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57 lines
1.8 KiB
D
57 lines
1.8 KiB
D
/********************************* 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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/*
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* $Log: sched_integ.d,v $
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* Revision 7.3 2007-11-06 10:39:22-06 hchen
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* Change the way of defining a variable in some .d files related to old style allocation and fix some typos
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*
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* Revision 7.2 2007-10-23 11:53:06-05 hchen
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* Convert the old style allocation statements we have in included sims
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*
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* Revision 7.1 2006-06-22 14:14:11-05 lin
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* Bump version number for 07
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*
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* Revision 5.1 2004-08-05 13:06:57-05 lin
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* Bump
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*
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* Revision 4.1 2003/10/21 21:49:18 lin
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* Bump version number for 04
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*
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* Revision 1.2 2002/10/07 15:16:29 lin
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* Add rcs version info to all trick_models files
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*
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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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