mirror of
https://github.com/nasa/trick.git
synced 2024-12-21 06:03:10 +00:00
121 lines
4.1 KiB
Plaintext
121 lines
4.1 KiB
Plaintext
/************************TRICK HEADER*************************
|
|
PURPOSE:
|
|
(This comment lists out the other object files that are not included from c++ headers)
|
|
LIBRARY DEPENDENCIES:
|
|
(
|
|
(ball/L2/src/ball_altimeter.c)
|
|
(ball/L2/src/ball_altimeter_default_data.c)
|
|
(ball/L2/src/ball_ceiling.c)
|
|
(ball/L2/src/ball_control.c)
|
|
(ball/L2/src/ball_control_default_data.c)
|
|
(ball/L2/src/ball_floor.c)
|
|
(ball/L1/src/ball_force_field.c)
|
|
(ball/L2/src/ball_force_default_data.c)
|
|
(ball/L2/src/ball_jet.c)
|
|
(ball/L2/src/ball_jet_default_data.c)
|
|
(ball/L2/src/ball_left_wall.c)
|
|
(ball/L2/src/ball_right_wall.c)
|
|
(ball/L2/src/ball_state_default_data.c)
|
|
(ball/L2/src/ball_state_deriv.c)
|
|
(ball/L2/src/ball_state_init.c)
|
|
(ball/L2/src/ball_state_integ.c)
|
|
)
|
|
*************************************************************/
|
|
|
|
#include "sim_objects/default_trick_sys.sm"
|
|
|
|
##include "ball/L1/include/ball_force.h"
|
|
##include "ball/L2/include/ball_altimeter.h"
|
|
##include "ball/L2/include/ball_control.h"
|
|
##include "ball/L2/include/ball_jet.h"
|
|
##include "ball/L2/include/ball_state.h"
|
|
|
|
%{
|
|
|
|
// Allow C++ access to the these C functions
|
|
extern "C" {
|
|
|
|
int ball_altimeter(BALT*,double*) ;
|
|
int ball_altimeter_default_data(BALT*) ;
|
|
double ball_ceiling(BSTATE*) ;
|
|
int ball_control(BCONTROL*,double) ;
|
|
double ball_floor(BSTATE*) ;
|
|
int ball_force_default_data(BFORCE*) ;
|
|
int ball_force_field(BFORCE*,double*) ;
|
|
int ball_jet(BJET*,Flag*) ;
|
|
double ball_left_wall(BSTATE*) ;
|
|
double ball_right_wall(BSTATE*) ;
|
|
int ball_state_default_data(BSTATE*) ;
|
|
int ball_state_deriv(BSTATE*) ;
|
|
int ball_state_init(BSTATE*) ;
|
|
int ball_state_integ(BSTATE*) ;
|
|
int ball_jet_default_data(BJET*) ;
|
|
int ball_control_default_data(BCONTROL*) ;
|
|
|
|
}
|
|
|
|
%}
|
|
|
|
//=============================================================================
|
|
// SIM_OBJECT: ball
|
|
// This sim object models a ball.
|
|
//=============================================================================
|
|
class ballSimObject : public Trick::SimObject {
|
|
|
|
public:
|
|
BSTATE state ;
|
|
BFORCE force ;
|
|
BALT altimeter ;
|
|
BCONTROL control ;
|
|
BJET jet ;
|
|
|
|
ballSimObject() : state() , force() , altimeter() , control() , jet() {
|
|
// DATA STRUCTURE DECLARATIONS
|
|
("default_data") ball_state_default_data( &state ) ;
|
|
("default_data") ball_force_default_data( &force ) ;
|
|
("default_data") ball_altimeter_default_data( &altimeter ) ;
|
|
("default_data") ball_control_default_data( &control ) ;
|
|
("default_data") ball_jet_default_data( &jet ) ;
|
|
|
|
// INITIALIZATION JOBS
|
|
("initialization") ball_state_init( &state ) ;
|
|
|
|
// EOM DERIVATIVE AND STATE INTEGRATION JOBS
|
|
("derivative") ball_force_field( &force, state.output.position ) ;
|
|
("derivative") ball_state_deriv( &state ) ;
|
|
("integration") ball_state_integ( &state ) ;
|
|
|
|
// DYNAMIC EVENT JOBS
|
|
("dynamic_event") ball_floor( &state ) ;
|
|
("dynamic_event") ball_right_wall( &state ) ;
|
|
("dynamic_event") ball_ceiling( &state ) ;
|
|
("dynamic_event") ball_left_wall( &state ) ;
|
|
|
|
// ALTITUDE SENSING, CONTROL, AND EFFECTING
|
|
(0.01, "sensor") ball_altimeter( &altimeter, &state.output.position[1] ) ;
|
|
(0.01, "scheduled") ball_control( &control, altimeter.output.altitude ) ;
|
|
(0.01, "effector") ball_jet( &jet, &control.output.jet_command[0] );
|
|
}
|
|
|
|
} ;
|
|
|
|
// Instantiations
|
|
ballSimObject ball ;
|
|
ballSimObject ball2 ;
|
|
|
|
collect ball.state.work.external_force = { ball.force.output.force[0] ,
|
|
ball.jet.output.force[0] } ;
|
|
collect ball2.state.work.external_force = { ball2.force.output.force[0] ,
|
|
ball2.jet.output.force[0] } ;
|
|
|
|
IntegLoop my_integ_loop (0.01) ball, ball2;
|
|
|
|
|
|
// Connect objects
|
|
void create_connections() {
|
|
|
|
exec_set_freeze_frame(0.10) ;
|
|
my_integ_loop.getIntegrator(Runge_Kutta_2, 4);
|
|
|
|
}
|