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CSIM: ArmModel Class Reference
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ArmModel Class Reference

#include <armmodel.h>

Inheritance diagram for ArmModel:

PhysicalModel Advancable csimClass List of all members.

Detailed Description

Test class of physical model, for an arm. WITHOUT DELAY!!

Public Member Functions

Public Attributes

  • double mintheta1
    Baseline parameter for theta1.
  • double mintheta2
    Baseline parameter for theta2.
  • double minU1
    Baseline parameter for U1.
  • double minU2
    Baseline parameter for U2.
  • double model_DT
    The time-step of simulation.
  • double Xo
    The X coordinate of origin.
  • double Yo
    The Y coordinate of origin.
  • double m1
    The mass of 1st link.
  • double m2
    The mass of second link.
  • double lc1
    The distance of central point of link 1.
  • double lc2
    The distance of central point of link 2.
  • double l1
    Length of first link.
  • double l2
    Length of second link.
  • double I1
    The moment of inertia of link1.
  • double I2
    The moment of inertia of link2.
  • double MFACT
    The factor by which the external noise will be proportional to the input magnitude.
  • double PERT_TIME
    The time at which the perturbation will start.
  • double DURATION
    The duration of perturbation.
  • int inputFileNr
    The file-number for input of Xdest, Ydest, Theta1, Theta2 (file-name is "T(x).mat", where (x) is this number.

Protected Attributes

  • double t1
    Angle theta 1.
  • double t2
    Angle theta 2.
  • double w1
    Angular velocity 1 (updated every time step).
  • double w2
    Angular velocity 2 (updated every time step).
  • double u1
    Torque 1 (updated every time step).
  • double u2
    Torque 2 (updated every time step).

Private Member Functions

  • int loadData (bool onlyReset)
  • void dist_OP (double IP, int output_start_index, int next_buffer_position, int time_index, char *VarName)
    Distributes the scalar OP value according to the places it went.

Private Attributes

  • int oldInputFileNr
    Old file-number (needed for updates).
  • int TIMESTEPS
    Number of timesteps in simulation.
  • int cur_timestep
    Current time step (in outside, not simulation time. One time step corresponds to one time-step within input files).
  • int nr_file_steps
    Number of simulation time-steps between file-time-steps.
  • int sim_step_counter
    Counts simulation steps between file-steps.
  • double * Xdest
    X-coordinate.
  • double * Ydest
    Y-coordinate.
  • double * theta1
    Angle Theta1.
  • double * theta2
    Angle Theta2.
  • double * nu1
    N U1.
  • double * nu2
    N U2.
  • double * c_theta1
    Center for distribution of Theta1.
  • double * c_theta2
    Center for distribution of Theta2.
  • double * c_u1
    Center for distribution of U1.
  • double * c_u2
    Center for distribution of U2.
  • double ** out_buffer
    Buffer for outputs (if you want to use delay).
  • int buffer_length
    Length of the buffer.
  • int buffer_position
    Position inside the buffer.

Friends

Constructor & Destructor Documentation

ArmModel::ArmModel (   ) 
 

Constructs a new arm model.

ArmModel::~ArmModel (  void   )  [virtual]
 

Frees the memory.

Member Function Documentation

int ArmModel::loadData (  bool  onlyReset  )  [private]
 

Loads the data from a .mat file. Returns 0 for success, -1 otherwise.

void ArmModel::reset (   )  [virtual]
 

Resets the information stored within the model.

Reimplemented from PhysicalModel.

int ArmModel::transform (  double **  I,
double *  O
)  [virtual]
 

Transforms the current inputs to new output values.

Parameters:
I Array of pointers to input values from the readouts.
O Array of output values.
Returns:
-1 if an error occured, 1 for success.

Implements PhysicalModel.

int ArmModel::updateInternal (   )  [virtual]
 

This function is called after parameters are updated.

Reimplemented from PhysicalModel.

Member Data Documentation

double ArmModel::mintheta1
 

Baseline parameter for theta1.

These parameters can be set with a csim('set',...) command.

 
(C) 2003, Thomas Natschläger last modified 07/10/2006