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ArmModel Class Reference

#include <armmodel.h>

Inheritance diagram for ArmModel:

List of all members.

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Detailed Description

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

Public Member Functions

• ArmModel ()
• virtual ~ArmModel (void)
• int transform (double **I, double *O)
• void reset ()
• int updateInternal ()

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.mat", where 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

• class csimClassInfoDB

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Constructor & Destructor Documentation

ArmModel::ArmModel (    )

Constructs a new arm model.

ArmModel::~ArmModel (  void    )  [virtual]

Frees the memory.

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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.

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Member Data Documentation

double ArmModel::mintheta1

Baseline parameter for theta1. These parameters can be set with a csim('set',...) command.

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