#include <SIG_SimulationParameters.h>
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... |
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.
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Definition at line 28 of file SIG_SimulationParameters.h. |
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Definition at line 45 of file SIG_SimulationParameters.h. |
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Definition at line 21 of file SIG_SimulationParameters.h. |
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Definition at line 37 of file SIG_SimulationParameters.h. |
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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. |
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The constructor of the SIG_SimulationParameter class. The SIG_SimulationParameter object is instantiated in the constructor of the SIG_Simulation object.
Definition at line 24 of file SIG_SimulationParameters.cpp. |
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This constructor gets all the data out of the file.
Definition at line 116 of file SIG_SimulationParameters.cpp. |
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Returns if the constraint manager is set to analytical or empirical.
Definition at line 238 of file SIG_SimulationParameters.cpp. |
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Gets the dynamechs integrator.
Definition at line 298 of file SIG_SimulationParameters.cpp. |
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Returns the integrator used by dynamos dyna system.
Definition at line 288 of file SIG_SimulationParameters.cpp. |
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Definition at line 208 of file SIG_SimulationParameters.cpp. |
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Definition at line 198 of file SIG_SimulationParameters.cpp. |
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Definition at line 188 of file SIG_SimulationParameters.cpp. |
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Returns the maximal collision loops used by the constraint manager.
Definition at line 268 of file SIG_SimulationParameters.cpp. |
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Returns the maximal error that is allowed by dynamo.
Definition at line 218 of file SIG_SimulationParameters.cpp. |
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Returns the maximal iterations used by the constraint manager.
Definition at line 248 of file SIG_SimulationParameters.cpp. |
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Gets the amount of SOLID iterations.
Definition at line 318 of file SIG_SimulationParameters.cpp. |
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Returns the random seed used by the simulation.
Definition at line 228 of file SIG_SimulationParameters.cpp. |
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Gets the used simulation library.
Definition at line 308 of file SIG_SimulationParameters.cpp. |
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Returns the amount of frames skipped by the constraint manager.
Definition at line 258 of file SIG_SimulationParameters.cpp. |
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Returns solve Mode of the constraint manager.
Definition at line 278 of file SIG_SimulationParameters.cpp. |
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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(). |
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Returns the amount of real time that the simulator has to simulate.
Definition at line 168 of file SIG_SimulationParameters.cpp. |
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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(). |
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Sets the analytical attribute.
Definition at line 233 of file SIG_SimulationParameters.cpp. |
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Sets the dynamechs integrator to newDynaMechsIntegrator.
Definition at line 293 of file SIG_SimulationParameters.cpp. |
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Sets the integrator attribute.
Definition at line 283 of file SIG_SimulationParameters.cpp. |
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Definition at line 203 of file SIG_SimulationParameters.cpp. |
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Definition at line 193 of file SIG_SimulationParameters.cpp. |
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Definition at line 183 of file SIG_SimulationParameters.cpp. |
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Sets the maximalCollisionLoops attribute.
Definition at line 263 of file SIG_SimulationParameters.cpp. |
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Sets the maximalError attribute.
Definition at line 213 of file SIG_SimulationParameters.cpp. |
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Sets the maximalIterations attribute.
Definition at line 243 of file SIG_SimulationParameters.cpp. |
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Sets the amount of SOLID iterations.
Definition at line 313 of file SIG_SimulationParameters.cpp. |
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Sets the randomSeed attribute.
Definition at line 223 of file SIG_SimulationParameters.cpp. |
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Sets the used simulation library to newSimulationLibrary.
Definition at line 303 of file SIG_SimulationParameters.cpp. |
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Sets the skipFrames attribute.
Definition at line 253 of file SIG_SimulationParameters.cpp. |
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Sets the solveMode attribute.
Definition at line 273 of file SIG_SimulationParameters.cpp. |
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Sets the stepSize attribute.
Definition at line 173 of file SIG_SimulationParameters.cpp. |
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Sets the timeToSimulate attribute.
Definition at line 163 of file SIG_SimulationParameters.cpp. |
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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(). |
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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. |
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The integrator used in DynaMechs.
Definition at line 338 of file SIG_SimulationParameters.h. |
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The integrator for dynamo.
Definition at line 330 of file SIG_SimulationParameters.h. |
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Definition at line 286 of file SIG_SimulationParameters.h. |
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Definition at line 284 of file SIG_SimulationParameters.h. |
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Definition at line 282 of file SIG_SimulationParameters.h. |
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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. |
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The maximal error that is allowed by dynamo.
Definition at line 280 of file SIG_SimulationParameters.h. |
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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. |
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The maximal iterations, the DynaSystem does to avoid collisions.
Definition at line 341 of file SIG_SimulationParameters.h. |
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The random seed used in the simulation.
Definition at line 291 of file SIG_SimulationParameters.h. |
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The library which is used.
Definition at line 333 of file SIG_SimulationParameters.h. |
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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. |
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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. |
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The step size that is used by dynamo for the simulation.
Definition at line 275 of file SIG_SimulationParameters.h. |
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The amount of real time that has to be simulated by the simulator.
Definition at line 270 of file SIG_SimulationParameters.h. |