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https://github.com/nasa/trick.git
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Get rid of SIM_cannon_dt and combine Sim_cannon_contact and SIM_cannon_integ
This commit is contained in:
John M. Penn
parent
8f585baae2
commit
4f9c1cdc0b
@ -1,17 +0,0 @@
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global DR_GROUP_ID
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global drg
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try:
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if DR_GROUP_ID >= 0:
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DR_GROUP_ID += 1
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except NameError:
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DR_GROUP_ID = 0
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drg = []
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drg.append(trick.DRAscii("cannon"))
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drg[DR_GROUP_ID].set_freq(trick.DR_Always)
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drg[DR_GROUP_ID].set_cycle(0.01)
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drg[DR_GROUP_ID].set_single_prec_only(False)
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drg[DR_GROUP_ID].add_variable("dyn.cannon.pos[0]")
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drg[DR_GROUP_ID].add_variable("dyn.cannon.pos[1]")
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trick.add_data_record_group(drg[DR_GROUP_ID], trick.DR_Buffer)
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drg[DR_GROUP_ID].enable()
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@ -1,11 +0,0 @@
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trick.frame_log_on()
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trick.real_time_enable()
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trick.exec_set_software_frame(0.1)
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trick.itimer_enable()
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trick.exec_set_enable_freeze(True)
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trick.exec_set_freeze_command(True)
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simControlPanel = trick.SimControlPanel()
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trick.add_external_application(simControlPanel)
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@ -1,5 +0,0 @@
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execfile("Modified_data/realtime.py")
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execfile("Modified_data/cannon.dr")
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trick.exec_set_terminate_time(5.2)
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@ -1,2 +0,0 @@
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trick.exec_set_terminate_time(5.2)
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@ -1,34 +0,0 @@
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/************************TRICK HEADER*************************
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PURPOSE:
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(This S_define is used with the RUN_dt input file)
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LIBRARY_DEPENDENCY:
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(
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(cannon/gravity/src/cannon_dt.c)
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(cannon/gravity/src/cannon_init.c)
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(cannon/gravity/src/cannon_default_data.c)
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)
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*************************************************************/
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#include "sim_objects/default_trick_sys.sm"
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##include "cannon/gravity/include/cannon.h"
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##include "cannon/gravity/include/cannon_dt_proto.h"
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class CannonSimObject : public Trick::SimObject {
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public:
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CANNON cannon ;
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CannonSimObject() {
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("default_data") cannon_default_data( &cannon ) ;
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("initialization") cannon_init( &cannon ) ;
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(0.01, "scheduled") cannon_dt( &cannon ) ;
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}
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} ;
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// Instantiations
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CannonSimObject dyn ;
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@ -1,4 +0,0 @@
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TRICK_CFLAGS += -I../models
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TRICK_CXXFLAGS += -I../models
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@ -1,9 +0,0 @@
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Stripchart:
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title = "Cannon Trajectory"
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geometry = 800x800+300+0
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x_min = 0.0
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x_max = 250.0
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y_min = 0.0
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y_max = 40.0
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x_variable = dyn.cannon.pos[0]
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dyn.cannon.pos[1]
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@ -1,3 +0,0 @@
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dyn.baseball.pos[0] 16 m NUMBER
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dyn.baseball.pos[1] 0.1 m NUMBER
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dyn.baseball.pos[2] 2 m NUMBER
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@ -1,17 +0,0 @@
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global DR_GROUP_ID
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global drg
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try:
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if DR_GROUP_ID >= 0:
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DR_GROUP_ID += 1
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except NameError:
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DR_GROUP_ID = 0
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drg = []
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drg.append(trick.DRAscii("cannon"))
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drg[DR_GROUP_ID].set_freq(trick.DR_Always)
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drg[DR_GROUP_ID].set_cycle(0.01)
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drg[DR_GROUP_ID].set_single_prec_only(False)
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drg[DR_GROUP_ID].add_variable("dyn.cannon.pos[0]")
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drg[DR_GROUP_ID].add_variable("dyn.cannon.pos[1]")
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trick.add_data_record_group(drg[DR_GROUP_ID], trick.DR_Buffer)
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drg[DR_GROUP_ID].enable()
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@ -1,15 +0,0 @@
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#SIM\_cannon\_integ
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###The Simulation
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This is a simulation of a cannon shooting a cannonball. Given the initial position of the cannon ball, the muzzle velocity (speed) of the cannon ball, and the elevation angle of the cannon barrel the simulation computes the cannon ball's trajectory and time of impact with the ground.
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The acceleration of gravity is assumed to be -9.81 m/s<sup>2</sup>.
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@ -1,9 +0,0 @@
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#execfile("Modified_data/realtime.py")
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execfile("Modified_data/cannon.dr")
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trick.TMM_reduced_checkpoint(0)
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dyn_integloop.getIntegrator(trick.Runge_Kutta_4, 4)
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trick.stop(6)
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@ -1,3 +0,0 @@
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dyn_integloop.getIntegrator(trick.Runge_Kutta_4, 4)
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trick.exec_set_terminate_time(5.2)
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@ -1,36 +0,0 @@
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/************************TRICK HEADER*************************
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PURPOSE:
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(This S_define is used with RUN_integ input file)
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LIBRARY DEPENDENCIES:
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(
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(cannon/gravity/src/cannon_default_data.c)
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(cannon/gravity/src/cannon_init.c)
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(cannon/gravity/src/cannon_deriv.c)
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(cannon/gravity/src/cannon_integ.c)
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)
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*************************************************************/
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#include "sim_objects/default_trick_sys.sm"
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##include "cannon/gravity/include/cannon.h"
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##include "cannon/gravity/include/cannon_integ_proto.h"
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class CannonSimObject : public Trick::SimObject {
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public:
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CANNON cannon ;
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CannonSimObject() {
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("default_data") cannon_default_data( &cannon ) ;
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("initialization") cannon_init( &cannon ) ;
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("derivative") cannon_deriv( &cannon ) ;
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("integration") trick_ret = cannon_integ( &cannon ) ;
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}
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} ;
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// Instantiations
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CannonSimObject dyn ;
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IntegLoop dyn_integloop (0.01) dyn;
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@ -1,4 +0,0 @@
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TRICK_CFLAGS += -I../models
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TRICK_CXXFLAGS += -I../models
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Binary file not shown.
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Before Width: | Height: | Size: 44 KiB |
@ -1,23 +0,0 @@
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/*************************************************************************
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PURPOSE: (Cannonball Prototypes)
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**************************************************************************/
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#ifndef CANNON_DT_PROTO
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#define CANNON_DT_PROTO
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#include <stdio.h>
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#include "cannon.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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int cannon_dt(CANNON*) ;
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int cannon_init(CANNON*) ;
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int cannon_default_data(CANNON*) ;
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#ifdef __cplusplus
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}
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#endif
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#endif
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@ -1,16 +0,0 @@
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/*****************************************************************************
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PURPOSE: ( Adding contact)
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*****************************************************************************/
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#include "../include/cannon.h"
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#include "../include/cannon_contact_proto.h"
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int cannon_deriv_impact( CANNON* C )
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{
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if ( ! C->impact ) {
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/* Still above ground and flying */
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C->acc[0] = 0.0 ;
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C->acc[1] = -9.81 ;
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}
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return 0 ;
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}
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@ -1,34 +0,0 @@
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/*****************************************************************************
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PURPOSE: ( Try dt )
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*****************************************************************************/
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#include "../include/cannon.h"
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#include "../include/cannon_dt_proto.h"
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int cannon_dt(
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CANNON* C )
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{
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double dt ;
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double pos0[2] ;
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double vel0[2] ;
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double acc0[2] ;
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/* This dt matches the frequency of this job */
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dt = 0.01 ;
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/* Save off last state */
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pos0[0] = C->pos[0] ; pos0[1] = C->pos[1] ;
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vel0[0] = C->vel[0] ; vel0[1] = C->vel[1] ;
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acc0[0] = C->acc[0] ; acc0[1] = C->acc[1] ;
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/* Calculate new state based on last state */
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C->acc[0] = acc0[0] ;
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C->acc[1] = acc0[1] ;
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C->vel[0] = vel0[0] + acc0[0]*dt ;
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C->vel[1] = vel0[1] + acc0[1]*dt ;
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C->pos[0] = pos0[0] + vel0[0]*dt + (0.5)*acc0[0]*dt*dt ;
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C->pos[1] = pos0[1] + vel0[1]*dt + (0.5)*acc0[1]*dt*dt ;
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return 0 ;
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}
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