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C++ MultibodySystem::getDefaultTimeScale方法代码示例

本文整理汇总了C++中MultibodySystem::getDefaultTimeScale方法的典型用法代码示例。如果您正苦于以下问题：C++ MultibodySystem::getDefaultTimeScale方法的具体用法？C++ MultibodySystem::getDefaultTimeScale怎么用？C++ MultibodySystem::getDefaultTimeScale使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类MultibodySystem的用法示例。


在下文中一共展示了MultibodySystem::getDefaultTimeScale方法的4个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。

示例1: main


//.........这里部分代码省略.........

    mbs.realize(s, Stage::Velocity);
    display.report(s);

    cout << "q=" << s.getQ() << endl;
    cout << "u=" << s.getU() << endl;

    char c;
    cout << "Default configuration shown. 1234 to move on.\n";

    //anAtom.setQToFitRotation(s, Rotation(-.9*Pi/2,YAxis));

    while (true) {
        Real x;
        cout << "Torsion (deg)? "; cin >> x; if (x==1234) break;
        Vec2 a = anAtom.getAngles(s); a[0]=x*Deg2Rad; anAtom.setAngles(s, a);
        display.report(s);
        cout << "Bend (deg)? "; cin >> x; if (x==1234) break;
        a = anAtom.getAngles(s); a[1]=x*Deg2Rad; anAtom.setAngles(s, a);
        display.report(s);
        cout << "Radius? "; cin >> x; if (x==1234) break;
        anAtom.setRadius(s, x);
        display.report(s);
    }
    anAtom.setUToFitAngularVelocity(s, Vec3(.1,.2,.3));

    //anAtom.setAngle(s, 45*Deg2Rad);
    //anAtom.setTranslation(s, Vec2(.4, .1));

    mbs.realize(s, Stage::Dynamics);
    mbs.realize(s, Stage::Acceleration);

    cout << "q=" << s.getQ() << endl;
    cout << "u=" << s.getU() << endl;
    cout << "qdot=" << s.getQDot() << endl;
    cout << "udot=" << s.getUDot() << endl;
    cout << "qdotdot=" << s.getQDotDot() << endl;
    display.report(s);

    cout << "Initialized configuration shown. Ready? ";
    cin >> c;

    RungeKuttaMersonIntegrator myStudy(mbs);
    myStudy.setAccuracy(1e-4);

    const Real dt = .02; // output intervals
    const Real finalTime = 20;

    myStudy.setFinalTime(finalTime);

    // Peforms assembly if constraints are violated.
    myStudy.initialize(s);

    cout << "Using Integrator " << std::string(myStudy.getMethodName()) << ":\n";
    cout << "ACCURACY IN USE=" << myStudy.getAccuracyInUse() << endl;
    cout << "CTOL IN USE=" << myStudy.getConstraintToleranceInUse() << endl;
    cout << "TIMESCALE=" << mbs.getDefaultTimeScale() << endl;
    cout << "U WEIGHTS=" << s.getUWeights() << endl;
    cout << "Z WEIGHTS=" << s.getZWeights() << endl;
    cout << "1/QTOLS=" << s.getQErrWeights() << endl;
    cout << "1/UTOLS=" << s.getUErrWeights() << endl;

    Integrator::SuccessfulStepStatus status;
    int nextReport = 0;
    while ((status=myStudy.stepTo(nextReport*dt))
           != Integrator::EndOfSimulation) 
    {
        const State& s = myStudy.getState();
        mbs.realize(s);
        printf("%5g %10.4g %10.4g %10.4g E=%10.8g h%3d=%g %s%s\n", s.getTime(), 
            anAtom.getAngles(s)[0], anAtom.getAngles(s)[1], anAtom.getRadius(s),
            //anAtom.getAngle(s), anAtom.getTranslation(s)[0], anAtom.getTranslation(s)[1],
            //anAtom.getQ(s)[0], anAtom.getQ(s)[1], anAtom.getQ(s)[2],
            mbs.calcEnergy(s), myStudy.getNumStepsTaken(),
            myStudy.getPreviousStepSizeTaken(),
            Integrator::getSuccessfulStepStatusString(status).c_str(),
            myStudy.isStateInterpolated()?" (INTERP)":"");

        display.report(s);

        if (status == Integrator::ReachedReportTime)
            ++nextReport;
    }

    printf("Using Integrator %s:\n", myStudy.getMethodName());
    printf("# STEPS/ATTEMPTS = %d/%d\n", myStudy.getNumStepsTaken(), myStudy.getNumStepsAttempted());
    printf("# ERR TEST FAILS = %d\n", myStudy.getNumErrorTestFailures());
    printf("# REALIZE/PROJECT = %d/%d\n", myStudy.getNumRealizations(), myStudy.getNumProjections());

  } 
  catch (const std::exception& e) {
    printf("EXCEPTION THROWN: %s\n", e.what());
    exit(1);
  }
  catch (...) {
    printf("UNKNOWN EXCEPTION THROWN\n");
    exit(1);
  }

}
开发者ID:AyMaN-GhOsT，项目名称:simbody，代码行数:101，代码来源:SphericalCoordsMobilizerTest.cpp

示例2: main


//.........这里部分代码省略.........
   // ExplicitEulerIntegrator myStudy(mbs, .0005); // fixed step
    //ExplicitEulerIntegrator myStudy(mbs); // variable step


    //myStudy.setMaximumStepSize(0.001);
    myStudy.setAccuracy(1e-6); myStudy.setAccuracy(1e-1);
    //myStudy.setProjectEveryStep(true);
    //myStudy.setProjectInterpolatedStates(false);
    myStudy.setConstraintTolerance(1e-7); myStudy.setConstraintTolerance(1e-2);
    //myStudy.setAllowInterpolation(false);
    //myStudy.setMaximumStepSize(.1);

    const Real dt = .02; // output intervals
    const Real finalTime = 2;

    myStudy.setFinalTime(finalTime);

    std::vector<State> saveEm;
    saveEm.reserve(2000);

    for (int i=0; i<50; ++i)
        saveEm.push_back(s);    // delay


    // Peforms assembly if constraints are violated.
    myStudy.initialize(s);

    for (int i=0; i<50; ++i)
        saveEm.push_back(s);    // delay

    cout << "Using Integrator " << std::string(myStudy.getMethodName()) << ":\n";
    cout << "ACCURACY IN USE=" << myStudy.getAccuracyInUse() << endl;
    cout << "CTOL IN USE=" << myStudy.getConstraintToleranceInUse() << endl;
    cout << "TIMESCALE=" << mbs.getDefaultTimeScale() << endl;
    cout << "U WEIGHTS=" << s.getUWeights() << endl;
    cout << "Z WEIGHTS=" << s.getZWeights() << endl;
    cout << "1/QTOLS=" << s.getQErrWeights() << endl;
    cout << "1/UTOLS=" << s.getUErrWeights() << endl;

    {
        const State& s = myStudy.getState();
        display.report(s);
        cout << "q=" << s.getQ() << endl;
        cout << "u=" << s.getU() << endl;
        cout << "qErr=" << s.getQErr() << endl;
        cout << "uErr=" << s.getUErr() << endl;
        cout << "p_MbM=" << mobilizedBody.getMobilizerTransform(s).p() << endl;
        cout << "PE=" << mbs.calcPotentialEnergy(s) << " KE=" << mbs.calcKineticEnergy(s) << " E=" << mbs.calcEnergy(s) << endl;
        cout << "angle=" << std::acos(~mobilizedBody.expressVectorInGroundFrame(s, Vec3(0,1,0)) * UnitVec3(1,1,1)) << endl;
        cout << "Assembled configuration shown. Ready to simulate? "; getchar();
    }

    Integrator::SuccessfulStepStatus status;
    int nextReport = 0;

    mbs.resetAllCountersToZero();

    int stepNum = 0;
    while ((status=myStudy.stepTo(nextReport*dt))
           != Integrator::EndOfSimulation) 
    {
        const State& s = myStudy.getState();
        mbs.realize(s, Stage::Acceleration);

        if ((stepNum++%10)==0) {
            const Real angle = std::acos(~mobilizedBody.expressVectorInGroundFrame(s, Vec3(0,1,0)) * UnitVec3(1,1,1));
开发者ID:BrianZ1，项目名称:simbody，代码行数:67，代码来源:MiscConstraints.cpp

示例3: main


//.........这里部分代码省略.........
    //VerletIntegrator myStudy(mbs);
    //ExplicitEulerIntegrator myStudy(mbs);

    myStudy.setAccuracy(1e-2);
    myStudy.setConstraintTolerance(1e-3); 
    myStudy.setProjectEveryStep(false);

    Visualizer display(mbs);
    display.setBackgroundColor(White);
    display.setBackgroundType(Visualizer::SolidColor);
    display.setMode(Visualizer::RealTime);

    for (MobilizedBodyIndex i(1); i<myRNA.getNumBodies(); ++i)
        myRNA.decorateBody(i, display);
    myRNA.decorateGlobal(display);

    DecorativeLine rbProto; rbProto.setColor(Orange).setLineThickness(3);
    display.addRubberBandLine(GroundIndex, attachPt,MobilizedBodyIndex(myRNA.getNumBodies()-1),Vec3(0), rbProto);
    //display.addRubberBandLine(GroundIndex, -attachPt,myRNA.getNumBodies()-1,Vec3(0), rbProto);

    const Real dt = 1./30; // output intervals

    printf("time  nextStepSize\n");

    s.updTime() = 0;
    for (int i=0; i<50; ++i)
        saveEm.push_back(s);    // delay
    display.report(s);

    myStudy.initialize(s);
    cout << "Using Integrator " << std::string(myStudy.getMethodName()) << ":\n";
    cout << "ACCURACY IN USE=" << myStudy.getAccuracyInUse() << endl;
    cout << "CTOL IN USE=" << myStudy.getConstraintToleranceInUse() << endl;
    cout << "TIMESCALE=" << mbs.getDefaultTimeScale() << endl;
    cout << "U WEIGHTS=" << s.getUWeights() << endl;
    cout << "Z WEIGHTS=" << s.getZWeights() << endl;
    cout << "1/QTOLS=" << s.getQErrWeights() << endl;
    cout << "1/UTOLS=" << s.getUErrWeights() << endl;

    saveEm.push_back(myStudy.getState());
    for (int i=0; i<50; ++i)
        saveEm.push_back(myStudy.getState());    // delay
    display.report(myStudy.getState());


    const double startReal = realTime(), startCPU = cpuTime();
    int stepNum = 0;
    for (;;) {
        const State& ss = myStudy.getState();

        mbs.realize(ss);

        if ((stepNum++%100)==0) {
            printf("%5g qerr=%10.4g uerr=%10.4g hNext=%g\n", ss.getTime(), 
                myRNA.getQErr(ss).normRMS(), myRNA.getUErr(ss).normRMS(),
                myStudy.getPredictedNextStepSize());
            printf("      E=%14.8g (pe=%10.4g ke=%10.4g)\n",
                mbs.calcEnergy(ss), mbs.calcPotentialEnergy(ss), mbs.calcKineticEnergy(ss));

            cout << "QERR=" << ss.getQErr() << endl;
            cout << "UERR=" << ss.getUErr() << endl;
        }

        //if (s.getTime() - std::floor(s.getTime()) < 0.2)
        //    display.addEphemeralDecoration( DecorativeSphere(10).setColor(Green) );
开发者ID:AyMaN-GhOsT，项目名称:simbody，代码行数:66，代码来源:CoarseRNA.cpp

示例4: main


//.........这里部分代码省略.........
    //crank.setUToFitAngularVelocity(s, 10*Vec3(.1,.2,.3));

    mbs.realize(s, Stage::Velocity);
    display.report(s);

    cout << "q=" << s.getQ() << endl;
    cout << "qErr=" << s.getQErr() << endl;


    // These are the SimTK Simmath integrators:
    RungeKuttaMersonIntegrator myStudy(mbs);
    //CPodesIntegrator myStudy(mbs, CPodes::BDF, CPodes::Newton);


    //myStudy.setMaximumStepSize(0.001);
    myStudy.setAccuracy(1e-3);
    //myStudy.setProjectEveryStep(true);
    //myStudy.setAllowInterpolation(false);
    //myStudy.setMaximumStepSize(.1);

    const Real dt = 1./30; // output intervals
    const Real finalTime = 10;

    myStudy.setFinalTime(finalTime);

    cout << "Hit ENTER in console to continue ...\n";
    getchar();
    display.report(s);

    cout << "Hit ENTER in console to continue ...\n";
    getchar();

    // Peforms assembly if constraints are violated.
    myStudy.initialize(s);
    myStudy.setProjectEveryStep(false);
    myStudy.setConstraintTolerance(.001);
    myStudy.initialize(myStudy.getState());

    cout << "Using Integrator " << std::string(myStudy.getMethodName()) << ":\n";
    cout << "ACCURACY IN USE=" << myStudy.getAccuracyInUse() << endl;
    cout << "CTOL IN USE=" << myStudy.getConstraintToleranceInUse() << endl;
    cout << "TIMESCALE=" << mbs.getDefaultTimeScale() << endl;
    cout << "U WEIGHTS=" << s.getUWeights() << endl;
    cout << "Z WEIGHTS=" << s.getZWeights() << endl;
    cout << "1/QTOLS=" << s.getQErrWeights() << endl;
    cout << "1/UTOLS=" << s.getUErrWeights() << endl;

    {
        const State& s = myStudy.getState();
        display.report(s);
        cout << "q=" << s.getQ() << endl;
        cout << "qErr=" << s.getQErr() << endl;
    }


    Integrator::SuccessfulStepStatus status;
    int nextReport = 0;
    while ((status=myStudy.stepTo(nextReport*dt, Infinity))
           != Integrator::EndOfSimulation)
    {
        const State& s = myStudy.getState();
        mbs.realize(s);
        const Real crankAngle = crank.getBodyRotation(s).convertRotationToAngleAxis()[0] * Rad2Deg;
        printf("%5g %10.4g E=%10.8g h%3d=%g %s%s\n", s.getTime(),
            crankAngle,
            mbs.calcEnergy(s), myStudy.getNumStepsTaken(),
            myStudy.getPreviousStepSizeTaken(),
            Integrator::getSuccessfulStepStatusString(status).c_str(),
            myStudy.isStateInterpolated()?" (INTERP)":"");
        printf("     qerr=%10.8g uerr=%10.8g uderr=%10.8g\n",
            crankRocker.getQErr(s).normRMS(),
            crankRocker.getUErr(s).normRMS(),
            crankRocker.getUDotErr(s).normRMS());

        display.report(s);


        if (status == Integrator::ReachedReportTime)
            ++nextReport;
    }

    for (int i=0; i<100; ++i)
        display.report(myStudy.getState());

    printf("Using Integrator %s:\n", myStudy.getMethodName());
    printf("# STEPS/ATTEMPTS = %d/%d\n", myStudy.getNumStepsTaken(), myStudy.getNumStepsAttempted());
    printf("# ERR TEST FAILS = %d\n", myStudy.getNumErrorTestFailures());
    printf("# REALIZE/PROJECT = %d/%d\n", myStudy.getNumRealizations(), myStudy.getNumProjections());

  }
  catch (const exception& e) {
    printf("EXCEPTION THROWN: %s\n", e.what());
    exit(1);
  }
  catch (...) {
    printf("UNKNOWN EXCEPTION THROWN\n");
    exit(1);
  }

}
开发者ID:thomasklau，项目名称:simbody，代码行数:101，代码来源:RadusDrifter.cpp


注：本文中的MultibodySystem::getDefaultTimeScale方法示例由纯净天空整理自Github/MSDocs等开源代码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。