/// Updates motion laws, etc. for the impose rotation / impose speed modes
public override void UpdateTime(double mytime)
{
// First, inherit to parent class
base.UpdateTime(mytime);
if (!IsActive())
{
return;
}
// DEFAULTS compute rotation vars...
// by default for torque control..
motion_axis = ChVector.VECT_Z; // motion axis is always the marker2 Z axis (in m2 relative coords)
mot_rot = relAngle;
mot_rot_dt = ChVector.Vdot(relWvel, motion_axis);
mot_rot_dtdt = ChVector.Vdot(relWacc, motion_axis);
mot_rerot = mot_rot / mot_tau;
mot_rerot_dt = mot_rot_dt / mot_tau;
mot_rerot_dtdt = mot_rot_dtdt / mot_tau;
// nothing more to do here for torque control
if (eng_mode == eCh_eng_mode.ENG_MODE_TORQUE)
{
return;
}
// If LEARN MODE, just record motion
if (learn)
{
deltaC.pos = ChVector.VNULL;
deltaC_dt.pos = ChVector.VNULL;
deltaC_dtdt.pos = ChVector.VNULL;
if (!(limit_Rx.Get_active() || limit_Ry.Get_active() || limit_Rz.Get_active()))
{
deltaC.rot = ChQuaternion.QUNIT;
deltaC_dt.rot = ChQuaternion.QNULL;
deltaC_dtdt.rot = ChQuaternion.QNULL;
}
if (eng_mode == eCh_eng_mode.ENG_MODE_ROTATION)
{
if (rot_funct.Get_Type() != ChFunction.FunctionType.FUNCT_RECORDER)
{
rot_funct = new ChFunction_Recorder();
}
// record point
double rec_rot = relAngle; // ***TO DO*** compute also rotations with cardano mode?
if (impose_reducer)
{
rec_rot = rec_rot / mot_tau;
}
ChFunction_Recorder rec = (ChFunction_Recorder)rot_funct;
rec.AddPoint(mytime, rec_rot, 1); // x=t
}
if (eng_mode == eCh_eng_mode.ENG_MODE_SPEED)
{
if (spe_funct.Get_Type() != ChFunction.FunctionType.FUNCT_RECORDER)
{
spe_funct = new ChFunction_Recorder();
}
// record point
double rec_spe = ChVector.Vlength(relWvel); // ***TO DO*** compute also with cardano mode?
if (impose_reducer)
{
rec_spe = rec_spe / mot_tau;
}
ChFunction_Recorder rec = (ChFunction_Recorder)spe_funct;
rec.AddPoint(mytime, rec_spe, 1); // x=t
}
}
if (learn)
{
return; // no need to go on further...--.>>>
}
// Impose relative positions/speeds
deltaC.pos = ChVector.VNULL;
deltaC_dt.pos = ChVector.VNULL;
deltaC_dtdt.pos = ChVector.VNULL;
if (eng_mode == eCh_eng_mode.ENG_MODE_ROTATION)
{
if (impose_reducer)
{
mot_rerot = rot_funct.Get_y(ChTime);
mot_rerot_dt = rot_funct.Get_y_dx(ChTime);
mot_rerot_dtdt = rot_funct.Get_y_dxdx(ChTime);
mot_rot = mot_rerot * mot_tau;
mot_rot_dt = mot_rerot_dt * mot_tau;
mot_rot_dtdt = mot_rerot_dtdt * mot_tau;
}
else
{
mot_rot = rot_funct.Get_y(ChTime);
mot_rot_dt = rot_funct.Get_y_dx(ChTime);
mot_rot_dtdt = rot_funct.Get_y_dxdx(ChTime);
mot_rerot = mot_rot / mot_tau;
mot_rerot_dt = mot_rot_dt / mot_tau;
mot_rerot_dtdt = mot_rot_dtdt / mot_tau;
}
deltaC.rot = ChQuaternion.Q_from_AngAxis2(mot_rot, motion_axis);
deltaC_dt.rot = ChQuaternion.Qdt_from_AngAxis(deltaC.rot, mot_rot_dt, motion_axis);
deltaC_dtdt.rot = ChQuaternion.Qdtdt_from_AngAxis(mot_rot_dtdt, motion_axis, deltaC.rot, deltaC_dt.rot);
}
if (eng_mode == eCh_eng_mode.ENG_MODE_SPEED)
{
if (impose_reducer)
{
mot_rerot_dt = spe_funct.Get_y(ChTime);
mot_rerot_dtdt = spe_funct.Get_y_dx(ChTime);
mot_rot_dt = mot_rerot_dt * mot_tau;
mot_rot_dtdt = mot_rerot_dtdt * mot_tau;
}
else
{
mot_rot_dt = spe_funct.Get_y(ChTime);
mot_rot_dtdt = spe_funct.Get_y_dx(ChTime);
mot_rerot_dt = mot_rot_dt / mot_tau;
mot_rerot_dtdt = mot_rot_dtdt / mot_tau;
}
deltaC.rot = ChQuaternion.Qnorm(GetRelM().rot); // just keep current position, -assume always good after integration-.
ChMatrix33 <double> relA = new ChMatrix33 <double>(0);
relA.Set_A_quaternion(GetRelM().rot); // ..but adjust to keep Z axis aligned to shaft, anyway!
ChVector displaced_z_axis = relA.Get_A_Zaxis();
ChVector adjustment = ChVector.Vcross(displaced_z_axis, ChVector.VECT_Z);
deltaC.rot = ChQuaternion.Q_from_AngAxis2(ChVector.Vlength(adjustment), ChVector.Vnorm(adjustment)) % deltaC.rot;
deltaC_dt.rot = ChQuaternion.Qdt_from_AngAxis(deltaC.rot, mot_rot_dt, motion_axis);
deltaC_dtdt.rot = ChQuaternion.Qdtdt_from_AngAxis(mot_rot_dtdt, motion_axis, deltaC.rot, deltaC_dt.rot);
}
}
//
// UPDATING
//
/// Updates the time.dependant variables (ex: ChFunction objects
/// which impose the body-relative motion, etc.)
public void UpdateTime(double mytime)
{
ChCoordsys csys = new ChCoordsys(new ChVector(0, 0, 0), new ChQuaternion(1, 0, 0, 0));
ChCoordsys csys_dt = new ChCoordsys(new ChVector(0, 0, 0), new ChQuaternion(1, 0, 0, 0));
ChCoordsys csys_dtdt = new ChCoordsys(new ChVector(0, 0, 0), new ChQuaternion(1, 0, 0, 0));
ChQuaternion qtemp;// = new ChQuaternion(1, 0, 0, 0);
double ang, ang_dt, ang_dtdt;
ChTime = mytime;
// if a imposed motion (keyframed movement) affects the marker position (example,from R3D animation system),
// compute the speed and acceleration values by BDF (example,see the UpdatedExternalTime() function, later)
// so the updating via motion laws can be skipped!
if (motion_type == eChMarkerMotion.M_MOTION_KEYFRAMED)
{
return;
}
// skip relative-position-functions evaluation also if
// someone is already handling this from outside..
if (motion_type == eChMarkerMotion.M_MOTION_EXTERNAL)
{
return;
}
// positions:
// update positions: rel_pos
csys.pos.x = motion_X.Get_y(mytime);
csys.pos.y = motion_Y.Get_y(mytime);
csys.pos.z = motion_Z.Get_y(mytime);
if (motion_X.Get_Type() != ChFunction.FunctionType.FUNCT_MOCAP)
{
csys.pos += rest_coord.pos;
}
// update speeds: rel_pos_dt
csys_dt.pos.x = motion_X.Get_y_dx(mytime);
csys_dt.pos.y = motion_Y.Get_y_dx(mytime);
csys_dt.pos.z = motion_Z.Get_y_dx(mytime);
// update accelerations
csys_dtdt.pos.x = motion_X.Get_y_dxdx(mytime);
csys_dtdt.pos.y = motion_Y.Get_y_dxdx(mytime);
csys_dtdt.pos.z = motion_Z.Get_y_dxdx(mytime);
// rotations:
ang = motion_ang.Get_y(mytime);
ang_dt = motion_ang.Get_y_dx(mytime);
ang_dtdt = motion_ang.Get_y_dxdx(mytime);
if ((ang != 0) || (ang_dt != 0) || (ang_dtdt != 0))
{
// update q
ChVector motion_axis_versor = ChVector.Vnorm(motion_axis);
qtemp = ChQuaternion.Q_from_AngAxis2(ang, motion_axis_versor);
csys.rot = ChQuaternion.Qcross(qtemp, rest_coord.rot);
// update q_dt
csys_dt.rot = ChQuaternion.Qdt_from_AngAxis(csys.rot, ang_dt, motion_axis_versor);
// update q_dtdt
csys_dtdt.rot = ChQuaternion.Qdtdt_from_AngAxis(ang_dtdt, motion_axis_versor, csys.rot, csys_dt.rot);
}
else
{
csys.rot = FrameMoving.coord.rot; // rel_pos.rot;
csys_dt.rot = ChQuaternion.QNULL;
csys_dtdt.rot = ChQuaternion.QNULL;
}
// Set the position, speed and acceleration in relative space,
// automatically getting also the absolute values,
if (!(csys == this.FrameMoving.coord))
{
FrameMoving.SetCoord(csys);
}
if (!(csys_dt == this.FrameMoving.coord_dt) || !(csys_dt.rot == new ChQuaternion(0, 0, 0, 0)))
{
FrameMoving.SetCoord_dt(csys_dt);
}
if (!(csys_dtdt == this.FrameMoving.coord_dtdt) || !(csys_dtdt.rot == new ChQuaternion(0, 0, 0, 0)))
{
FrameMoving.SetCoord_dtdt(csys_dtdt);
}
}
// Updates motion laws, marker positions, etc.
public override void UpdateTime(double mytime)
{
// First, inherit to parent class
base.UpdateTime(mytime);
// If LEARN MODE, just record motion
if (learn)
{
/* do not change deltas, in free mode maybe that 'limit on X' changed them
* deltaC.pos = VNULL;
* deltaC_dt.pos = VNULL;
* deltaC_dtdt.pos = VNULL;
* deltaC.rot = QUNIT;
* deltaC_dt.rot = QNULL;
* deltaC_dtdt.rot = QNULL;
*/
// if (dist_funct.Get_Type() != ChFunction.FunctionType.FUNCT_RECORDER)
// dist_funct = new ChFunction_Recorder();
// record point
double rec_dist = ChVector.Vlength(ChVector.Vsub(marker1.GetAbsCoord().pos, marker2.GetAbsCoord().pos));
rec_dist -= offset;
// (ChFunction_Recorder)(dist_funct).AddPoint(mytime, rec_dist, 1); // (x,y,w) x=t
}
// Move (well, rotate...) marker 2 to align it in actuator direction
// ! Require that the BDF routine of marker won't handle speed and acc.calculus of the moved marker 2!
marker2.SetMotionType(ChMarker.eChMarkerMotion.M_MOTION_EXTERNAL);
// ChMatrix33<double> ma = new ChMatrix33<double>(0);
ma.Set_A_quaternion(marker2.GetAbsCoord().rot);
ChVector absdist = ChVector.Vsub(marker1.GetAbsCoord().pos, marker2.GetAbsCoord().pos);
ChVector mx = ChVector.Vnorm(absdist);
ChVector my = ma.Get_A_Yaxis();
if (ChVector.Vequal(mx, my))
{
if (mx.x == 1.0)
{
my = ChVector.VECT_Y;
}
else
{
my = ChVector.VECT_X;
}
}
ChVector mz = ChVector.Vnorm(ChVector.Vcross(mx, my));
my = ChVector.Vnorm(ChVector.Vcross(mz, mx));
ma.Set_A_axis(mx, my, mz);
ChCoordsys newmarkpos;
ChVector oldpos = marker2.FrameMoving.GetPos(); // backup to avoid numerical err.accumulation
newmarkpos.pos = marker2.GetAbsCoord().pos;
newmarkpos.rot = ma.Get_A_quaternion();
marker2.Impose_Abs_Coord(newmarkpos); // rotate "main" marker2 into tangent position (may add err.accumulation)
marker2.FrameMoving.SetPos(oldpos); // backup to avoid numerical err.accumulation
if (learn)
{
return; // no need to go on further...--.>>>
}
// imposed relative positions/speeds
deltaC.pos = ChVector.VNULL;
deltaC.pos.x = dist_funct.Get_y(ChTime) + offset; // distance is always on M2 'X' axis
deltaC_dt.pos = ChVector.VNULL;
deltaC_dt.pos.x = dist_funct.Get_y_dx(ChTime); // distance speed
deltaC_dtdt.pos = ChVector.VNULL;
deltaC_dtdt.pos.x = dist_funct.Get_y_dxdx(ChTime); // distance acceleration
// add also the centripetal acceleration if distance vector's rotating,
// as centripetal acc. of point sliding on a sphere surface.
ChVector tang_speed = GetRelM_dt().pos;
tang_speed.x = 0; // only z-y coords in relative tang speed vector
double len_absdist = ChVector.Vlength(absdist); // don't divide by zero
if (len_absdist > 1E-6)
{
deltaC_dtdt.pos.x -= Math.Pow(ChVector.Vlength(tang_speed), 2) / ChVector.Vlength(absdist); // An = Adelta -(Vt^2 / r)
}
deltaC.rot = ChQuaternion.QUNIT; // no relative rotations imposed!
deltaC_dt.rot = ChQuaternion.QNULL;
deltaC_dtdt.rot = ChQuaternion.QNULL;
// Compute motor variables
// double m_rotation;
// double m_torque;
mot_rerot = (deltaC.pos.x - offset) / mot_tau;
mot_rerot_dt = deltaC_dt.pos.x / mot_tau;
mot_rerot_dtdt = deltaC_dtdt.pos.x / mot_tau;
mot_retorque = mot_rerot_dtdt * mot_inertia + (react_force.x * mot_tau) / mot_eta;
// m_rotation = (deltaC.pos.x() - offset) / mot_tau;
// m_torque = (deltaC_dtdt.pos.x() / mot_tau) * mot_inertia + (react_force.x() * mot_tau) / mot_eta;
if (learn_torque_rotation)
{
// if (mot_torque.Get_Type() != ChFunction.FunctionType.FUNCT_RECORDER)
// mot_torque = new ChFunction_Recorder();
// if (mot_rot.Get_Type() != ChFunction.FunctionType.FUNCT_RECORDER)
// mot_rot = new ChFunction_Recorder();
// std::static_pointer_cast<ChFunction_Recorder>(mot_torque).AddPoint(mytime, mot_retorque, 1); // (x,y,w) x=t
// std::static_pointer_cast<ChFunction_Recorder>(mot_rot).AddPoint(mytime, mot_rerot, 1); // (x,y,w) x=t
}
}