本文整理汇总了C++中MultibodySystem::getNumProjectUCalls方法的典型用法代码示例。如果您正苦于以下问题：C++ MultibodySystem::getNumProjectUCalls方法的具体用法？C++ MultibodySystem::getNumProjectUCalls怎么用？C++ MultibodySystem::getNumProjectUCalls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::getNumProjectUCalls方法的1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.........
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));
printf("%5g %10.4g E=%10.8g h%3d=%g %s%s\n", s.getTime(),
angle,
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",
matter.getQErr(s).normRMS(),
matter.getUErr(s).normRMS(),
s.getSystemStage() >= Stage::Acceleration ? matter.getUDotErr(s).normRMS() : Real(-1));
#ifdef HASC
cout << "CONSTRAINT perr=" << c.getPositionError(s)
<< " verr=" << c.getVelocityError(s)
<< " aerr=" << c.getAccelerationError(s)
<< endl;
#endif
//cout << " d(perrdot)/du=" << c.calcPositionConstraintMatrixP(s);
//cout << " ~d(f)/d lambda=" << c.calcPositionConstraintMatrixPT(s);
//cout << " d(perr)/dq=" << c.calcPositionConstraintMatrixPQInverse(s);
cout << "Q=" << matter.getQ(s) << endl;
cout << "U=" << matter.getU(s) << endl;
cout << "Multipliers=" << matter.getMultipliers(s) << endl;
}
Vector qdot;
matter.calcQDot(s, s.getU(), qdot);
// cout << "===> qdot =" << qdot << endl;
Vector qdot2;
matter.multiplyByN(s, false, s.getU(), qdot2);
// cout << "===> qdot2=" << qdot2 << endl;
Vector u1,u2;
matter.multiplyByNInv(s, false, qdot, u1);
matter.multiplyByNInv(s, false, qdot2, u2);
// cout << "===> u =" << s.getU() << endl;
// cout << "===> u1=" << u1 << endl;
// cout << "===> u2=" << u2 << endl;
// cout << " norm=" << (s.getU()-u2).normRMS() << endl;
display.report(s);
saveEm.push_back(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());
printf("System stats: realize %dP %dV %dA, projectQ %d, projectU %d\n",
mbs.getNumRealizationsOfThisStage(Stage::Position),
mbs.getNumRealizationsOfThisStage(Stage::Velocity),
mbs.getNumRealizationsOfThisStage(Stage::Acceleration),
mbs.getNumProjectQCalls(), mbs.getNumProjectUCalls());
while(true) {
for (int i=0; i < (int)saveEm.size(); ++i) {
display.report(saveEm[i]);
//display.report(saveEm[i]); // half speed
}
getchar();
}
}
catch (const exception& e) {
printf("EXCEPTION THROWN: %s\n", e.what());
exit(1);
}
catch (...) {
printf("UNKNOWN EXCEPTION THROWN\n");
exit(1);
}
}