Model to implement 6-DOF dynamics. More...

#include <SixDOFDynamicsModel.h>

Inheritance diagram for modelspace::SixDOFDynamicsModel:

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Collaboration diagram for modelspace::SixDOFDynamicsModel:

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Classes
struct	Inputs
	Model inputs NAME TYPE DEFAULT VALUE. More...

struct	Outputs
	Model outputs NAME TYPE DEFAULT VALUE. More...

struct	Params
	Model params NAME TYPE DEFAULT VALUE. More...

Public Member Functions
	SixDOFDynamicsModel (clockwerk::Task &pnt, int schedule_slot=-2, const std::string &m_name="six_dof_dynamics")
	Model-specific implementations of startup and derivative Must be scheduled manually to derivative.

	SixDOFDynamicsModel (clockwerk::Executive &e, int schedule_slot=-2, const std::string &m_name="six_dof_dynamics")

void	reset ()
	Function to reset our integrator for next step.

int	startup ()
	Function to perform startup activities (step once at start after creation). Should not be modified in derived task.

virtual int	step ()
	Function to step the task. This will be called every step.

virtual int	activate ()
	Function to activate the task.

virtual int	deactivate ()
	Function to deactivate the task.

void	recordTiming ()
	Function to command this task to record timing information.

void	logLevel (log_level_e new_level)
	Function to set the local model log level.

GraphTreeObject *	parent ()
	Functions to get object's parent/children.

int	parent (GraphTreeObject *new_parent)
	Function to assign the node's parent via pointer.

int	parent (GraphTreeObject &new_parent)
	Function to assign the node's parent via reference.

std::vector< GraphTreeObject * > &	children ()

unsigned int	nChildren ()
	Getters for number of children and descendants.

unsigned int	nDescendants ()

std::string	name () const
	Getter and setter for object name.

int	name (const std::string &new_name)

int	rank ()
	Getter for the object rank.

virtual int	type ()
	Function to indicate type – -1 by default unless implemented downstream.

bool	loggable ()
	Getter for object logability flag – note no setter because should only be set by this or a derived class in its definition.

std::string	address ()
	Getter for object's string address.

std::vector< std::string >	search (const std::string &address)
	Function to search through the graph tree by string address.

GraphTreeObject *	getByAddress (const std::string &address)
	Function to get an object from the graph tree by string address.

void	dump (bool recursive=false)
	Function to dump the graph node, optionally including descendents.

void	graphNodeInfo ()
	Function to return all info associated with a given graph node.

void	recurseGraphNodeInfo (unsigned int counter)
	Function to recurse through graph tree and print all node info.

virtual int	header (void *logger)
	Function to pass headers for this object to the logger.

virtual std::vector< std::string >	header_info () const

void	findLoggable (std::vector< GraphTreeObject * > &matches)
	Function to find all loggable parameters in this node and its children.

virtual int	log (void *logger)
	Function to log data to a logger.

void	lock (bool recursive=true)
	Function to lock the graph tree object and its children to changes.

void	unlock (bool recursive=true)
	Function to unlock the graph tree and its children for changes.

bool	locked ()
	Function to return whether graph tree object is locked.

Public Attributes
Params	params = Params(this, "params")

Inputs	inputs = Inputs(this, "inputs")

Outputs	outputs = Outputs(this, "outputs")

DataIO< bool >	active = DataIO<bool>(this, "active", true)
	The active flag for the task – set to true by default.

DataIO< int >	schedule_slot = DataIO<int>(this, "schedule_slot", 0)
	The schedule slot this task will step in – set to 0 by default.

DataIO< Time >	entry_time = DataIO<Time>(this, "entry_time", Time())
	Time of entry (per wallClockTimer) of the last step of this task.

DataIO< Time >	exit_time = DataIO<Time>(this, "exit_time", Time())
	Time of exit (per wallClockTimer) of the last step of this task.

Protected Member Functions
int	start ()
	Function to perform task startup activities (step once after creation)

int	execute ()
	Function to execute the task. All math and calculations should be here.

int	_integrateRecursiveForwardEuler (clockwerk::Frame< double > *frame_ptr)
	Function to recursively integrate the frame tree via forward euler.

int	_integrateRecursiveRk4 (clockwerk::Frame< double > *frame_ptr)
	Function to recursively integrate the frame tree via RK4.

int	_recurseRefreshFrameIntegratorSet (clockwerk::Frame< double > *frame_ptr)
	Function to recursively loop through frames and set their integrators.

int	rangeCheck (double min, double max, DataIO< double > signal)
	Overloaded function to check range on a parameter.

int	rangeCheck (float min, float max, DataIO< float > signal)

int	rangeCheck (int min, int max, DataIO< int > signal)

void	recalculateDescendants ()
	Function to recursively re-calculate the number of descendants of a given node on the tree.

void	recalculateRank ()
	Function to recursively re-calculate the rank of a given node on the tree.

std::vector< std::string >	decomposeAddress (std::string address)
	Function to decompose a string into a series of substrings via indexing.

void	findMatches (const std::vector< std::string > &subaddresses, const unsigned int &num_subaddresses, unsigned int index, bool match_found, std::vector< GraphTreeObject * > &matches)
	Function to find all addresses mathcing the set of substrings @parem subaddresses A vector of subaddresses to match.

std::vector< GraphTreeObject * >	searchNodes (const std::string &address)
	Function to search through the graph tree by string address.

int	addChild (GraphTreeObject *child)
	Function to add a child to the graph tree object.

int	removeChild (GraphTreeObject *child)
	Function to remove a child from the graph node's children.

Protected Attributes
unsigned int	_integrator_step_num = 0
	Variables to track integrator type and steps.

unsigned int	_integrator_steps_per_step = 0

std::list< clockwerk::ForwardEulerIntegrator< double, 13 > >	_fe_integrators
	Vectors of integrators – allows for dynamic integrator numbers.

std::list< clockwerk::RK4Integrator< double, 13 > >	_rk4_integrators

clockwerk::RK4Integrator< double, 13 > *	_rk4_ptr

clockwerk::ForwardEulerIntegrator< double, 13 > *	_fe_ptr

clockwerk::FrameDynamics< double >	_frame_dynamics
	Our dynamics model for frames.

std::array< double, 13 >	_tmp_state
	Temporary variables to hold state output from integrator and frame children for recursion.

std::vector< GraphTreeObject * >	_frame_children

clockwerk::Time	_half_step_size
	Temporary variable for time calculation in RK4.

log_level_e	_local_log_level = NONE
	Our local log level – allows a higher log level locally than the overall system.

int	_error = 0
	Simple variable to track error in task.

bool	_record_timing = false
	Variable to enable or disable timing.

Executive *	exc = nullptr
	Pointer to the executive object.

GraphTreeObject *	_parent = nullptr
	Pointer to the object's parent – should be null if the object is the root. Is set to null by default.

std::vector< GraphTreeObject * >	_children
	Pointers to the object's children – automatically set to an empty vector, and can be increased to any size.

std::string	_name = DEFAULT_NAME
	String name for object.

uint16_t	_num_descendants = 0
	Total number of descendants (includes children of children) of the tree, again not including the tree itself.

uint8_t	_num_children = 0
	Number of direct children of the tree (not including the tree itself)

uint8_t	_rank = 0
	Rank for how far down on the graph tree the object is – starts at zero and maxes out at 256 via variable size.

uint8_t	_graph_tree_type = BASE_GRAPH_TREE
	Variable to store graph tree object type.

bool	_locked = false
	Variable to lock the graph tree object and prevent structural updates.

bool	_loggable = false
	Variable to indicate whether the selected object is loggable. Set to false by default.

Detailed Description

Model to implement 6-DOF dynamics.

This file defines the dynamics used for 6-DOF simulation.

It inherits from the classical model architecture, but is designed to execute in a manner that propagates dynamics forward in time.

Tasks executed and order of operations: Start step: Nothing Derivative:

Ensures frames are up to date by evaluating current state
Articulates forces and moments applied at nodes through the kinematics chain to the appropriate bodies
Determines frame motion on the basis of applied forces/moments
Integrates/updates frame states on the basis of kinematics – note the critical difference in model scheme here – this model updates frame states in derivative, and therefore must run at the end of the model order after forces and moments have been calculated. It cannot be used as a standard model End step: Nothing

Key restrictions

Must run at the end of model chain
Must be one, and only one, instance of this model for every simulation instance that uses 6-DOF frame dynamics

Member Function Documentation

◆ _integrateRecursiveForwardEuler()

int modelspace::SixDOFDynamicsModel::_integrateRecursiveForwardEuler ( clockwerk::Frame< double > * frame_ptr )

protected

Function to recursively integrate the frame tree via forward euler.

Parameters

frame_ptr Pointer to the root frame

Returns: Error code corresponding to success/failure

◆ _integrateRecursiveRk4()

int modelspace::SixDOFDynamicsModel::_integrateRecursiveRk4 ( clockwerk::Frame< double > * frame_ptr )

protected

Function to recursively integrate the frame tree via RK4.

Parameters

frame_ptr Pointer to the root frame

Returns: Error code corresponding to success/failure

◆ _recurseRefreshFrameIntegratorSet()

int modelspace::SixDOFDynamicsModel::_recurseRefreshFrameIntegratorSet ( clockwerk::Frame< double > * frame_ptr )

protected

Function to recursively loop through frames and set their integrators.

Returns: Error code corresponding to success/failure

◆ activate()

virtual int clockwerk::Task::activate ( )

inlinevirtualinherited

Function to activate the task.

Returns: Error code corresponding to success/failure

Note: This is an inherited function that should be overwritten in inherited task class, if implemented. If it is not implemented in the inherited class, step() function will do nothing

◆ addChild()

int clockwerk::GraphTreeObject::addChild ( GraphTreeObject * child )

protectedinherited

Function to add a child to the graph tree object.

Parameters

child A pointer to the graph tree object to add to the tree

Returns: An error code corresponding to success/failure

◆ address()

std::string clockwerk::GraphTreeObject::address ( )

inherited

Getter for object's string address.

Returns: Returns the string address for the object

◆ deactivate()

virtual int clockwerk::Task::deactivate ( )

inlinevirtualinherited

Function to deactivate the task.

Returns: Error code corresponding to success/failure

Note: This is an inherited function that should be overwritten in inherited task class, if implemented. If it is not implemented in the inherited class, step() function will do nothing

◆ decomposeAddress()

std::vector< std::string > clockwerk::GraphTreeObject::decomposeAddress ( std::string address )

protectedinherited

Function to decompose a string into a series of substrings via indexing.

Parameters

address The address to be decomposed

Returns: A vector of strings containing each delimeter-separated substring

◆ dump()

void clockwerk::GraphTreeObject::dump ( bool recursive = false )

inherited

Function to dump the graph node, optionally including descendents.

Parameters

recursive Parameter indicating whether to dump only one node (default/false) or the entire tree (true)

Note: Recursive dumps the whole tree... be careful what you wish for

◆ execute()

int modelspace::SixDOFDynamicsModel::execute ( )

protectedvirtual

Function to execute the task. All math and calculations should be here.

Returns: Error code corresponding to success/failure

Note: This is an inherited function that should be overwritten in inherited task class, if implemented. If it is not implemented in the inherited class, it will do nothing.

Reimplemented from clockwerk::Task.

◆ findLoggable()

void clockwerk::GraphTreeObject::findLoggable ( std::vector< GraphTreeObject * > & matches )

inherited

Function to find all loggable parameters in this node and its children.

Parameters

matches Expandable vector to hold all matches in the tree

◆ findMatches()

void clockwerk::GraphTreeObject::findMatches	(	const std::vector< std::string > &	subaddresses,
		const unsigned int &	num_subaddresses,
		unsigned int	index,
		bool	match_found,
		std::vector< GraphTreeObject * > &	matches
	)

protectedinherited

Function to find all addresses mathcing the set of substrings @parem subaddresses A vector of subaddresses to match.

Parameters

num_subaddresses	The number of subaddresses to match
index	The index of subaddresses to search in
match_found	Variable indicating whether a match was found higher in the tree
matches	Implicit return of all matches to the specified address

◆ getByAddress()

GraphTreeObject * clockwerk::GraphTreeObject::getByAddress ( const std::string & address )

inherited

Function to get an object from the graph tree by string address.

Parameters

address The exact string address to access the variable with

Returns: Pointer to the graph tree object at the address, or nullptr if address is not valid or returns

◆ header()

virtual int clockwerk::GraphTreeObject::header ( void * logger )

inlinevirtualinherited

Function to pass headers for this object to the logger.

Parameters

logger Pointer to logger

Returns: Error code corresponding to success/failure

◆ header_info()

virtual std::vector< std::string > clockwerk::GraphTreeObject::header_info ( ) const

inlinevirtualinherited

Reimplemented in clockwerk::Time.

◆ lock()

void clockwerk::GraphTreeObject::lock ( bool recursive = true )

inherited

Function to lock the graph tree object and its children to changes.

Parameters

recursive Flag to indicate whether lock should be recursive

◆ log()

virtual int clockwerk::GraphTreeObject::log ( void * logger )

inlinevirtualinherited

Function to log data to a logger.

Parameters

logger Pointer to logger

Returns: Error code corresponding to success/failure

◆ logLevel()

void clockwerk::Task::logLevel ( log_level_e new_level )

inlineinherited

Function to set the local model log level.

Parameters

new_level The new level to set logging to

◆ parent() [1/2]

int clockwerk::GraphTreeObject::parent ( GraphTreeObject & new_parent )

inherited

Function to assign the node's parent via reference.

Parameters

new_parent The new parent to assign the node to

Returns: Error code corresponding to success/failure

Note: This function is the only method to ADD or REMOVE a node from a tree. To add, pass the address to a GraphTreeObject to this function. To remove, pass a nullptr. Note that parents for objects on an existing tree can be reassigned

◆ parent() [2/2]

int clockwerk::GraphTreeObject::parent ( GraphTreeObject * new_parent )

inherited

Function to assign the node's parent via pointer.

Parameters

new_parent The new parent to assign the node to

Returns: Error code corresponding to success/failure

Note: This function is the only method to ADD or REMOVE a node from a tree. To add, pass the address to a GraphTreeObject to this function. To remove, pass a nullptr. Note that parents for objects on an existing tree can be reassigned

◆ rangeCheck()

int clockwerk::Task::rangeCheck	(	double	min,
		double	max,
		DataIO< double >	signal
	)

protectedinherited

Overloaded function to check range on a parameter.

General utility functions for models

Parameters

min	The minimum acceptable value
max	The maximum acceptable value
signal	The signal to be evaluated

Returns: Error code corresponding to value validity

◆ recurseGraphNodeInfo()

void clockwerk::GraphTreeObject::recurseGraphNodeInfo ( unsigned int counter )

inherited

Function to recurse through graph tree and print all node info.

Returns: String containing all recursive graph node information in tab cascade format

◆ removeChild()

int clockwerk::GraphTreeObject::removeChild ( GraphTreeObject * child )

protectedinherited

Function to remove a child from the graph node's children.

Parameters

child The child to remove

Returns: Success/fail error code based on whether the child is present

◆ search()

std::vector< std::string > clockwerk::GraphTreeObject::search ( const std::string & address )

inherited

Function to search through the graph tree by string address.

Parameters

address `The address or address chunk to search for

Returns: A vector of string addresses meeting the criteria specified by address

◆ searchNodes()

std::vector< GraphTreeObject * > clockwerk::GraphTreeObject::searchNodes ( const std::string & address )

protectedinherited

Function to search through the graph tree by string address.

Parameters

address `The address or address chunk to search for

Returns: A vector of objects addresses meeting the criteria specified by address

◆ start()

int modelspace::SixDOFDynamicsModel::start ( )

protectedvirtual

Function to perform task startup activities (step once after creation)

Returns: Error code corresponding to success/failure

Note: This is an inherited function that should be overwritten in inherited task class, if implemented. If it is not implemented in the inherited class, it will do nothing.

Reimplemented from clockwerk::Task.

◆ startup()

int clockwerk::Task::startup ( )

inherited

Function to perform startup activities (step once at start after creation). Should not be modified in derived task.

Returns: Error code corresponding to success/failure

Note: This is the master task function, which calls start internally and performs other tasks before and after

◆ step()

int clockwerk::Task::step ( )

virtualinherited

Function to step the task. This will be called every step.

Returns: Error code corresponding to success/failure

Note: Inherited in derived monitor/event for special cases but should not be implemented directly in inherited classes

Reimplemented in clockwerk::Monitor, and clockwerk::Event.

◆ type()

virtual int clockwerk::GraphTreeObject::type ( )

inlinevirtualinherited

Function to indicate type – -1 by default unless implemented downstream.

Returns: Int indicating frame type – unimplemented always -1

◆ unlock()

void clockwerk::GraphTreeObject::unlock ( bool recursive = true )

inherited

Function to unlock the graph tree and its children for changes.

Parameters

recursive Flag to indicate whether unlock should be recursive

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

/home/mickey/modelspace/cpp/src/models/support/SixDOFDynamicsModel.h
/home/mickey/modelspace/cpp/src/models/support/SixDOFDynamicsModel.cpp

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ _integrateRecursiveForwardEuler()

◆ _integrateRecursiveRk4()

◆ _recurseRefreshFrameIntegratorSet()

◆ activate()

◆ addChild()

◆ address()

◆ deactivate()

◆ decomposeAddress()

◆ dump()

◆ execute()

◆ findLoggable()

◆ findMatches()

◆ getByAddress()

◆ header()

◆ header_info()

◆ lock()

◆ log()

◆ logLevel()

◆ parent() [1/2]

◆ parent() [2/2]

◆ rangeCheck()

General utility functions for models

◆ recurseGraphNodeInfo()

◆ removeChild()

◆ search()

◆ searchNodes()

◆ start()

◆ startup()

◆ step()

◆ type()

◆ unlock()