FlywheelSimulator class
Contents
Constructors, destructors, conversion operators
- FlywheelSimulator(double imass = 0.01, double ilinkLen = 1, double imuStatic = 0.1, double imuDynamic = 0.9, double itimestep = 0.01) explicit
- A simulator for an inverted pendulum.
- ~FlywheelSimulator() virtual
Public functions
- auto step() -> double
- Step the simulation by the timestep.
- auto step(double itorque) -> double
- Step the simulation by the timestep.
- void setExternalTorqueFunction(std::function<double(double angle, double mass, double linkLength)> itorqueFunc)
- Sets the torque function used to calculate the torque due to external forces.
- void setTorque(double itorque)
- Sets the input torque.
- void setMaxTorque(double imaxTorque)
- Sets the max torque.
- void setAngle(double iangle)
- Sets the current angle.
- void setMass(double imass)
- Sets the mass (kg).
- void setLinkLength(double ilinkLen)
- Sets the link length (m).
- void setStaticFriction(double imuStatic)
- Sets the static friction (N*m).
- void setDynamicFriction(double imuDynamic)
- Sets the dynamic friction (N*m).
- void setTimestep(double itimestep)
- Sets the timestep (sec).
- auto getAngle() const -> double
- Returns the current angle (angle in rad).
- auto getOmega() const -> double
- Returns the current omgea (angular velocity in rad / sec).
- auto getAcceleration() const -> double
- Returns the current acceleration (angular acceleration in rad / sec^2).
- auto getMaxTorque() const -> double
- Returns the maximum torque input.
Protected functions
- auto stepImpl() -> double virtual
Protected variables
- double inputTorque
- double maxTorque
- double angle
- double omega
- double accel
- double mass
- double linkLen
- double muStatic
- double muDynamic
- double timestep
- double I
- std::function<double(double, double, double)> torqueFunc
- const double minTimestep
Function documentation
okapi::
A simulator for an inverted pendulum.
The center of mass of the system changes as the link rotates (by default, you can set a new torque function with setExternalTorqueFunction()).
double okapi::
Step the simulation by the timestep.
| Returns | the current angle |
|---|
double okapi::
Step the simulation by the timestep.
| Parameters | |
|---|---|
| itorque | new input torque |
| Returns | the current angle |
void okapi::
Sets the torque function used to calculate the torque due to external forces.
| Parameters | |
|---|---|
| itorqueFunc | the torque function. The return value is the torque due to external forces |
This torque gets summed with the input torque.
For example, the default torque function has the torque due to gravity vary as the link swings: [](double angle, double mass, double linkLength) { return (linkLength * std::cos(angle)) * (mass * -1 * gravity); }
void okapi::
Sets the input torque.
| Parameters | |
|---|---|
| itorque | new input torque |
The input will be bounded by the max torque.
void okapi::
Sets the max torque.
| Parameters | |
|---|---|
| imaxTorque | new maximum torque |
The input torque cannot exceed this maximum torque.
void okapi::
Sets the current angle.
| Parameters | |
|---|---|
| iangle | new angle |
void okapi::
Sets the link length (m).
| Parameters | |
|---|---|
| ilinkLen | new link length |
void okapi::
Sets the static friction (N*m).
| Parameters | |
|---|---|
| imuStatic | new static friction |
void okapi::
Sets the dynamic friction (N*m).
| Parameters | |
|---|---|
| imuDynamic | new dynamic friction |
void okapi::
Sets the timestep (sec).
| Parameters | |
|---|---|
| itimestep | new timestep |
double okapi::
Returns the current angle (angle in rad).
| Returns | the current angle |
|---|
double okapi::
Returns the current omgea (angular velocity in rad / sec).
| Returns | the current omega |
|---|
double okapi::
Returns the current acceleration (angular acceleration in rad / sec^2).
| Returns | the current acceleration |
|---|
double okapi::
Returns the maximum torque input.
| Returns | the max torque input |
|---|