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71 lines
2.9 KiB
C
71 lines
2.9 KiB
C
/********************************* TRICK HEADER *******************************
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PURPOSE:
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(Ball model EOM state parameter definition.)
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REFERENCES:
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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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(Translational EOM only)
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(4 events for contact with floor ceiling and 2 walls))
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PROGRAMMERS:
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(((Your name) (Your Company) (Date) (Trick Tutorial)))
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*******************************************************************************/
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/*
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* $Id: ball_state.h 1947 2011-09-16 13:34:28Z jturnage $
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*/
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#ifndef _BALL_STATE_H_
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#define _BALL_STATE_H_
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#include "sim_services/Integrator/include/regula_falsi.h"
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typedef struct { /* BSTATE_IN ------------------------------------------------*/
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/*=== Initial Ball States ===*/
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double mass ; /* kg Total mass */
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double position[2] ; /* M X(horizontal),Y(vertical) position */
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double speed ; /* M/s Linear speed */
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double elevation ; /* r Trajectory angle with respect
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to the horizontal */
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/* DYNAMIC EVENT INPUTS */
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double floor_y_pos ; /* M Horizontal floor location on Y axis */
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double right_wall_x_pos ;/* M Vertical right wall location on X axis */
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double ceiling_y_pos ; /* M Horizontal ceiling location on Y axis */
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double left_wall_x_pos ; /* M Vertical left wall location on X axis */
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REGULA_FALSI floor ; /* -- Dynamic event params for floor impact */
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REGULA_FALSI right_wall ;/* -- Dynamic event params for right wall impact*/
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REGULA_FALSI ceiling ; /* -- Dynamic event params for ceiling impact */
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REGULA_FALSI left_wall ; /* -- Dynamic event params for left wall impact */
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} BSTATE_IN ; /*--------------------------------------------------------------*/
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typedef struct { /* BSTATE_OUT -----------------------------------------------*/
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double position[2] ; /* M X(horizontal), Y(vertical) position */
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double Frequency ; /* (Hz) Total mass */
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double velocity[2] ; /* M/s X,Y velocity */
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double acceleration[2] ; /* M/s2 X,Y acceleration */
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double external_force[2] ; /* N Total external force on ball */
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} BSTATE_OUT ; /*-------------------------------------------------------------*/
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typedef struct { /* BSTATE_WORK ----------------------------------------------*/
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void ** external_force ; /* ** N External forces, from 'collect' */
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} BSTATE_WORK ; /*------------------------------------------------------------*/
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typedef struct { /* BSTATE ---------------------------------------------------*/
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BSTATE_IN input ; /* -- User inputs */
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BSTATE_OUT output ; /* -- User outputs */
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BSTATE_WORK work ; /* -- EOM workspace */
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} BSTATE ; /*-----------------------------------------------------------------*/
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#endif
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