本文整理汇总了C++中MultibodySystem::projectU方法的典型用法代码示例。如果您正苦于以下问题：C++ MultibodySystem::projectU方法的具体用法？C++ MultibodySystem::projectU怎么用？C++ MultibodySystem::projectU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::projectU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.........
integ.setAccuracy(1e-1);
//integ.setAccuracy(1e-3);
// Don't permit interpolation because we want the state returned after
// a step to be modifiable.
integ.setAllowInterpolation(false);
integ.initialize(initState);
int stepsSinceViz = DrawEveryN-1;
while (true) {
if (++stepsSinceViz % DrawEveryN == 0) {
const State& s = integ.getState();
viz.report(s);
const Real uActual = rtArm.getOneU(s, MobilizerUIndex(0));
viz.setSliderValue(SliderIdTach, uActual);
#ifdef USE_TORQUE_LIMITED_MOTOR
viz.setSliderValue(SliderIdTorque, motor.getTorque(s));
#else
system.realize(s); // taus are acceleration stage
//viz.setSliderValue(SliderIdTorque,
// rtArm.getOneTau(s, MobilizerUIndex(0)));
viz.setSliderValue(SliderIdTorque, motor.getMultiplier(s));
#endif
stepsSinceViz = 0;
}
// Advance time by MaxStepSize (might take multiple steps to get there).
integ.stepBy(MaxStepSize);
// Now poll for user input.
int whichSlider, whichMenu, whichItem; Real newValue;
// Did a slider move?
if (userInput->takeSliderMove(whichSlider, newValue)) {
State& state = integ.updAdvancedState();
switch(whichSlider) {
case SliderIdMotorSpeed:
// TODO: momentum balance?
//motor.setRate(state, newValue);
motor.setSpeed(state, newValue);
system.realize(state, Stage::Position);
system.prescribeU(state);
system.realize(state, Stage::Velocity);
system.projectU(state);
break;
case SliderIdDissipation:
stop.setMaterialProperties(state, StopStiffness, newValue);
system.realize(state, Stage::Position);
break;
}
}
// Was there a menu pick?
if (userInput->takeMenuPick(whichMenu, whichItem)) {
if (whichItem == QuitItem)
break; // done
// If Reset, stop the motor and restore default dissipation.
// Tell visualizer to update the sliders to match.
// Zero out all the q's and u's.
if (whichItem == ResetItem) {
State& state = integ.updAdvancedState();
//motor.setRate(state, 0);
motor.setSpeed(state, 0);
viz.setSliderValue(SliderIdMotorSpeed, 0);
stop.setMaterialProperties(state, StopStiffness, InitialDissipation);
viz.setSliderValue(SliderIdDissipation, InitialDissipation);
state.updQ() = 0; // all positions to zero
state.updU() = 0; // all velocities to zero
system.realize(state, Stage::Position);
system.prescribeU(state);
system.realize(state, Stage::Velocity);
system.projectU(state);
}
}
}
const int evals = integ.getNumRealizations();
std::cout << "Done -- simulated " << integ.getTime() << "s with "
<< integ.getNumStepsTaken() << " steps, avg step="
<< (1000*integ.getTime())/integ.getNumStepsTaken() << "ms "
<< (1000*integ.getTime())/evals << "ms/eval\n";
printf("Used Integrator %s at accuracy %g:\n",
integ.getMethodName(), integ.getAccuracyInUse());
printf("# STEPS/ATTEMPTS = %d/%d\n", integ.getNumStepsTaken(), integ.getNumStepsAttempted());
printf("# ERR TEST FAILS = %d\n", integ.getNumErrorTestFailures());
printf("# REALIZE/PROJECT = %d/%d\n", integ.getNumRealizations(), integ.getNumProjections());
} catch (const std::exception& e) {
std::cout << "ERROR: " << e.what() << std::endl;
return 1;
}
return 0;
}