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suDecompInteg Class Reference

A class for computing induced reaction forces using the "perturbed integration" methodology. More...

#include <suDecompInteg.h>

Inheritance diagram for suDecompInteg:

List of all members.

Public Member Functions
	suDecompInteg (const rdManager *aManager, const suContact *aContact, const suActuation *aActuation, rdModel *aModelTwin, double aDT=0.0, double aDF=0.0)
	Construct an object for performing a reaction force decomposition analysis.
virtual	~suDecompInteg ()
	Destructor.
void	setIntegrationWindow (double aDT)
	Set the size of the integration window used to approximate the changes in the ground reaction force.
double	getIntegrationWindow () const
	Get the size of the integration window used to approximate the changes in the ground reaction force.
void	setPerturbation (suActuatorPerturbation::PertType aPerturbationType, double aDF)
	Set the force perturbation.
double	getPerturbation () const
	Get the force perturbation.
suActuatorPerturbation::PertType	getPerturbationType () const
	Get the force perturbation type.
void	setPrintWindow (bool aTrueFalse)
	Set wheter to print detailed information concerning the integration window.
bool	getPrintWindow () const
	Get wheter to print detailed information concerning the integration window.
virtual void	compute (double *aXPrev, double *aYPrev, int aStep, double aDT, double aT, double *aX, double *aY)
	Compute the reaction force decomposition based on perturbed integrations.
Protected Attributes
const rdManager *	_managerNom
	Nominal manager.
const suContact *	_contactNom
	Nominal contact analysis.
const suActuation *	_actuationNom
	Nominal actuation analysis.
double	_dt
	Size of the integration time window.
rdManager *	_manager
	Perturbed simulation manager.
suContact *	_contact
	Perturbed contact analysis.
int	_iLast
	Last index at which the perturbed integration was computed.
double *	_y
	Local states array.
double *	_fAct
	Actuator forces.
double *	_pctx
	Local contact points array.
double *	_fctx
	Local contact forces array.
suActuatorPerturbation *	_perturbCallback
	Actuator perturbation callback instance.
bool	_printWindow
	Flag to indicate whether to print detailed integration window information.
Private Member Functions
void	setNull ()
	Set member variables to approprate NULL values.
void	constructManager ()
	Construct a perturbed simulation manager.
void	constructContactAnalysis ()
	Construct a perturbed contact analysis.
void	constructDescription ()
	Construct a description.
void	updateStorageDescriptions ()
	Update storage descriptions.
void	allocate ()
	Allocate memory.

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Detailed Description

A class for computing induced reaction forces using the "perturbed integration" methodology.

Author:

Frank C. Anderson

Version:

1.0

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Constructor & Destructor Documentation

suDecompInteg::suDecompInteg (  const rdManager *  aManager, const suContact *  aContact, const suActuation *  aActuation, rdModel *  aModelTwin, double  aDT = 0.0, double  aDF = 0.0 )

Construct an object for performing a reaction force decomposition analysis. The decomposition is performed using the perturbed integration method. It is critical that a twin or copy of the model used to conduct the nominal simulation be used to construct this decomposition analysis. If the nominal simulation model is used, this analysis may change the trajectory of the simulation because model states and contact setpoints are altered during the analysis. Parameters: aManager  Simulation manager of the nominal simulation. aContact  Contact analysis of the nominal simulation. aModelTwin  Twin of the model used to conduct the nominal simulation. aDT  Perturbed integration time window in real time. aDF  Force perturbation. See also: setIntegrationWindow() setPerturbation()

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Member Function Documentation

double suDecompInteg::getIntegrationWindow (   )  const

Get the size of the integration window used to approximate the changes in the ground reaction force. Returns: Integration window. See also: setIntegrationWindow()

double suDecompInteg::getPerturbation (   )  const

Get the force perturbation. Returns: Force perturbation.

suActuatorPerturbation::PertType suDecompInteg::getPerturbationType (   )  const

Get the force perturbation type. Returns: Force perturbation type.

bool suDecompInteg::getPrintWindow (   )  const

Get wheter to print detailed information concerning the integration window. Returns: True indicates that printing is on; False not.

void suDecompInteg::setIntegrationWindow (  double  aDT  )

Set the size of the integration window used to approximate the changes in the ground reaction force. The integration window must be greater than or equal to zero. If a negative value is sent in, the window is set to 0.0. Parameters: aDT  Integration window- must be zero or positive.

void suDecompInteg::setPerturbation (  suActuatorPerturbation::PertType  aPerturbationType, double  aDF )

Set the force perturbation. Parameters: aDF  Force perturbation.

void suDecompInteg::setPrintWindow (  bool  aTrueFalse  )

Set wheter to print detailed information concerning the integration window. Parameters: aTrueFalse  True indicates to print information; False not.

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The documentation for this class was generated from the following files:

• suDecompInteg.h
• suDecompInteg.cpp

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