Example #1
0
// -----------------------------------------------------------------------------
// Log the spring length, deformation, and force.
// Log the shock length, velocity, and force.
// Log constraint violations of suspension joints.
//
// Lengths are reported in inches, velocities in inches/s, and forces in lbf
// -----------------------------------------------------------------------------
void Generic_Vehicle::DebugLog(int what) {
    GetLog().SetNumFormat("%10.2f");

    if (what & OUT_SPRINGS) {
        GetLog() << "\n---- Spring (front-left, front-right, rear-left, rear-right)\n";
        GetLog() << "Length [inch]       " << GetSpringLength(FRONT_LEFT) << "  " << GetSpringLength(FRONT_RIGHT)
                 << "  " << GetSpringLength(REAR_LEFT) << "  " << GetSpringLength(REAR_RIGHT) << "\n";
        GetLog() << "Deformation [inch]  " << GetSpringDeformation(FRONT_LEFT) << "  "
                 << GetSpringDeformation(FRONT_RIGHT) << "  " << GetSpringDeformation(REAR_LEFT) << "  "
                 << GetSpringDeformation(REAR_RIGHT) << "\n";
        GetLog() << "Force [lbf]         " << GetSpringForce(FRONT_LEFT) << "  " << GetSpringForce(FRONT_RIGHT) << "  "
                 << GetSpringForce(REAR_LEFT) << "  " << GetSpringForce(REAR_RIGHT) << "\n";
    }

    if (what & OUT_SHOCKS) {
        GetLog() << "\n---- Shock (front-left, front-right, rear-left, rear-right)\n";
        GetLog() << "Length [inch]       " << GetShockLength(FRONT_LEFT) << "  " << GetShockLength(FRONT_RIGHT) << "  "
                 << GetShockLength(REAR_LEFT) << "  " << GetShockLength(REAR_RIGHT) << "\n";
        GetLog() << "Velocity [inch/s]   " << GetShockVelocity(FRONT_LEFT) << "  " << GetShockVelocity(FRONT_RIGHT)
                 << "  " << GetShockVelocity(REAR_LEFT) << "  " << GetShockVelocity(REAR_RIGHT) << "\n";
        GetLog() << "Force [lbf]         " << GetShockForce(FRONT_LEFT) << "  " << GetShockForce(FRONT_RIGHT) << "  "
                 << GetShockForce(REAR_LEFT) << "  " << GetShockForce(REAR_RIGHT) << "\n";
    }

    if (what & OUT_CONSTRAINTS) {
        // Report constraint violations for all joints
        LogConstraintViolations();
    }

    GetLog().SetNumFormat("%g");
}
Example #2
0
void TrackSoilBin::Log_to_console(int console_what)
{
  GetLog().SetNumFormat("%10.2f");

  if (console_what & DBG_FIRSTSHOE)
  {
    GetLog() << "\n-- shoe 0 : " << m_chain->GetShoeBody(0)->GetName() << "\n";
    // COG state data

    GetLog() << "COG Pos [m] : "  <<  m_chain->GetShoeBody(0)->GetPos() << "\n";
    GetLog() << "COG Vel [m/s] : "  <<  m_chain->GetShoeBody(0)->GetPos_dt() << "\n";
    GetLog() << "COG Acc [m/s2] : "  <<  m_chain->GetShoeBody(0)->GetPos_dtdt() << "\n";
    GetLog() << "COG omega [rad/s] : "  <<  m_chain->GetShoeBody(0)->GetRot_dt() << "\n";

    // shoe pin tension
    GetLog() << "pin 0 reaction force [N] : "  <<  m_chain->GetPinReactForce(0) << "\n";
    // GetLog() << "pin 0 reaction torque [N-m] : "  <<  m_chain->GetPinReactTorque(0) << "\n";
  }

  if (console_what & DBG_GEAR)
  {
    GetLog() << "\n---- Gear " << m_gear->GetBody()->GetName() << "\n";
    // COG state data
    GetLog() << "COG Pos [m] : " << m_gear->GetBody()->GetPos() << "\n";
    GetLog() << "COG Vel [m/s] : " << m_gear->GetBody()->GetPos_dt() << "\n";
    GetLog() << "COG omega [rad/s] : " << m_gear->GetBody()->GetRot_dt() << "\n";

    /*
    // # of shoe pins in contact?
    GetLog() << "# of shoes in contact ? : " << m_gear->GetBody()->GetCollisionModel()->Get << "\n";

    
    // # of non-intermittant contact steps
    GetLog() << "cumulative contact steps : " <<  << "\n";
    */
  }

  if (console_what & DBG_CONSTRAINTS)
  {
    // Report constraint violations for all joints
    LogConstraintViolations(false);
  }

  if (console_what & DBG_PTRAIN)
  {
    GetLog() << "\n---- powertrain \n";
  
  }

  GetLog().SetNumFormat("%g");

}