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SIGEL_Simulation::SIG_SimulationParameters Class Reference

This class holds all technical parameters of interest for a simulation run. More...

#include <SIG_SimulationParameters.h>

List of all members.

Public Types

enum  SimulationLibrary { DynaMo, DynaMechs }
enum  DynaMechsIntegrator { Euler, RungeKutta4, RungeKutta45 }
enum  SolveModeType { smtLUDecomposition, smtConjugateGradient, smtSingleValueDecomposition }
enum  IntegratorType { itEuler, itDoubleEuler, itRungeKutta2, itRungeKutta4 }

Public Methods

 SIG_SimulationParameters ()
 The standard-constructor of the SIG_SimulationParameter class. More...

 SIG_SimulationParameters (QTime timeToSimulate, double stepSize, double maximalError, int maximalIterations, int maximalCollisionLoops, bool analytical, int skipFrames, SolveModeType solveMode, IntegratorType integrator, DynaMechsIntegrator dynaMechsIntegrator, SimulationLibrary simulationLibrary, int maximalSOLIDIterations, int randomSeed = 0 )
 The constructor of the SIG_SimulationParameter class. More...

 SIG_SimulationParameters (QTextStream& file)
 This constructor gets all the data out of the file. More...

void writeToFile (QTextStream& file)
 All the data is written to a file. More...

void readFromFile (QTextStream& file)
 All the data is read from the file. More...

void setTimeToSimulate (QTime newTimeToSimulate)
 Sets the timeToSimulate attribute. More...

QTime getTimeToSimulate () const
 Returns the amount of real time that the simulator has to simulate. More...

void setStepSize (double newStepSize)
 Sets the stepSize attribute. More...

double getStepSize () const
 Returns the step size that that dynamo uses in this simulation run. More...

void setJointLimitsK_spring ( double newValue )
double getJointLimitsK_spring () const
void setJointLimitsB_damper ( double newValue )
double getJointLimitsB_damper () const
void setJointFrictionU_c ( double newValue )
double getJointFrictionU_c () const
void setMaximalError (double newMaximalError)
 Sets the maximalError attribute. More...

double getMaximalError () const
 Returns the maximal error that is allowed by dynamo. More...

void setRandomSeed (int newRandomSeed)
 Sets the randomSeed attribute. More...

int getRandomSeed () const
 Returns the random seed used by the simulation. More...

void setAnalytical (bool newAnalytical)
 Sets the analytical attribute. More...

bool getAnalytical () const
 Returns if the constraint manager is set to analytical or empirical. More...

void setMaximalIterations (int newMaximalIterations)
 Sets the maximalIterations attribute. More...

int getMaximalIterations () const
 Returns the maximal iterations used by the constraint manager. More...

void setSkipFrames (int newSkipFrames)
 Sets the skipFrames attribute. More...

int getSkipFrames () const
 Returns the amount of frames skipped by the constraint manager. More...

void setMaximalCollisionLoops (int newMaximalCollisionLoops)
 Sets the maximalCollisionLoops attribute. More...

int getMaximalCollisionLoops () const
 Returns the maximal collision loops used by the constraint manager. More...

void setSolveMode (SolveModeType newSolveMode)
 Sets the solveMode attribute. More...

SolveModeType getSolveMode () const
 Returns solve Mode of the constraint manager. More...

void setIntegrator (IntegratorType newIntegrator)
 Sets the integrator attribute. More...

IntegratorType getIntegrator () const
 Returns the integrator used by dynamos dyna system. More...

void setDynaMechsIntegrator ( DynaMechsIntegrator newDynaMechsIntegrator )
 Sets the dynamechs integrator to newDynaMechsIntegrator. More...

DynaMechsIntegrator getDynaMechsIntegrator () const
 Gets the dynamechs integrator. More...

void setSimulationLibrary ( SimulationLibrary newSimulationLibrary )
 Sets the used simulation library to newSimulationLibrary. More...

SimulationLibrary getSimulationLibrary () const
 Gets the used simulation library. More...

void setMaximalSOLIDIterations (int newMaximalSOLIDIterations)
 Sets the amount of SOLID iterations. More...

int getMaximalSOLIDIterations () const
 Gets the amount of SOLID iterations. More...


Private Attributes

QTime timeToSimulate
 The amount of real time that has to be simulated by the simulator. More...

double stepSize
 The step size that is used by dynamo for the simulation. More...

double maximalError
 The maximal error that is allowed by dynamo. More...

double jointLimitsK_spring
double jointLimitsB_damper
double jointFrictionU_c
int randomSeed
 The random seed used in the simulation. More...

bool analytical
 The method for the constraints manager,. More...

int maximalIterations
 The maximal iterations for the constraints manager,. More...

int skipFrames
 The amount of skipped frames for the constraints manager,. More...

int maximalCollisionLoops
 The maximal number collision loops for the constraints manager,. More...

SolveModeType solveMode
 The solving mode for the constraints manager. More...

IntegratorType integrator
 The integrator for dynamo. More...

SimulationLibrary simulationLibrary
 The library which is used. More...

DynaMechsIntegrator dynaMechsIntegrator
 The integrator used in DynaMechs. More...

int maximalSOLIDIterations
 The maximal iterations, the DynaSystem does to avoid collisions. More...


Detailed Description

This class holds all technical parameters of interest for a simulation run.

This class is neither encapsulating the input for the simulation (like a robot for example) nor actual simulation parameters (like the actual frame number), but holds technical parameters that determine the quality of the simulation (stepsize and allover simulation time for example).

Definition at line 18 of file SIG_SimulationParameters.h.


Member Enumeration Documentation

enum SIGEL_Simulation::SIG_SimulationParameters::DynaMechsIntegrator
 

Enumeration values:
Euler   use Euler.
RungeKutta4   use Runge Kutta 4.
RungeKutta45   use Runge Kutta 45 (with adaptive stepsize).

Definition at line 28 of file SIG_SimulationParameters.h.

enum SIGEL_Simulation::SIG_SimulationParameters::IntegratorType
 

Enumeration values:
itEuler   use the Euler integrator.
itDoubleEuler   use the DoubleEuler integrator.
itRungeKutta2   use the RungeKutta2 integrator.
itRungeKutta4   use the RungeKutta4 integrator.

Definition at line 45 of file SIG_SimulationParameters.h.

enum SIGEL_Simulation::SIG_SimulationParameters::SimulationLibrary
 

Enumeration values:
DynaMo   use DynaMo.
DynaMechs   use DynaMechs.

Definition at line 21 of file SIG_SimulationParameters.h.

enum SIGEL_Simulation::SIG_SimulationParameters::SolveModeType
 

Enumeration values:
smtLUDecomposition   Solve using LU decomposition (constant framerate).
smtConjugateGradient   Solve using conjugate gradient (very variable framerate, better results, default).
smtSingleValueDecomposition   Solve using single value decomposition (slowest but most stable).

Definition at line 37 of file SIG_SimulationParameters.h.


Constructor & Destructor Documentation

SIGEL_Simulation::SIG_SimulationParameters::SIG_SimulationParameters ( )
 

The standard-constructor of the SIG_SimulationParameter class.

It initializes all attributes to some type-dependendant standard value. Before it makes sense to simulate with these SIG_SimulationParameter object, the right values should be set by the appropriate methods.

Definition at line 5 of file SIG_SimulationParameters.cpp.

SIGEL_Simulation::SIG_SimulationParameters::SIG_SimulationParameters ( QTime timeToSimulate,
double stepSize,
double maximalError,
int maximalIterations,
int maximalCollisionLoops,
bool analytical,
int skipFrames,
SolveModeType solveMode,
IntegratorType integrator,
DynaMechsIntegrator dynaMechsIntegrator,
SimulationLibrary simulationLibrary,
int maximalSOLIDIterations,
int randomSeed = 0 )
 

The constructor of the SIG_SimulationParameter class.

The SIG_SimulationParameter object is instantiated in the constructor of the SIG_Simulation object.

Parameters:
timeToSimulate   Specifies the amount of model time to simulate.
stepSize   The step size that dynamo has to use for the simulation.
maximalError   The value of the maximal error to be allowed by dynamo.
maximalIterations   The maximal Iterations of the constraints manager.
maximalCollisionLoops   The maximal number of collision loops used by the constraints manager.
analytical   The analytical Parameter of the constraints manager.
skipFrames   The numbers of frames skipped by the constraints manager.
solveMode   The Solve Mode used by the constraints manager.
integrator   The Integrator used by Dynamo
randomSeed   The random seed that should be used for the simulation.

Definition at line 24 of file SIG_SimulationParameters.cpp.

SIGEL_Simulation::SIG_SimulationParameters::SIG_SimulationParameters ( QTextStream & file )
 

This constructor gets all the data out of the file.

Definition at line 116 of file SIG_SimulationParameters.cpp.


Member Function Documentation

bool SIGEL_Simulation::SIG_SimulationParameters::getAnalytical ( ) const
 

Returns if the constraint manager is set to analytical or empirical.

Returns:
the analytical attribute.

Definition at line 238 of file SIG_SimulationParameters.cpp.

SIGEL_Simulation::SIG_SimulationParameters::DynaMechsIntegrator SIGEL_Simulation::SIG_SimulationParameters::getDynaMechsIntegrator ( ) const
 

Gets the dynamechs integrator.

Returns:
The integrator to be used by dynaMechs.

Definition at line 298 of file SIG_SimulationParameters.cpp.

SIGEL_Simulation::SIG_SimulationParameters::IntegratorType SIGEL_Simulation::SIG_SimulationParameters::getIntegrator ( ) const
 

Returns the integrator used by dynamos dyna system.

Returns:
the integrator attribute.

Definition at line 288 of file SIG_SimulationParameters.cpp.

double SIGEL_Simulation::SIG_SimulationParameters::getJointFrictionU_c ( ) const
 

Definition at line 208 of file SIG_SimulationParameters.cpp.

double SIGEL_Simulation::SIG_SimulationParameters::getJointLimitsB_damper ( ) const
 

Definition at line 198 of file SIG_SimulationParameters.cpp.

double SIGEL_Simulation::SIG_SimulationParameters::getJointLimitsK_spring ( ) const
 

Definition at line 188 of file SIG_SimulationParameters.cpp.

int SIGEL_Simulation::SIG_SimulationParameters::getMaximalCollisionLoops ( ) const
 

Returns the maximal collision loops used by the constraint manager.

Returns:
the maximalCollisionLoops attribute.

Definition at line 268 of file SIG_SimulationParameters.cpp.

double SIGEL_Simulation::SIG_SimulationParameters::getMaximalError ( ) const
 

Returns the maximal error that is allowed by dynamo.

Returns:
The maximal error used by dynamo.

Definition at line 218 of file SIG_SimulationParameters.cpp.

int SIGEL_Simulation::SIG_SimulationParameters::getMaximalIterations ( ) const
 

Returns the maximal iterations used by the constraint manager.

Returns:
the maximalIterations attribute.

Definition at line 248 of file SIG_SimulationParameters.cpp.

int SIGEL_Simulation::SIG_SimulationParameters::getMaximalSOLIDIterations ( ) const
 

Gets the amount of SOLID iterations.

Returns:
is the number of iteration the DynaSystem tries to avoid collisions

Definition at line 318 of file SIG_SimulationParameters.cpp.

int SIGEL_Simulation::SIG_SimulationParameters::getRandomSeed ( ) const
 

Returns the random seed used by the simulation.

Returns:
The random seed used by the simulation.

Definition at line 228 of file SIG_SimulationParameters.cpp.

SIGEL_Simulation::SIG_SimulationParameters::SimulationLibrary SIGEL_Simulation::SIG_SimulationParameters::getSimulationLibrary ( ) const
 

Gets the used simulation library.

Parameters:
simulationLibrary   The simulation library to use.

Definition at line 308 of file SIG_SimulationParameters.cpp.

int SIGEL_Simulation::SIG_SimulationParameters::getSkipFrames ( ) const
 

Returns the amount of frames skipped by the constraint manager.

Returns:
the skipFrames attribute.

Definition at line 258 of file SIG_SimulationParameters.cpp.

SIGEL_Simulation::SIG_SimulationParameters::SolveModeType SIGEL_Simulation::SIG_SimulationParameters::getSolveMode ( ) const
 

Returns solve Mode of the constraint manager.

Returns:
the solveMode attribute.

Definition at line 278 of file SIG_SimulationParameters.cpp.

double SIGEL_Simulation::SIG_SimulationParameters::getStepSize ( ) const
 

Returns the step size that that dynamo uses in this simulation run.

Returns:
The step size that that dynamo uses in this simulation run.

Definition at line 178 of file SIG_SimulationParameters.cpp.

Referenced by SIGEL_Visualisation::SIG_SimulationVisualisation::SIG_SimulationVisualisation(), and SIG_SimulationVisualisationWidget::visualizeThis().

QTime SIGEL_Simulation::SIG_SimulationParameters::getTimeToSimulate ( ) const
 

Returns the amount of real time that the simulator has to simulate.

Returns:
The real time that the simulator has to simulate.

Definition at line 168 of file SIG_SimulationParameters.cpp.

void SIGEL_Simulation::SIG_SimulationParameters::readFromFile ( QTextStream & file )
 

All the data is read from the file.

Definition at line 52 of file SIG_SimulationParameters.cpp.

Referenced by SIG_SimulationParameters(), and SIGEL_GP::SIG_GPExperiment::loadExperiment().

void SIGEL_Simulation::SIG_SimulationParameters::setAnalytical ( bool newAnalytical )
 

Sets the analytical attribute.

Parameters:
newAnalytical   sets the constraint manager to analytical or empirical.

Definition at line 233 of file SIG_SimulationParameters.cpp.

void SIGEL_Simulation::SIG_SimulationParameters::setDynaMechsIntegrator ( DynaMechsIntegrator newDynaMechsIntegrator )
 

Sets the dynamechs integrator to newDynaMechsIntegrator.

Parameters:
newDynaMechsIntegrator   The integrator to be used by dynaMechs.

Definition at line 293 of file SIG_SimulationParameters.cpp.

void SIGEL_Simulation::SIG_SimulationParameters::setIntegrator ( IntegratorType newIntegrator )
 

Sets the integrator attribute.

Parameters:
newIntegrator   the integrator used by dynamos dyna system.

Definition at line 283 of file SIG_SimulationParameters.cpp.

void SIGEL_Simulation::SIG_SimulationParameters::setJointFrictionU_c ( double newValue )
 

Definition at line 203 of file SIG_SimulationParameters.cpp.

void SIGEL_Simulation::SIG_SimulationParameters::setJointLimitsB_damper ( double newValue )
 

Definition at line 193 of file SIG_SimulationParameters.cpp.

void SIGEL_Simulation::SIG_SimulationParameters::setJointLimitsK_spring ( double newValue )
 

Definition at line 183 of file SIG_SimulationParameters.cpp.

void SIGEL_Simulation::SIG_SimulationParameters::setMaximalCollisionLoops ( int newMaximalCollisionLoops )
 

Sets the maximalCollisionLoops attribute.

Parameters:
newMaximalCollisionLoops   the amount of collision loops used by the constraint manager.

Definition at line 263 of file SIG_SimulationParameters.cpp.

void SIGEL_Simulation::SIG_SimulationParameters::setMaximalError ( double newMaximalError )
 

Sets the maximalError attribute.

Parameters:
newMaximalError   The new maximal error.

Definition at line 213 of file SIG_SimulationParameters.cpp.

void SIGEL_Simulation::SIG_SimulationParameters::setMaximalIterations ( int newMaximalIterations )
 

Sets the maximalIterations attribute.

Parameters:
newMaximalIterations   The maximal Iterations used by the constraint manager.

Definition at line 243 of file SIG_SimulationParameters.cpp.

void SIGEL_Simulation::SIG_SimulationParameters::setMaximalSOLIDIterations ( int newMaximalSOLIDIterations )
 

Sets the amount of SOLID iterations.

Parameters:
newMaximalSOLIDIterations   is the number of iteration the DynaSystem tries to avoid collisions

Definition at line 313 of file SIG_SimulationParameters.cpp.

void SIGEL_Simulation::SIG_SimulationParameters::setRandomSeed ( int newRandomSeed )
 

Sets the randomSeed attribute.

Parameters:
newRandomSeed   The random seed.

Definition at line 223 of file SIG_SimulationParameters.cpp.

void SIGEL_Simulation::SIG_SimulationParameters::setSimulationLibrary ( SimulationLibrary newSimulationLibrary )
 

Sets the used simulation library to newSimulationLibrary.

Parameters:
newSimulationLibrary   The simulation library to use.

Definition at line 303 of file SIG_SimulationParameters.cpp.

void SIGEL_Simulation::SIG_SimulationParameters::setSkipFrames ( int newSkipFrames )
 

Sets the skipFrames attribute.

Parameters:
newSkipFrames   The amount of frames the constraint manager skips.

Definition at line 253 of file SIG_SimulationParameters.cpp.

void SIGEL_Simulation::SIG_SimulationParameters::setSolveMode ( SolveModeType newSolveMode )
 

Sets the solveMode attribute.

Parameters:
newSolveMode   this sets the solve mode of the constraint manager.

Definition at line 273 of file SIG_SimulationParameters.cpp.

void SIGEL_Simulation::SIG_SimulationParameters::setStepSize ( double newStepSize )
 

Sets the stepSize attribute.

Parameters:
newStepSize   The new step size.

Definition at line 173 of file SIG_SimulationParameters.cpp.

void SIGEL_Simulation::SIG_SimulationParameters::setTimeToSimulate ( QTime newTimeToSimulate )
 

Sets the timeToSimulate attribute.

Parameters:
newTimeToSimulate   The new time to simulate.

Definition at line 163 of file SIG_SimulationParameters.cpp.

void SIGEL_Simulation::SIG_SimulationParameters::writeToFile ( QTextStream & file )
 

All the data is written to a file.

Definition at line 121 of file SIG_SimulationParameters.cpp.

Referenced by SIGEL_GP::SIG_GPExperiment::saveExperiment(), and SIGEL_GP::SIG_GPPVMData::savePVMDataTransfer().


Member Data Documentation

bool SIGEL_Simulation::SIG_SimulationParameters::analytical [private]
 

The method for the constraints manager,.

true = analytical (fast, default)

false = empirical (slow)

(additional information is in the dynamo documentation under constraint_manager)

Definition at line 301 of file SIG_SimulationParameters.h.

DynaMechsIntegrator SIGEL_Simulation::SIG_SimulationParameters::dynaMechsIntegrator [private]
 

The integrator used in DynaMechs.

Definition at line 338 of file SIG_SimulationParameters.h.

IntegratorType SIGEL_Simulation::SIG_SimulationParameters::integrator [private]
 

The integrator for dynamo.

Definition at line 330 of file SIG_SimulationParameters.h.

double SIGEL_Simulation::SIG_SimulationParameters::jointFrictionU_c [private]
 

Definition at line 286 of file SIG_SimulationParameters.h.

double SIGEL_Simulation::SIG_SimulationParameters::jointLimitsB_damper [private]
 

Definition at line 284 of file SIG_SimulationParameters.h.

double SIGEL_Simulation::SIG_SimulationParameters::jointLimitsK_spring [private]
 

Definition at line 282 of file SIG_SimulationParameters.h.

int SIGEL_Simulation::SIG_SimulationParameters::maximalCollisionLoops [private]
 

The maximal number collision loops for the constraints manager,.

true means analytical, false empirical (additional information is in the dynamo documentation under constraint_manager)

Definition at line 321 of file SIG_SimulationParameters.h.

double SIGEL_Simulation::SIG_SimulationParameters::maximalError [private]
 

The maximal error that is allowed by dynamo.

Definition at line 280 of file SIG_SimulationParameters.h.

int SIGEL_Simulation::SIG_SimulationParameters::maximalIterations [private]
 

The maximal iterations for the constraints manager,.

true means analytical, false empirical (additional information is in the dynamo documentation under constraint_manager)

Definition at line 308 of file SIG_SimulationParameters.h.

int SIGEL_Simulation::SIG_SimulationParameters::maximalSOLIDIterations [private]
 

The maximal iterations, the DynaSystem does to avoid collisions.

Definition at line 341 of file SIG_SimulationParameters.h.

int SIGEL_Simulation::SIG_SimulationParameters::randomSeed [private]
 

The random seed used in the simulation.

Definition at line 291 of file SIG_SimulationParameters.h.

SimulationLibrary SIGEL_Simulation::SIG_SimulationParameters::simulationLibrary [private]
 

The library which is used.

Definition at line 333 of file SIG_SimulationParameters.h.

int SIGEL_Simulation::SIG_SimulationParameters::skipFrames [private]
 

The amount of skipped frames for the constraints manager,.

(additional information is in the dynamo documentation under constraint_manager)

Definition at line 314 of file SIG_SimulationParameters.h.

SolveModeType SIGEL_Simulation::SIG_SimulationParameters::solveMode [private]
 

The solving mode for the constraints manager.

(additional information is in the dynamo documentation under constraint_manager)

Definition at line 327 of file SIG_SimulationParameters.h.

double SIGEL_Simulation::SIG_SimulationParameters::stepSize [private]
 

The step size that is used by dynamo for the simulation.

Definition at line 275 of file SIG_SimulationParameters.h.

QTime SIGEL_Simulation::SIG_SimulationParameters::timeToSimulate [private]
 

The amount of real time that has to be simulated by the simulator.

Definition at line 270 of file SIG_SimulationParameters.h.


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