Exemplos de init_ControllerStruct em C++ (Cpp)

Exemplo n.º 1

Arquivo: user_sf_IO.c Projeto: TimotheeHabra/coman_robotran

UserIOStruct * initUserIO(MBSdataStruct *s)
{
    UserIOStruct *uvs;

    int i;

    uvs = (UserIOStruct*) malloc(sizeof(UserIOStruct));

    for (i=1;i<=29;i++)
    {
        uvs->Voltage[i] = 0.0;
    }

    for (i=1;i<=29;i++)
    {
        uvs->Control[i] = 0.0;
    }

    for (i=1;i<=35;i++)
    {
        uvs->Actuator_KKs[i] = 0.0;
    }

    for (i=1;i<=35;i++)
    {
        uvs->Actuator_DDs[i] = 0.0;
    }

    uvs->Actuator_Jdrives = 0.0;

    uvs->Actuator_Ddrives = 0.0;

    uvs->Actuator_VTgain = 0.0;

    for (i=1;i<=29;i++)
    {
        uvs->actuated2real[i] = 0;
    }

    for (i=1;i<=35;i++)
    {
        uvs->real2actuated[i] = 0;
    }

    for (i=1;i<=35;i++)
    {
        uvs->joint_limits_min[i] = 0.0;
    }

    for (i=1;i<=35;i++)
    {
        uvs->joint_limits_max[i] = 0.0;
    }

    uvs->waist_relative_ground = 0.0;

    for (i=1;i<=3;i++)
    {
        uvs->GRF_r[i] = 0.0;
    }

    for (i=1;i<=3;i++)
    {
        uvs->GRF_l[i] = 0.0;
    }

    for (i=1;i<=3;i++)
    {
        uvs->GRM_r[i] = 0.0;
    }

    for (i=1;i<=3;i++)
    {
        uvs->GRM_l[i] = 0.0;
    }

    for (i=1;i<=3;i++)
    {
        uvs->GRF_r_dist[i] = 0.0;
    }

    for (i=1;i<=3;i++)
    {
        uvs->GRF_l_dist[i] = 0.0;
    }

    for (i=1;i<=3;i++)
    {
        uvs->GRM_r_dist[i] = 0.0;
    }

    for (i=1;i<=3;i++)
    {
        uvs->GRM_l_dist[i] = 0.0;
    }

    uvs->mu_grf = 0.0;

    uvs->F_left_leg = 0.0;

    uvs->F_right_leg = 0.0;

    uvs->Msize_GCM = 0;

    uvs->Msize_GCM_prox = 0;

    uvs->Msize_GCM_dist = 0;

    for (i=1;i<=200;i++)
    {
        uvs->rn_left_x[i] = 0.0;
    }

    for (i=1;i<=200;i++)
    {
        uvs->rn_left_y[i] = 0.0;
    }

    for (i=1;i<=200;i++)
    {
        uvs->rn_left_z[i] = 0.0;
    }

    for (i=1;i<=200;i++)
    {
        uvs->rn_right_x[i] = 0.0;
    }

    for (i=1;i<=200;i++)
    {
        uvs->rn_right_y[i] = 0.0;
    }

    for (i=1;i<=200;i++)
    {
        uvs->rn_right_z[i] = 0.0;
    }

    for (i=1;i<=200;i++)
    {
        uvs->temp_grfx_left[i] = 0.0;
    }

    for (i=1;i<=200;i++)
    {
        uvs->temp_grfy_left[i] = 0.0;
    }

    for (i=1;i<=200;i++)
    {
        uvs->temp_grfx_right[i] = 0.0;
    }

    for (i=1;i<=200;i++)
    {
        uvs->temp_grfy_right[i] = 0.0;
    }

    for (i=1;i<=200;i++)
    {
        uvs->flag_grfx_left[i] = 0;
    }

    for (i=1;i<=200;i++)
    {
        uvs->flag_grfy_left[i] = 0;
    }

    for (i=1;i<=200;i++)
    {
        uvs->flag_grfx_right[i] = 0;
    }

    for (i=1;i<=200;i++)
    {
        uvs->flag_grfy_right[i] = 0;
    }

    for (i=1;i<=150;i++)
    {
        uvs->rn_left_prox_x[i] = 0.0;
    }

    for (i=1;i<=150;i++)
    {
        uvs->rn_left_prox_y[i] = 0.0;
    }

    for (i=1;i<=150;i++)
    {
        uvs->rn_left_prox_z[i] = 0.0;
    }

    for (i=1;i<=150;i++)
    {
        uvs->rn_right_prox_x[i] = 0.0;
    }

    for (i=1;i<=150;i++)
    {
        uvs->rn_right_prox_y[i] = 0.0;
    }

    for (i=1;i<=150;i++)
    {
        uvs->rn_right_prox_z[i] = 0.0;
    }

    for (i=1;i<=150;i++)
    {
        uvs->temp_grfx_left_prox[i] = 0.0;
    }

    for (i=1;i<=150;i++)
    {
        uvs->temp_grfy_left_prox[i] = 0.0;
    }

    for (i=1;i<=150;i++)
    {
        uvs->temp_grfx_right_prox[i] = 0.0;
    }

    for (i=1;i<=150;i++)
    {
        uvs->temp_grfy_right_prox[i] = 0.0;
    }

    for (i=1;i<=150;i++)
    {
        uvs->flag_grfx_left_prox[i] = 0;
    }

    for (i=1;i<=150;i++)
    {
        uvs->flag_grfy_left_prox[i] = 0;
    }

    for (i=1;i<=150;i++)
    {
        uvs->flag_grfx_right_prox[i] = 0;
    }

    for (i=1;i<=150;i++)
    {
        uvs->flag_grfy_right_prox[i] = 0;
    }

    for (i=1;i<=60;i++)
    {
        uvs->rn_left_dist_x[i] = 0.0;
    }

    for (i=1;i<=60;i++)
    {
        uvs->rn_left_dist_y[i] = 0.0;
    }

    for (i=1;i<=60;i++)
    {
        uvs->rn_left_dist_z[i] = 0.0;
    }

    for (i=1;i<=60;i++)
    {
        uvs->rn_right_dist_x[i] = 0.0;
    }

    for (i=1;i<=60;i++)
    {
        uvs->rn_right_dist_y[i] = 0.0;
    }

    for (i=1;i<=60;i++)
    {
        uvs->rn_right_dist_z[i] = 0.0;
    }

    for (i=1;i<=60;i++)
    {
        uvs->temp_grfx_left_dist[i] = 0.0;
    }

    for (i=1;i<=60;i++)
    {
        uvs->temp_grfy_left_dist[i] = 0.0;
    }

    for (i=1;i<=60;i++)
    {
        uvs->temp_grfx_right_dist[i] = 0.0;
    }

    for (i=1;i<=60;i++)
    {
        uvs->temp_grfy_right_dist[i] = 0.0;
    }

    for (i=1;i<=60;i++)
    {
        uvs->flag_grfx_left_dist[i] = 0;
    }

    for (i=1;i<=60;i++)
    {
        uvs->flag_grfy_left_dist[i] = 0;
    }

    for (i=1;i<=60;i++)
    {
        uvs->flag_grfx_right_dist[i] = 0;
    }

    for (i=1;i<=60;i++)
    {
        uvs->flag_grfy_right_dist[i] = 0;
    }

    uvs->last_tsim_int_tau = 0.0;

    for (i=1;i<=29;i++)
    {
        uvs->last_err_tau[i] = 0.0;
    }

    for (i=1;i<=29;i++)
    {
        uvs->last_int_err_tau[i] = 0.0;
    }

    uvs->real_theta_3_waist = 0.0;

    uvs->real_omega_3_waist = 0.0;

    uvs->last_t_ctrl = 0.0;

    uvs->keyboard_command_1 = 0;

    uvs->keyboard_command_2 = 0;

    for (i=1;i<=29;i++)
    {
        uvs->Qq_out[i] = 0.0;
    }

    uvs->tsim_out = 0.0;

    for (i=1;i<=29;i++)
    {
        uvs->q_ref[i] = 0.0;
    }

    for (i=1;i<=29;i++)
    {
        uvs->qd_ref[i] = 0.0;
    }

    for (i=1;i<=29;i++)
    {
        uvs->Qq_ref[i] = 0.0;
    }

    for (i=1;i<=29;i++)
    {
        uvs->imp_ctrl_index[i] = 0;
    }

    for (i=1;i<=10;i++)
    {
        uvs->out[i] = 0.0;
    }

    uvs->stop_simu = 0;

    uvs->cvs = init_ControllerStruct();

    // simbodyStruct //
    #ifdef SIMBODY
    uvs->simbodyStruct = init_SimbodyStruct();
    #endif

    return uvs;
}

Exemplo n.º 2

Arquivo: user_sf_IO.c Projeto: NicolasVdN/CoManRobotran

UserIOStruct * initUserIO(MBSdataStruct *s)
{
	UserIOStruct *uvs;
	int i=0;
	//
	uvs = (UserIOStruct*) malloc(sizeof(UserIOStruct));
	

    // Voltage //
	for (i=1;i<=23;i++)
	{
		uvs->Voltage[i] = 0.0;
	}

    // Control //
	for (i=1;i<=23;i++)
	{
		uvs->Control[i] = 0.0;
	}

    // Actuator_KKs //
	for (i=1;i<=31;i++)
	{
		uvs->Actuator_KKs[i] = 0.0;
	}

    // Actuator_DDs //
	for (i=1;i<=31;i++)
	{
		uvs->Actuator_DDs[i] = 0.0;
	}

    // Actuator_Jdrives //
	uvs->Actuator_Jdrives = 0.0;

    // Actuator_Ddrives //
	uvs->Actuator_Ddrives = 0.0;

    // Actuator_VTgain //
	uvs->Actuator_VTgain = 0.0;

    // actuated2real //
	for (i=1;i<=23;i++)
	{
		uvs->actuated2real[i] = 0;
	}

    // joint_limits_min //
	for (i=1;i<=31;i++)
	{
		uvs->joint_limits_min[i] = 0.0;
	}

    // joint_limits_max //
	for (i=1;i<=31;i++)
	{
		uvs->joint_limits_max[i] = 0.0;
	}

    // GRF_r //
	for (i=1;i<=3;i++)
	{
		uvs->GRF_r[i] = 0.0;
	}

    // GRF_l //
	for (i=1;i<=3;i++)
	{
		uvs->GRF_l[i] = 0.0;
	}

    // GRM_r //
	for (i=1;i<=3;i++)
	{
		uvs->GRM_r[i] = 0.0;
	}

    // GRM_l //
	for (i=1;i<=3;i++)
	{
		uvs->GRM_l[i] = 0.0;
	}

    // GRF_r_dist //
	for (i=1;i<=3;i++)
	{
		uvs->GRF_r_dist[i] = 0.0;
	}

    // GRF_l_dist //
	for (i=1;i<=3;i++)
	{
		uvs->GRF_l_dist[i] = 0.0;
	}

    // GRM_r_dist //
	for (i=1;i<=3;i++)
	{
		uvs->GRM_r_dist[i] = 0.0;
	}

    // GRM_l_dist //
	for (i=1;i<=3;i++)
	{
		uvs->GRM_l_dist[i] = 0.0;
	}

    // mu_grf //
	uvs->mu_grf = 0.0;

    // F_left_leg //
	uvs->F_left_leg = 0.0;

    // F_right_leg //
	uvs->F_right_leg = 0.0;

    // Msize_GCM //
	uvs->Msize_GCM = 0;

    // Msize_GCM_prox //
	uvs->Msize_GCM_prox = 0;

    // Msize_GCM_dist //
	uvs->Msize_GCM_dist = 0;

    // rn_left_x //
	for (i=1;i<=200;i++)
	{
		uvs->rn_left_x[i] = 0.0;
	}

    // rn_left_y //
	for (i=1;i<=200;i++)
	{
		uvs->rn_left_y[i] = 0.0;
	}

    // rn_left_z //
	for (i=1;i<=200;i++)
	{
		uvs->rn_left_z[i] = 0.0;
	}

    // rn_right_x //
	for (i=1;i<=200;i++)
	{
		uvs->rn_right_x[i] = 0.0;
	}

    // rn_right_y //
	for (i=1;i<=200;i++)
	{
		uvs->rn_right_y[i] = 0.0;
	}

    // rn_right_z //
	for (i=1;i<=200;i++)
	{
		uvs->rn_right_z[i] = 0.0;
	}

    // temp_grfx_left //
	for (i=1;i<=200;i++)
	{
		uvs->temp_grfx_left[i] = 0.0;
	}

    // temp_grfy_left //
	for (i=1;i<=200;i++)
	{
		uvs->temp_grfy_left[i] = 0.0;
	}

    // temp_grfx_right //
	for (i=1;i<=200;i++)
	{
		uvs->temp_grfx_right[i] = 0.0;
	}

    // temp_grfy_right //
	for (i=1;i<=200;i++)
	{
		uvs->temp_grfy_right[i] = 0.0;
	}

    // flag_grfx_left //
	for (i=1;i<=200;i++)
	{
		uvs->flag_grfx_left[i] = 0;
	}

    // flag_grfy_left //
	for (i=1;i<=200;i++)
	{
		uvs->flag_grfy_left[i] = 0;
	}

    // flag_grfx_right //
	for (i=1;i<=200;i++)
	{
		uvs->flag_grfx_right[i] = 0;
	}

    // flag_grfy_right //
	for (i=1;i<=200;i++)
	{
		uvs->flag_grfy_right[i] = 0;
	}

    // rn_left_prox_x //
	for (i=1;i<=150;i++)
	{
		uvs->rn_left_prox_x[i] = 0.0;
	}

    // rn_left_prox_y //
	for (i=1;i<=150;i++)
	{
		uvs->rn_left_prox_y[i] = 0.0;
	}

    // rn_left_prox_z //
	for (i=1;i<=150;i++)
	{
		uvs->rn_left_prox_z[i] = 0.0;
	}

    // rn_right_prox_x //
	for (i=1;i<=150;i++)
	{
		uvs->rn_right_prox_x[i] = 0.0;
	}

    // rn_right_prox_y //
	for (i=1;i<=150;i++)
	{
		uvs->rn_right_prox_y[i] = 0.0;
	}

    // rn_right_prox_z //
	for (i=1;i<=150;i++)
	{
		uvs->rn_right_prox_z[i] = 0.0;
	}

    // temp_grfx_left_prox //
	for (i=1;i<=150;i++)
	{
		uvs->temp_grfx_left_prox[i] = 0.0;
	}

    // temp_grfy_left_prox //
	for (i=1;i<=150;i++)
	{
		uvs->temp_grfy_left_prox[i] = 0.0;
	}

    // temp_grfx_right_prox //
	for (i=1;i<=150;i++)
	{
		uvs->temp_grfx_right_prox[i] = 0.0;
	}

    // temp_grfy_right_prox //
	for (i=1;i<=150;i++)
	{
		uvs->temp_grfy_right_prox[i] = 0.0;
	}

    // flag_grfx_left_prox //
	for (i=1;i<=150;i++)
	{
		uvs->flag_grfx_left_prox[i] = 0;
	}

    // flag_grfy_left_prox //
	for (i=1;i<=150;i++)
	{
		uvs->flag_grfy_left_prox[i] = 0;
	}

    // flag_grfx_right_prox //
	for (i=1;i<=150;i++)
	{
		uvs->flag_grfx_right_prox[i] = 0;
	}

    // flag_grfy_right_prox //
	for (i=1;i<=150;i++)
	{
		uvs->flag_grfy_right_prox[i] = 0;
	}

    // rn_left_dist_x //
	for (i=1;i<=60;i++)
	{
		uvs->rn_left_dist_x[i] = 0.0;
	}

    // rn_left_dist_y //
	for (i=1;i<=60;i++)
	{
		uvs->rn_left_dist_y[i] = 0.0;
	}

    // rn_left_dist_z //
	for (i=1;i<=60;i++)
	{
		uvs->rn_left_dist_z[i] = 0.0;
	}

    // rn_right_dist_x //
	for (i=1;i<=60;i++)
	{
		uvs->rn_right_dist_x[i] = 0.0;
	}

    // rn_right_dist_y //
	for (i=1;i<=60;i++)
	{
		uvs->rn_right_dist_y[i] = 0.0;
	}

    // rn_right_dist_z //
	for (i=1;i<=60;i++)
	{
		uvs->rn_right_dist_z[i] = 0.0;
	}

    // temp_grfx_left_dist //
	for (i=1;i<=60;i++)
	{
		uvs->temp_grfx_left_dist[i] = 0.0;
	}

    // temp_grfy_left_dist //
	for (i=1;i<=60;i++)
	{
		uvs->temp_grfy_left_dist[i] = 0.0;
	}

    // temp_grfx_right_dist //
	for (i=1;i<=60;i++)
	{
		uvs->temp_grfx_right_dist[i] = 0.0;
	}

    // temp_grfy_right_dist //
	for (i=1;i<=60;i++)
	{
		uvs->temp_grfy_right_dist[i] = 0.0;
	}

    // flag_grfx_left_dist //
	for (i=1;i<=60;i++)
	{
		uvs->flag_grfx_left_dist[i] = 0;
	}

    // flag_grfy_left_dist //
	for (i=1;i<=60;i++)
	{
		uvs->flag_grfy_left_dist[i] = 0;
	}

    // flag_grfx_right_dist //
	for (i=1;i<=60;i++)
	{
		uvs->flag_grfx_right_dist[i] = 0;
	}

    // flag_grfy_right_dist //
	for (i=1;i<=60;i++)
	{
		uvs->flag_grfy_right_dist[i] = 0;
	}

    // last_tsim_int_tau //
	uvs->last_tsim_int_tau = 0.0;

    // last_err_tau //
	for (i=1;i<=23;i++)
	{
		uvs->last_err_tau[i] = 0.0;
	}

    // last_int_err_tau //
	for (i=1;i<=23;i++)
	{
		uvs->last_int_err_tau[i] = 0.0;
	}

    // real_theta_3_waist //
	uvs->real_theta_3_waist = 0.0;

    // real_omega_3_waist //
	uvs->real_omega_3_waist = 0.0;

    // waist_relative_ground //
	uvs->waist_relative_ground = 0.0;

    // last_t_ctrl //
	uvs->last_t_ctrl = 0.0;

    // Qq_out //
	for (i=1;i<=23;i++)
	{
		uvs->Qq_out[i] = 0.0;
	}

    // tsim_out //
	uvs->tsim_out = 0.0;

    // q_ref //
	for (i=1;i<=23;i++)
	{
		uvs->q_ref[i] = 0.0;
	}

    // qd_ref //
	for (i=1;i<=23;i++)
	{
		uvs->qd_ref[i] = 0.0;
	}

    // Qq_ref //
	for (i=1;i<=23;i++)
	{
		uvs->Qq_ref[i] = 0.0;
	}

    // imp_ctrl_index //
	for (i=1;i<=23;i++)
	{
		uvs->imp_ctrl_index[i] = 0;
	}

    // stop_out //
	uvs->stop_out = 0;

    // out1 //
	for (i=1;i<=10;i++)
	{
		uvs->out1[i] = 0.0;
	}

    // out2 //
	for (i=1;i<=10;i++)
	{
		uvs->out2[i] = 0.0;
	}

    // out3 //
	for (i=1;i<=10;i++)
	{
		uvs->out3[i] = 0.0;
	}

    // out4 //
	for (i=1;i<=10;i++)
	{
		uvs->out4[i] = 0.0;
	}

    // out5 //
	for (i=1;i<=10;i++)
	{
		uvs->out5[i] = 0.0;
	}

    // fitness_opti //
	uvs->fitness_opti = 0.0;

	// cvs //
	uvs->cvs = init_ControllerStruct();

	// simbodyBodies //
	uvs->simbodyBodies = init_SimbodyBodiesStruct();

	return uvs;
}