private static void RunSimulation(
CartDoublePolePhysics physics,
double[] t_series,
double[] x_series,
double[] xv_series,
double[] theta1_series,
double[] theta2_series)
{
double t = 0.0;
// Record initial state.
t_series[0] = t;
x_series[0] = physics.State[0];
xv_series[0] = physics.State[1];
theta1_series[0] = physics.State[2];
theta2_series[0] = physics.State[4];
for (int timestep = 0; timestep < t_series.Length; timestep++, t += physics.Tau)
{
// Update model state.
physics.Update(0.0);
// Record state.
t_series[timestep] = t;
x_series[timestep] = physics.State[0];
xv_series[timestep] = physics.State[1];
theta1_series[timestep] = physics.State[2];
theta2_series[timestep] = physics.State[4];
}
}
/// <summary>
/// Run the simulation.
/// </summary>
public void Run()
{
double t = 0.0;
// Run the simulation for the required number of timesteps, and record state at each timestep.
for (int timestep = 0; timestep < _timesteps; timestep++, t += _tau)
{
// Record state.
_t_series[timestep] = t;
_x_series[timestep] = _cartPolePhysics.State[0];
_xv_series[timestep] = _cartPolePhysics.State[1];
_theta1_series[timestep] = _cartPolePhysics.State[2];
_theta2_series[timestep] = _cartPolePhysics.State[4];
// Update model state.
_cartPolePhysics.Update(0.0);
}
}