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... | |
| char * | respath |
| Path in which result file are saved. More... | |
| 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 |
| if NULL, "%e" is used. Can be for instance XXX->options->buffer_format = "%4.7f";. Only for advanced users More... | |
| 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 |
| Verbosity level propagated to other compatible module: 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 | flag_symbolic_jacobian |
| 1 to use symbolic computation of the jacobian. Only used with implicit integrators. Default is 0. More... | |
| int | show_failed_closure |
| 1 to generate animation of the failed Newton-Raphson procedure, default = 0. More... | |
Structure defining the option of a direct dynamic.
| int accelred |
1 to use accelred, 0 otherwise, default = 0
| char* animpath |
Path in which anim file is saved.
Default: the animationR folder of the project
| double atoler |
absolute error tolerances [-], default = 1.0e-6
| double baumgarte_alpha |
alpha parameter of baumgarte stabilization (>0), default = 0.1 (1/s)
| double baumgarte_beta |
beta parameter of baumgarte stabilization (>0), default = 0.1 (1/s)
| char* buffer_format |
if NULL, "%e" is used. Can be for instance XXX->options->buffer_format = "%4.7f";. Only for advanced users
| 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.
| int compute_all_uxd |
choose to compute (or not) the user derivative during dirdyn time integration. For dirdyn only. default = 1
| 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
| double delta_t_wp |
time interval between two waypoints [s], default = 1.0e-3
| double dt0 |
initial value of the integration step size, default = 0.001
| double dt_max |
maximal time step [s], default = 1.0e-3
| int flag_baumgarte_stabilization |
1 if user wants baumgarte stabilization of the independant accelerations
| 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
| 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'.
It calls the user functions once
| 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
| int flag_solout_wp |
1 to call solout only at required waypoints (only if flag_waypoint activated), default = 0
| int flag_stop_stiff |
1 to stop integration if it become stiff, 0 (default value) otherwise, default = 0
| int flag_symbolic_jacobian |
1 to use symbolic computation of the jacobian. Only used with implicit integrators. Default is 0.
| int flag_waypoint |
1 to use waypoints, 0 otherwise, default =0
| int framerate |
number of frame per second for the .anim file, default = 1000
| 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.
| int max_save_user |
The maximal number of user variables saved default: 12.
| 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;
| int nmax |
maximal number of steps [-], default = 1e9
| int realtime |
1 to activate to real-time features, 0 to deactivate them, default = 0
| char* resfilename |
The keyword used for determining the name of result files Default: 'dirdyn', or 'oneshot' in case the flag_oneshot is activated.
| char* respath |
Path in which result file are saved.
Default: the resultsR folder of the project
| double rtoler |
relative error tolerances [-], default = 1.0e-3
| 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.
| int save_anim |
1 to save the anim file, 0 otherwise (only valid if 'save2file' is set to 1), default = 1
| 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
| int saveperiod |
The number of time steps between two buffer records default: 1 (every time step are recorded)
| int show_failed_closure |
1 to generate animation of the failed Newton-Raphson procedure, default = 0.
| double t0 |
initial time of the simulation, default = 0.0
| double tf |
final time of the simulation, default = 5.0
| double toler |
mixed error tolerances [-], default = 1.0e-3
| int verbose |
Verbosity level propagated to other compatible module:
1.8.17
