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3T_articulation_soft_terrain.m
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3T_articulation_soft_terrain.m
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addpath('D:\Program Files\FunctionBay, Inc\RecurDyn V9R1\Toolkits\Controls\Simulink30');
%addpath('D:\Program Files\FunctionBay, Inc\RecurDyn V9R1\Toolkits\Controls\Matlab');
RecurDyn='D:\Program Files\FunctionBay, Inc\RecurDyn V9R1\Bin\';
RecurDyn_CoSim='D:\Program Files\FunctionBay, Inc\RecurDyn V9R1\Toolkits\Controls\Simulink30\';
RecurDyn_model='3T_articulation_soft_terrain';
r_temp___=size(RecurDyn_model);
RecurDyn_model_n=r_temp___(2);
Output_File='3T_articulation_soft_terrain';
r_temp___=size(Output_File);
Output_file_n =r_temp___(2);
if(exist([RecurDyn_model,'.rdyn']))
RecurDyn_inputs = 'Front_Left_Speed!Front_Right_Speed!Rear_Left_Speed!Rear_Right_Speed!铰接转动角';
RecurDyn_outputs = 'vehiclespeed!front_lat_vel!Front_SideSlipVel!Front_Part_LW1_Lateral_Vel!Front_Part_LW2_Lateral_Vel!Front_Part_LW3_Lateral_Vel!FRONT_yawrate_GROUND!Rear_yawrate_GROUND!front_yaw!PHI_angle!THETA_angle!Rear_X_coordinate!Rear_Y_coordinate!Front_X_coordinate!Front_Y_coordinate';
RecurDyn_io_ids = [ 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 ];
RecurDyn_controltimestep = 1.e-003;
Plant_inputs = Rearrange_io( RecurDyn_inputs );
Plant_outputs = Rearrange_io( RecurDyn_outputs );
r_temp___=size(Plant_inputs);
Plant_inputs_num=r_temp___(1);
r_temp___=size(Plant_outputs);
Plant_outputs_num=r_temp___(1);
r_temp___=version;
Matlab_version=str2double(r_temp___(1));
disp('');
disp('===== RecurDyn & Matlab/SIMULINK ==========');
disp('%%% INFO : RecurDyn plant actuators names :');
disp([int2str([1:size(Plant_inputs,1)]'),blanks(size(Plant_inputs,1))',Plant_inputs]);
disp('%%% INFO : RecurDyn plant sensors names :');
disp([int2str([1:size(Plant_outputs,1)]'),blanks(size(Plant_outputs,1))',Plant_outputs]);
disp( '=============================================' ) ;
% disp( '************************ Reserved Variables ************************* ' ) ;
% disp( '* Plant_inputs,Plant_outputs,RecurDyn,RecurDyn_model,RecurDyn_static*' ) ;
% disp( '* RecurDyn_inputs,RecurDyn_io_ids,RecurDyn_outputs *' ) ;
% disp( '* RecurDyn_controltimestep,RecurDyn_show,RecurDyn_step *');
% disp( '************* Reserved variables can not be changed ***************** ' ) ;
disp( ' ' ) ;
else
disp('');
disp('%%% ERROR : missing RecurDyn plant model file !!!');
disp('');
end
clear r_temp___;