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];
}
}
public CartDoublePoleSimulator(
double durationSecs,
CartDoublePolePhysics cartPolePhysics)
{
_tau = cartPolePhysics.Tau;
_durationSecs = durationSecs;
_timesteps = (int)(durationSecs / _tau);
_cartPolePhysics = cartPolePhysics;
_t_series = new double[_timesteps];
_x_series = new double[_timesteps];
_xv_series = new double[_timesteps];
_theta1_series = new double[_timesteps];
_theta2_series = new double[_timesteps];
}