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126 lines
4.2 KiB
Plaintext
126 lines
4.2 KiB
Plaintext
/************************TRICK HEADER*************************
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PURPOSE:
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(This comment lists out the other object files that are not included from c++ headers)
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LIBRARY DEPENDENCIES:
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(
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(ball/L2/src/ball_altimeter.c)
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(ball/L2/src/ball_altimeter_default_data.c)
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(ball/L2/src/ball_ceiling.c)
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(ball/L2/src/ball_control.c)
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(ball/L2/src/ball_control_default_data.c)
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(ball/L2/src/ball_floor.c)
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(ball/L1/src/ball_force_field.c)
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(ball/L2/src/ball_force_default_data.c)
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(ball/L2/src/ball_jet.c)
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(ball/L2/src/ball_jet_default_data.c)
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(ball/L2/src/ball_left_wall.c)
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(ball/L2/src/ball_right_wall.c)
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(ball/L2/src/ball_state_default_data.c)
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(ball/L2/src/ball_state_deriv.c)
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(ball/L2/src/ball_state_init.c)
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(ball/L2/src/ball_state_integ.c)
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(ball/L3/src/ball_ensemble_integ.c)
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(ball/L3/src/ball_ensemble_collision.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 "ball/L1/include/ball_force.h"
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##include "ball/L2/include/ball_altimeter.h"
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##include "ball/L2/include/ball_control.h"
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##include "ball/L2/include/ball_jet.h"
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##include "ball/L2/include/ball_state.h"
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##include "ball/L3/include/ball_ensemble.h"
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%{
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// Allow C++ access to the these C functions
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extern "C" {
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int ball_altimeter(BALT*,double*) ;
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int ball_altimeter_default_data(BALT*) ;
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int ball_control(BCONTROL*,double) ;
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int ball_force_default_data(BFORCE*) ;
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int ball_force_field(BFORCE*,double*) ;
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int ball_jet(BJET*,Flag*) ;
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int ball_state_default_data(BSTATE*) ;
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int ball_state_deriv(BSTATE*) ;
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int ball_state_init(BSTATE*) ;
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int ball_jet_default_data(BJET*) ;
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int ball_control_default_data(BCONTROL*) ;
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}
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%}
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//=============================================================================
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// SIM_OBJECT: ball
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// This sim object models a ball.
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//=============================================================================
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class ballSimObject : public Trick::SimObject {
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public:
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BSTATE state ;
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BFORCE force ;
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BALT altimeter ;
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BCONTROL control ;
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BJET jet ;
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ballSimObject() : state() , force() , altimeter() , control() , jet() {
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// DATA STRUCTURE DECLARATIONS
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("default_data") ball_state_default_data( &state ) ;
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("default_data") ball_force_default_data( &force ) ;
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("default_data") ball_altimeter_default_data( &altimeter ) ;
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("default_data") ball_control_default_data( &control ) ;
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("default_data") ball_jet_default_data( &jet ) ;
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// INITIALIZATION JOBS
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("initialization") ball_state_init( &state ) ;
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// EOM DERIVATIVE AND STATE INTEGRATION JOBS
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("derivative") ball_force_field( &force, state.output.position ) ;
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("derivative") ball_state_deriv( &state ) ;
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// ALTITUDE SENSING, CONTROL, AND EFFECTING
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(0.01, "sensor") ball_altimeter( &altimeter, &state.output.position[1] ) ;
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(0.01, "scheduled") ball_control( &control, altimeter.output.altitude ) ;
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(0.01, "effector") ball_jet( &jet, &control.output.jet_command[0] );
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}
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} ;
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// Instantiations
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ballSimObject ball1 ;
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ballSimObject ball2 ;
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class ensembleSimObject : public Trick::SimObject {
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public:
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BSTATE* states[2];
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ensembleSimObject () {
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("integration") ball_ensemble_integ( states ) ;
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("dynamic_event") ball_ensemble_collision( states ) ;
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}
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} ;
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// Instantiation
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ensembleSimObject ensemble;
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collect ball1.state.work.external_force = { ball1.force.output.force[0] ,
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ball1.jet.output.force[0] } ;
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collect ball2.state.work.external_force = { ball2.force.output.force[0] ,
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ball2.jet.output.force[0] } ;
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IntegLoop my_integ_loop (0.01) ball1, ball2, ensemble ;
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// Connect objects
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void create_connections() {
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exec_set_freeze_frame(0.10) ;
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/* We are integrating the ensemble; that is, ball1 and ball2 at the same time. */
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my_integ_loop.getIntegrator(Runge_Kutta_4, 8);
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ensemble.states[0] = &(ball1.state);
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ensemble.states[1] = &(ball2.state);
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}
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