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Robotran C Documentation
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Robotran C Documentation
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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 |
More... | |
| char * | respath |
More... | |
| char * | animpath |
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 | saving_mode |
| The mode of saving the results. More... | |
| char ** | label_joints_name |
| list of labels of joints to be used in results files. if NULL, classic prefix q, qd, ... is used. default is NULL. only used if saving_mode is 2. More... | |
| char ** | label_ux_name |
| list of labels of ux to be used in results files. if NULL, classic prefix ux, ... is used. default is NULL. only used if saving_mode is 2. More... | |
| char ** | label_link_name |
| list of labels of links to be used in results files. if NULL, classic prefix link is used. default is NULL. only used if saving_mode is 2. More... | |
| char ** | label_link3d_name |
| list of labels of link3d to be used in results files. if NULL, classic prefix link3d is used. default is NULL. only used if saving_mode is 2. More... | |
| int * | indices_save_q |
| if NULL (default), save every q (joint position). More... | |
| int * | indices_save_qd |
| see indices_save_q, applied here to velocities qd. More... | |
| int * | indices_save_qdd |
| see indices_save_q, applied here to accelerations qdd. More... | |
| int * | indices_save_Qq |
| see indices_save_q, applied here to Qq. More... | |
| int * | indices_save_Qc |
| see indices_save_q, applied here to Qc. More... | |
| int * | indices_save_ux |
| see indices_save_q, applied here to ux. More... | |
| int * | indices_save_uxd |
| see indices_save_q, applied here to uxd. More... | |
| int * | indices_save_lambda |
| see indices_save_q, applied here to lambda. More... | |
| int * | indices_save_linkZ |
| see indices_save_q, applied here to linkZ. size is Nlink. More... | |
| int * | indices_save_linkZd |
| see indices_save_q, applied here to linkZd. size is Nlink. More... | |
| int * | indices_save_linkF |
| see indices_save_q, applied here to linkF. size is Nlink. More... | |
| int * | indices_save_link3D |
| see indices_save_q, applied here to link3D. size is Nlink3D. More... | |
| int | realtime |
More... | |
| int | realtime_break |
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 animation file is saved.
The provided memory must be static or freed by the provider. The adress in this variable cannot be used to free dyamically allocated memory as It will be redirected by the module.`
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* indices_save_lambda |
see indices_save_q, applied here to lambda.
| int* indices_save_link3D |
see indices_save_q, applied here to link3D. size is Nlink3D.
| int* indices_save_linkF |
see indices_save_q, applied here to linkF. size is Nlink.
| int* indices_save_linkZ |
see indices_save_q, applied here to linkZ. size is Nlink.
| int* indices_save_linkZd |
see indices_save_q, applied here to linkZd. size is Nlink.
| int* indices_save_q |
if NULL (default), save every q (joint position).
User may ask for specific printing (less memory on disk). only used if saving_mode is 2. [Nbr_of_indices_to_save id_1 id_2 ... ] (size is 1x number of indices to save). if save_q_indices[0] = 0, file is created but nothing is printed inside.
| int* indices_save_Qc |
see indices_save_q, applied here to Qc.
| int* indices_save_qd |
see indices_save_q, applied here to velocities qd.
| int* indices_save_qdd |
see indices_save_q, applied here to accelerations qdd.
| int* indices_save_Qq |
see indices_save_q, applied here to Qq.
| int* indices_save_ux |
see indices_save_q, applied here to ux.
| int* indices_save_uxd |
see indices_save_q, applied here to uxd.
| 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.
| char** label_joints_name |
list of labels of joints to be used in results files. if NULL, classic prefix q, qd, ... is used. default is NULL. only used if saving_mode is 2.
| char** label_link3d_name |
list of labels of link3d to be used in results files. if NULL, classic prefix link3d is used. default is NULL. only used if saving_mode is 2.
| char** label_link_name |
list of labels of links to be used in results files. if NULL, classic prefix link is used. default is NULL. only used if saving_mode is 2.
| char** label_ux_name |
list of labels of ux to be used in results files. if NULL, classic prefix ux, ... is used. default is NULL. only used if saving_mode is 2.
| 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 |
Deactivate (0) the realtime simulation, or activate it (!0), default = 0.
| int realtime_break |
Start realtime simulation in pause (0) or run it directly (1), default = 1.
This value could also be set in the user_realtime_options() function.
| char* resfilename |
Basename of the results files, suffixes and extension added automatically.
The provided memory must be static or freed by the provider. The adress in this variable cannot be used to free dyamically allocated memory as It will be redirected by the module.
The filename can contains relative path from MbsDirdynOptions::respath.
Default: 'dirdyn', or 'oneshot' in case the flag_oneshot is activated
| char* respath |
Path in which results file are saved.
The provided memory must be static or freed by the provider. The adress in this variable cannot be used to free dyamically allocated memory as It will be redirected by the module.
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 saving_mode |
The mode of saving the results.
can be 1 (=old version), 2 (=new version) With 1, the res files are writen with blank space between values. No header line. With 2, the res files are writen with a header line, and values are separated by semi-columns default: 1
| 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
