324 lines (265 with data), 9.1 kB
#include "../libdef.any"
Main = {
AnyOperationSequence RunTest = {
AnyOperation& s1 = Main.study1.Kinematics;
AnyOperation& s2 = Main.study2.Kinematics;
AnyOperation& s3 = Main.study3.Kinematics;
AnyOperation& s4 = Main.study4.Kinematics;
AnyOperation& s5 = Main.study5.Kinematics;
AnyOperation& s6 = Main.study6.Kinematics;
};
AnyFolder Rhythms =
{
// With input with measure organizer
RhythmDriverLinear r1 =
{
RhythmCoefficients = {0.9, 0.9, 0.2, 0.9};
Measures.Input = {
AnyKinMeasure& jg = Main.Model.j_ground;
AnyKinMeasure& j1 = Main.Model.j1;
AnyKinMeasure& j2 = Main.Model.j2;
AnyKinMeasure& j3 = Main.Model.j3;
MeasureOrganizer = {2,5,8,11};
};
};
// Simple input without a measure organizer
RhythmDriverLinear r2 =
{
RhythmCoefficients = {0.9, 0.9, 0, 0.9};
Measures.Input = {
AnyKinMeasureOrg ZRot = {
AnyKinMeasure& jg = Main.Model.j_ground;
AnyKinMeasure& j1 = Main.Model.j1;
AnyKinMeasure& j2 = Main.Model.j2;
AnyKinMeasure& j3 = Main.Model.j3;
MeasureOrganizer = {2,5,8,11};
};
};
};
// Explicit formulation with respect to one of the DOF and zero weights.
RhythmDriverLinear r3(RELATIVE_TO_DOF=1) =
{
RhythmCoefficients = {0.9, 0.9, 0, 0.9};
Measures.Input = {
AnyKinMeasureOrg ZRot = {
AnyKinMeasure& jg = Main.Model.j_ground;
AnyKinMeasure& j1 = Main.Model.j1;
AnyKinMeasure& j2 = Main.Model.j2;
AnyKinMeasure& j3 = Main.Model.j3;
MeasureOrganizer = {2,5,8,11};
};
};
};
// Two way rhythm dirver with implicit formulation
RhythmDriverBiLinear r4(NDIM=4) =
{
RhythmCoefficients = {0.2, 1, 1, 0.2};
RhythmCoefficientsNegative = {0.2, 0.2, 1, 1};
Measures.Input = {
AnyKinMeasureOrg ZRot = {
AnyKinMeasure& jg = Main.Model.j_ground;
AnyKinMeasure& j1 = Main.Model.j1;
AnyKinMeasure& j2 = Main.Model.j2;
AnyKinMeasure& j3 = Main.Model.j3;
MeasureOrganizer = {2,5,8,11};
};
};
};
// Two way rhythm dirver with explicit formulation
RhythmDriverBiLinear r5(NDIM=4, RELATIVE_TO_DOF=2) =
{
RhythmCoefficients = {0.1, 1, 1, 0.1};
RhythmCoefficientsNegative = {0.1, 0.1, 1, 1};
TransitionInterval = 0.5;
Measures.Input = {
AnyKinMeasureOrg ZRot = {
AnyKinMeasure& jg = Main.Model.j_ground;
AnyKinMeasure& j1 = Main.Model.j1;
AnyKinMeasure& j2 = Main.Model.j2;
AnyKinMeasure& j3 = Main.Model.j3;
MeasureOrganizer = {2,5,8,11};
};
};
};
// Two way rhythm dirver with explicit formulation and input measure organizer
RhythmDriverBiLinear r6(NDIM=4, RELATIVE_TO_DOF=2) =
{
RhythmCoefficients = {0.0001, 1, 1, 0.0001};
RhythmCoefficientsNegative = {0.0001, 0.0001, 1, 1};
TransitionInterval = 0.1;
Measures.Input = {
AnyKinMeasureOrg ZRot = {
AnyKinMeasure& jg = Main.Model.j_ground;
AnyKinMeasure& j1 = Main.Model.j1;
AnyKinMeasure& j2 = Main.Model.j2;
AnyKinMeasure& j3 = Main.Model.j3;
};
MeasureOrganizer = {2,5,8,11};
};
};
};
AnyKinStudy study1 = {
tEnd=1;
nStep=50;
AnyFolder& Model = Main.Model;
AnyFolder& Rhythm = Main.Rhythms.r1;
};
AnyKinStudy study2 = {
tEnd=1;
nStep=50;
AnyFolder& Model = Main.Model;
AnyFolder& Rhythm = Main.Rhythms.r2;
};
AnyKinStudy study3 = {
tEnd=1;
nStep=50;
AnyFolder& Model = Main.Model;
AnyFolder& Rhythm = Main.Rhythms.r3;
};
AnyKinStudy study4 = {
tEnd=1;
nStep=50;
AnyFolder& Model = Main.Model;
AnyFolder& Rhythm = Main.Rhythms.r4;
};
AnyKinStudy study5 = {
tEnd=1;
nStep=50;
AnyFolder& Model = Main.Model;
AnyFolder& Rhythm = Main.Rhythms.r5;
};
AnyKinStudy study6 = {
tEnd=1;
nStep=50;
AnyFolder& Model = Main.Model;
AnyFolder& Rhythm = Main.Rhythms.r6;
};
AnyFolder Model = {
AnyFixedRefFrame Ground = {
viewRefFrame.Visible=On;
};
AnyKinMotion EndDriver = {
AnyKinMeasureOrg ref = {
AnyKinMeasure& ref = Main.Model.Measures.EndMeasure;
MeasureOrganizer = {2};
};
DriverPos0 = {-1};
DriverVel0 = {2};
};
AnySeg s1 = {
r0 = 1*{3,0,0}-{1.5,0,0};
viewInertia.Visible=On;
Mass = 2;
Jii = {0.05, 1, 1};
AnyRefNode n1 = {sRel={-1.5,0,0};viewRefFrame.Visible=On;};
AnyRefNode n2 = {sRel={1.5,0,0};viewRefFrame.Visible=On;};
};
AnySeg s2 = {
r0 = 2*{3,0,0}-{1.5,0,0};
viewInertia.Visible=On;
Mass = 2;
Jii = {0.05, 1, 1};
AnyRefNode n1 = {sRel={-1.5,0,0};viewRefFrame.Visible=On;};
AnyRefNode n2 = {sRel={1.5,0,0};viewRefFrame.Visible=On;};
};
AnySeg s3 = {
r0 = 3*{3,0,0}-{1.5,0,0};
viewInertia.Visible=On;
Mass = 2;
Jii = {0.05, 1, 1};
AnyRefNode n1 = {sRel={-1.5,0,0};viewRefFrame.Visible=On;};
AnyRefNode n2 = {sRel={1.5,0,0};viewRefFrame.Visible=On;};
};
AnySeg s4 = {
r0 = 4*{3,0,0}-{1.5,0,0};
viewInertia.Visible=On;
Mass = 2;
Jii = {0.05, 1, 1};
AnyRefNode n1 = {sRel={-1.5,0,0};viewRefFrame.Visible=On;};
AnyRefNode n2 = {sRel={1.5,0,0};viewRefFrame.Visible=On;};
};
AnySphericalJoint j_ground ={
viewJoint.Visible= On;
AnyRefFrame& r1 = .Ground;
AnyRefFrame& r2 = .s1.n1;
Orientation.Axis1 = .Measures.EndMeasure.Axis1;
Orientation.Axis2 = .Measures.EndMeasure.Axis2;
Orientation.Axis3 = .Measures.EndMeasure.Axis3;
Orientation.Type = .Measures.EndMeasure.Type;
};
AnySphericalJoint j1 ={
viewJoint.Visible= On;
AnyRefFrame& r1 = .s1.n2;
AnyRefFrame& r2 = .s2.n1;
Orientation.Axis1 = .Measures.EndMeasure.Axis1;
Orientation.Axis2 = .Measures.EndMeasure.Axis2;
Orientation.Axis3 = .Measures.EndMeasure.Axis3;
Orientation.Type = .Measures.EndMeasure.Type;
};
AnySphericalJoint j2 ={
viewJoint.Visible= On;
AnyRefFrame& r1 = .s2.n2;
AnyRefFrame& r2 = .s3.n1;
Orientation.Axis1 = .Measures.EndMeasure.Axis1;
Orientation.Axis2 = .Measures.EndMeasure.Axis2;
Orientation.Axis3 = .Measures.EndMeasure.Axis3;
Orientation.Type = .Measures.EndMeasure.Type;
};
AnySphericalJoint j3 ={
viewJoint.Visible= On;
AnyRefFrame& r1 = .s3.n2;
AnyRefFrame& r2 = .s4.n1;
Orientation.Axis1 = .Measures.EndMeasure.Axis1;
Orientation.Axis2 = .Measures.EndMeasure.Axis2;
Orientation.Axis3 = .Measures.EndMeasure.Axis3;
Orientation.Type = .Measures.EndMeasure.Type;
};
AnyFolder Measures = {
AnyKinRotational EndMeasure = {
AnyRefFrame& r1 = ..Ground;
AnyRefFrame& r2 = ..s4.n2;
// Axis1 =x;
// Axis2 =y;
// Axis3= z;
// Type = RotAxesAngles;
Type=RotVector;
};
AnyKinMeasureOrg yrot = {
AnyKinMeasureOrg joints = {
AnyKinMeasure& jg = ...j_ground;
AnyKinMeasure& j1 = ...j1;
AnyKinMeasure& j2 = ...j2;
AnyKinMeasure& j3 = ...j3;
};
MeasureOrganizer = {1,4,7,10};
};
AnyKinMeasureOrg xrot = {
AnyKinMeasureOrg joints = {
AnyKinMeasure& jg = ...j_ground;
AnyKinMeasure& j1 = ...j1;
AnyKinMeasure& j2 = ...j2;
AnyKinMeasure& j3 = ...j3;
};
MeasureOrganizer = {0,3,6,9};
};
AnyKinMeasureOrg zrot = {
AnyKinMeasureOrg joints = {
AnyKinMeasure& jg = ...j_ground;
AnyKinMeasure& j1 = ...j1;
AnyKinMeasure& j2 = ...j2;
AnyKinMeasure& j3 = ...j3;
};
MeasureOrganizer = {2,5,8,11};
};
};
AnyKinEq FixYRot = {
AnyKinMeasureOrg& ref = .Measures.yrot;
};
AnyKinEq FixXRot = {
AnyKinMeasureOrg& ref = .Measures.xrot;
};
// AnyKinEq FixZRot = {
// AnyKinMeasureOrg& ref = .Measures.zrot;
// };
};
};
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