Robotran Matlab Documentation
Public Attributes | List of all members
MBS_dirdyn_opt Struct Reference

MBS direct dynamics option structure. More...

Public Attributes

MBS_dirdyn opt time
 Vector containing the initial time, the printing time interval and the final time of the simulation : [Tinit Tspan Tfinal]. More...
 
MBS_dirdyn opt motion
 Determines how qdd and &lambda, frc and trq are computed. More...
 
MBS_dirdyn opt visualize
 Display of the 3D graphical model. More...
 
MBS_dirdyn opt symbolic_model
 
MBS_dirdyn opt odemethod
 Choice of the integration method (see Matlab help)
Example : 'ode45','ode23','ode15s','ode45cp'. More...
 
MBS_dirdyn opt depinteg
 Integration of the dependant speed. More...
 
MBS_dirdyn opt dtmax
 Maximum value of the integration time step (see odeset, Matlab help)
Default : 1E-2. More...
 
MBS_dirdyn opt dtinit
 Initial value of the integration time (see odeset, Matlab help)
Default : 1E-3. More...
 
MBS_dirdyn opt reltol
 Relative tolerance of the integration result (see odeset, Matlab help)
Default : 1E-3. More...
 
MBS_dirdyn opt abstol
 Absolute tolerance of the integration result (see odeset, Matlab help)
Default : 1E-3. More...
 
MBS_dirdyn opt save2file
 Recording of the results in a configuration file of the form (tq, tqd, tqdd) at the end of the simulation. More...
 
MBS_dirdyn opt renamefile
 Rename the result files. More...
 
MBS_dirdyn opt resfilename
 to be defined More...
 
MBS_dirdyn opt framerate
 to be defined More...
 
MBS_dirdyn opt verbose
 to be defined More...
 
MBS_dirdyn opt clearmbsglobal
 to be defined More...
 

Detailed Description

MBS direct dynamics option structure.

Todo:
document struct and each members

To be completed

Member Data Documentation

◆ abstol

MBS_dirdyn opt abstol

Absolute tolerance of the integration result (see odeset, Matlab help)
Default : 1E-3.

◆ clearmbsglobal

MBS_dirdyn opt clearmbsglobal

to be defined

◆ depinteg

MBS_dirdyn opt depinteg

Integration of the dependant speed.

This allow to get at each timestep an excellent estimate of the dependent generalized coordinates, which decreases the number of iterations required to solve the kinematic constraints equations by the Newton-Raphson method. This option must be activated for system with dependent joints which have a rapid evolution and large amplitude.

  • 'yes'
  • 'no'

◆ dtinit

MBS_dirdyn opt dtinit

Initial value of the integration time (see odeset, Matlab help)
Default : 1E-3.

◆ dtmax

MBS_dirdyn opt dtmax

Maximum value of the integration time step (see odeset, Matlab help)
Default : 1E-2.

◆ framerate

MBS_dirdyn opt framerate

to be defined

Todo:
Give the ratio between value of 'framerate' and speed of video

◆ motion

MBS_dirdyn opt motion

Determines how qdd and &lambda, frc and trq are computed.

  • 'oneshot' : Evaluation of the direct dynamics function : compute the qdd, &lambda, frc, trq.
  • 'simulation' : Execution of the system simulation for the 'time' option asked.
    Todo:
    Add this to the first sentence? : ... at one time step/only for the initial values.
    add a link to the 'time' option

◆ odemethod

MBS_dirdyn opt odemethod

Choice of the integration method (see Matlab help)
Example : 'ode45','ode23','ode15s','ode45cp'.

◆ reltol

MBS_dirdyn opt reltol

Relative tolerance of the integration result (see odeset, Matlab help)
Default : 1E-3.

◆ renamefile

MBS_dirdyn opt renamefile

Rename the result files.

  • 'yes'
  • 'no'
    Default: file name is 'simdir' (simdirq.res, simdirqd.res, simdirqd.res)
    Todo:
    Is this really a yes/no option?

◆ resfilename

MBS_dirdyn opt resfilename

to be defined

Todo:
Still in use?

◆ save2file

MBS_dirdyn opt save2file

Recording of the results in a configuration file of the form (tq, tqd, tqdd) at the end of the simulation.

  • 'yes'
  • 'no'

◆ symbolic_model

MBS_dirdyn opt symbolic_model
Todo:
To be defined, not on the website

◆ time

Vector containing the initial time, the printing time interval and the final time of the simulation : [Tinit Tspan Tfinal].

Default: [0.0 1E-3 1.0]

◆ verbose

MBS_dirdyn opt verbose

to be defined

◆ visualize

MBS_dirdyn opt visualize

Display of the 3D graphical model.

  • 'yes'
  • 'no'

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