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35 lines
1.2 KiB
D
35 lines
1.2 KiB
D
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/********************************* TRICK HEADER *******************************
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PURPOSE:
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(Ball model state integrator default initialization data.)
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REFERENCE:
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(((Bailey, R.W, and Paddock, E.J.)
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(Trick Simulation Environment) (NASA:JSC #37943)
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(JSC/Engineering Directorate/Automation, Robotics and Simulation Division)
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(March 1997)))
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ASSUMPTIONS AND LIMITATIONS:
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((2 dimensional space))
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PROGRAMMERS:
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(((Your Name) (Company Name) (Date) (Trick tutorial)))
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*******************************************************************************/
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#define NUM_STEP 12 /* use up to 12 intermediate steps:
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8th order RK Fehlberg */
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#define NUM_VARIABLES 4 /* x,y position state and x,y velocity state */
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INTEGRATOR.state = alloc(NUM_VARIABLES) ;
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INTEGRATOR.deriv = alloc(NUM_STEP) ;
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INTEGRATOR.state_ws = alloc(NUM_STEP) ;
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for (int kk = 0 ; kk < NUM_STEP ; kk++ ) {
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INTEGRATOR.deriv[kk] = alloc(NUM_VARIABLES) ;
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INTEGRATOR.state_ws[kk] = alloc(NUM_VARIABLES) ;
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}
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INTEGRATOR.num_state = NUM_VARIABLES ;
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INTEGRATOR.option = Runge_Kutta_4 ; /* 4rth order Runge Kutta */
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INTEGRATOR.init = True ;
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INTEGRATOR.first_step_deriv = Yes ;
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#undef NUM_STEP
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#undef NUM_VARIABLES
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