherwise (only valid if 'save2file' is set to 1), default = 0

◆ saveperiod

int saveperiod

The number of time steps between two buffer records default: 1 (every time step are recorded)

◆ show_failed_closure

int show_failed_closure

1 to generate animation of the failed Newton-Raphson procedure, default = 0.

◆ t0

double t0

initial time of the simulation, default = 0.0

◆ tf

double tf

final time of the simulation, default = 5.0

◆ toler

double toler

mixed error tolerances [-], default = 1.0e-3

◆ verbose

int verbose

1 to get print indications related to time adaptive integrator, 0 otherwise, default = 1


The documentation for this struct was generated from the following file: