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twolinkarm.cpp
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twolinkarm.cpp
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/***************************************************
* Automatically generated by Maple.
* Created On: Fri Sep 27 10:49:32 2013.
***************************************************/
#ifdef WMI_WINNT
#define EXP __declspec(dllexport)
#else
#define EXP
#endif
#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#include "mplshlib.h"
static MKernelVector kv;
EXP ALGEB M_DECL SetKernelVector(MKernelVector kv_in, ALGEB args) { kv=kv_in; return(kv->toMapleNULL()); }
/***************************************************
* Variable Definition for System:
* State variable(s):
* x[ 0] = `Main.DFPSubsys1inst.theta_MuscleArm1_R1`(t)
* x[ 1] = diff(`Main.DFPSubsys1inst.theta_MuscleArm1_R1`(t),t)
* x[ 2] = `Main.DFPSubsys1inst.theta_MuscleArm1_R2`(t)
* x[ 3] = diff(`Main.DFPSubsys1inst.theta_MuscleArm1_R2`(t),t)
*
* Output variable(s):
* y[ 0] = `Main.DFPSubsys1inst.theta_MuscleArm1_R1`(t)
* y[ 1] = `Main.DFPSubsys1inst.theta_MuscleArm1_R2`(t)
* y[ 2] = diff(`Main.DFPSubsys1inst.theta_MuscleArm1_R1`(t),t)
* y[ 3] = diff(`Main.DFPSubsys1inst.theta_MuscleArm1_R2`(t),t)
* y[ 4] = diff(diff(`Main.DFPSubsys1inst.theta_MuscleArm1_R1`(t),t),t)
* y[ 5] = diff(diff(`Main.DFPSubsys1inst.theta_MuscleArm1_R2`(t),t),t)
*
* Input variable(s):
* u[ 0] = `Main.'MuscleArm1::ShoulderTorque'`(t)
* u[ 1] = `Main.'MuscleArm1::ElbowTorque'`(t)
*
************************************************/
/* Fixed parameters */
#define NDIFF 4
#define NDFA 4
#define NEQ 8
#define NPAR 0
#define NINP 2
#define NDISC 0
#define NIX1 4
#define NOUT 6
#define NCON 0
#define NEVT 0
#ifdef EVTHYST
#define NZC 2*NEVT
#else
#define NZC NEVT
#endif
typedef struct {
double h; /* Integration step size */
double *w; /* Float workspace */
long *iw; /* Integer workspace */
long err; /* Error flag */
char *buf; /* Error message */
} SolverStruct;
static void SolverError(SolverStruct *S, char *errmsg)
{
sprintf(S->buf,"Error at t=%20.16e: %s\n",S->w[0],errmsg);
if(S->err==-1) kv->error(S->buf);
S->err=1;
}
static double dsn_zero=0.0;
static unsigned char dsn_undefC[8] = { 0, 0, 0, 0, 0, 0, 0xF8, 0x7F };
static double *dsn_undef = (double *)&dsn_undefC;
static unsigned char dsn_posinfC[8] = { 0, 0, 0, 0, 0, 0, 0xF0, 0x7F };
static double *dsn_posinf = (double *)&dsn_posinfC;
static unsigned char dsn_neginfC[8] = { 0, 0, 0, 0, 0, 0, 0xF0, 0xFF };
static double *dsn_neginf = (double *)&dsn_neginfC;
#define trunc(v) ( (v>0.0) ? floor(v) : ceil(v) )
static void DecompCInc(long n, double *A, long Ainc, long *ip)
{
long i,j,k,m;
double t;
ip[n-1]=1;
for(k=0;k<n-1;k++) {
m=k;
for(i=k+1;i<n;i++)
if( fabs(A[i*Ainc+k])>fabs(A[m*Ainc+k]) ) m=i;
ip[k]=m;
if( m!=k ) ip[n-1]=-ip[n-1];
t=A[m*Ainc+k]; A[m*Ainc+k]=A[(Ainc+1)*k]; A[(Ainc+1)*k]=t;
if( t==0.0 ) { ip[n-1]=0; return; }
t=-1.0/t;
for(i=k+1;i<n;i++) A[i*Ainc+k]=A[i*Ainc+k]*t;
for(j=k+1;j<n;j++) {
t=A[m*Ainc+j]; A[m*Ainc+j]=A[k*Ainc+j]; A[k*Ainc+j]=t;
if( t!=0.0 )
for(i=k+1;i<n;i++) A[i*Ainc+j]+=A[i*Ainc+k]*t;
}
}
if(A[(n-1)*(Ainc+1)]==0.0) ip[n-1]=0;
}
static void DecompC(long n, double *A, long *ip) { DecompCInc(n,A,n,ip); }
static void SolveCInc(long n, double *A, long Ainc, long *ip, double *b)
{
long i,j,m;
double t;
if( n>1 ) {
for(j=0;j<n-1;j++) {
m=ip[j];
t=b[m]; b[m]=b[j]; b[j]=t;
for(i=j+1;i<n;i++) b[i]+=A[i*Ainc+j]*t;
}
for(j=n-1;j>0;j--) {
b[j]=b[j]/A[(Ainc+1)*j];
t=-b[j];
for(i=0;i<=j-1;i++) b[i]+=A[i*Ainc+j]*t;
}
}
b[0]=b[0]/A[0];
}
static void SolveC(long n, double *A, long *ip, double *b) { SolveCInc(n,A,n,ip,b); }
static void fp(long N, double T, double *Y, double *YP)
{
double M[4], V[2], Z[16];
long P[2], ti1, ti2;
YP[0] = Y[1];
YP[2] = Y[3];
for(ti1=1;ti1<=2;ti1++)
for(ti2=1;ti2<=2;ti2++)
M[(ti1-1)*2+ti2-1] = 0.;
for(ti1=1;ti1<=2;ti1++)
V[ti1-1] = 0.;
Z[0] = cos(Y[0]);
Z[1] = cos(Y[2]);
Z[2] = sin(Y[0]);
Z[3] = sin(Y[2]);
Z[4] = Z[0]*Z[1]-Z[2]*Z[3];
Z[5] = 0.09*Z[4];
Z[6] = 0.31*Z[0];
Z[7] = Z[5]+Z[6];
Z[1] = Z[1]*Z[2]+Z[0]*Z[3];
Z[3] = 0.09*Z[1];
Z[8] = 0.31*Z[2];
Z[9] = -(Z[3]+Z[8]);
M[0] = 0.012+0.1188*(Z[4]*Z[7]-Z[1]*Z[9]);
M[1] = 0.012+0.1188*(Z[4]*Z[5]+Z[1]*Z[3]);
Z[10] = Y[1]+Y[3];
Z[11] = Y[1]*Y[1];
Z[10] = Z[10]*Z[10];
Z[8] = -(Z[8]*Z[11]+Z[3]*Z[10]);
Z[6] = -(Z[6]*Z[11]+Z[5]*Z[10]);
V[0] = Y[7]+0.1188*(Z[1]*Z[6]-Z[4]*Z[8]);
Z[4] = 0.1188*Z[4];
Z[12] = 0.70835*Z[0];
Z[1] = 0.1188*Z[1];
Z[13] = 0.70835*Z[2];
Z[14] = Z[4]+0.2046*Z[0];
Z[15] = -Z[1]-0.2046*Z[2];
M[2] = Z[15]*Z[9]+Z[7]*Z[14]+0.155*(Z[2]*(Z[1]+Z[13])+Z[0]*(Z[4]+Z[12]))+0.0261;
M[3] = Z[5]*Z[14]-Z[15]*Z[3]+0.012+0.155*(Z[0]*Z[4]+Z[1]*Z[2]);
V[1] = Y[6]-Z[14]*Z[8]-Z[6]*Z[15]+0.155*(Z[0]*(Z[13]*Z[11]+Z[1]*Z[10])-Z[2]*(Z[12]*Z[11]+Z[4]*Z[10]));
DecompCInc(2,M,2,P);
SolveCInc(2,M,2,P,V);
YP[1] = V[0];
YP[3] = V[1];
}
static void inpfn(double T, double *U)
{
U[0] = 0.;
U[1] = 0.;
}
static void numdiff(double *w, long initial)
{
double dt1,dt2,idt1,idt2,idt12,*nd1,*nd2;
nd1=w+1+2*NEQ+NPAR+NDFA+NEVT;
nd2=nd1+3;
if(!initial && w[0]-nd1[0]>0.0) {
dt1=w[0]-nd1[0]; idt1=1.0/dt1;
if(nd1[0]-nd2[0]>0.0) {
dt2=w[0]-nd2[0]; idt2=1.0/dt2;
idt12=1.0/(nd2[0]-nd1[0]);
w[5]=(idt1+idt2)*w[2]+idt12*(dt2*idt1*nd1[1]-dt1*idt2*nd2[1]);
w[6]=(idt1+idt2)*w[4]+idt12*(dt2*idt1*nd1[2]-dt1*idt2*nd2[2]);
}
else {
w[5]=idt1*(w[2]-nd1[1]);
w[6]=idt1*(w[4]-nd1[2]);
}
}
if(initial || w[0]-nd1[0]>1e-10) {
nd2[0]=nd1[0]; nd1[0]=w[0];
nd2[1]=nd1[1]; nd1[1]=w[2];
nd2[2]=nd1[2]; nd1[2]=w[4];
}
}
static void SolverUpdate(double *u, double *p, long first, long internal, SolverStruct *S)
{
long i;
//inpfn(S->w[0],u);
for(i=0; i<NINP; i++) S->w[i+NDIFF+NIX1-NINP+1]=u[i];
fp(NEQ,S->w[0],&S->w[1],&S->w[NEQ+NPAR+1]);
if(S->w[NEQ+NPAR+1]-S->w[NEQ+NPAR+1]!=0.0) {
SolverError(S,"index-1 and derivative evaluation failure");
return;
}
if(internal) return;
numdiff(S->w,first);
if(first) numdiff(S->w,1);
}
static void SolverOutputs(double *y, SolverStruct *S)
{
y[ 0]=S->w[ 1];
y[ 1]=S->w[ 3];
y[ 2]=S->w[ 2];
y[ 3]=S->w[ 4];
y[ 4]=S->w[ 5];
y[ 5]=S->w[ 6];
}
static void EulerStep(double *u, SolverStruct *S)
{
long i;
S->w[0]+=S->h;
for(i=1;i<=NDIFF;i++) S->w[i]+=S->h*S->w[NEQ+NPAR+i];
SolverUpdate(u,NULL,0,0,S);
}
static void SolverSetup(double t0, double *ic, double *u, double *p, double *y, double h, SolverStruct *S)
{
long i;
S->h = h;
S->iw=NULL;
S->w[0] = t0;
S->w[1] = 0.00000000000000000e+00;
S->w[2] = 0.00000000000000000e+00;
S->w[3] = 7.85398163397448279e-01;
S->w[4] = 0.00000000000000000e+00;
S->w[5] = -7.28934371190611685e+00;
S->w[6] = 5.97229852783077177e+01;
S->w[7] = 1.00000000000000000e+00;
S->w[8] = 1.00000000000000000e+00;
if(ic) for(i=0;i<NDIFF;i++) {
S->w[i+1]=ic[i];
S->w[i+NEQ+NPAR+1]=0.0;
}
SolverUpdate(u,p,1,0,S);
SolverOutputs(y,S);
}
/*
Parametrized simulation driver
*/
EXP long M_DECL ParamDriverC(double t0, double dt, long npts, double *ic, double *p, double *out, char *errbuf, long internal)
{
double u[NINP],y[NOUT],w[7+2*NEQ+NPAR+NDFA+NEVT];
long i,j;
SolverStruct S;
/* Setup */
for(i=0;i<npts*(NOUT+1);i++) out[i]=*dsn_undef;
S.w=w;
if(internal==0) S.err=0; else S.err=-1;
S.buf=errbuf;
SolverSetup(t0,ic,u,p,y,dt,&S);
/* Output */
out[0]=t0; for(j=0;j<NOUT;j++) out[j+1]=y[j];
/* Integration loop */
for(i=1;i<npts;i++) {
/* Take a step with states */
EulerStep(u,&S);
if( S.err>0 ) break;
/* Output */
SolverOutputs(y,&S);
out[i*(NOUT+1)]=S.w[0]; for(j=0;j<NOUT;j++) out[i*(NOUT+1)+j+1]=y[j];
}
return(i);
}
EXP ALGEB M_DECL ParamDriver( MKernelVector kv_in, ALGEB *args )
{
double t0,tf,dt,*ic,*p,*out;
M_INT nargs,bounds[4],npts,naout,i;
RTableSettings s;
ALGEB outd;
char buf[1000];
kv=kv_in;
nargs=kv->numArgs((ALGEB)args);
if( nargs<5 || nargs>6 )
kv->error("incorrect number of arguments");
/* Process time vals */
if( !kv->isNumeric(args[1]) )
kv->error("argument #1, the initial time, must be numeric");
t0=kv->mapleToFloat64(args[1]);
if( !kv->isNumeric(args[2]) )
kv->error("argument #2, the final time, must be numeric");
tf=kv->mapleToFloat64(args[2]);
if( t0>=tf )
kv->error("the final time must be larger than the initial time");
if( !kv->isNumeric(args[3]) )
kv->error("argument #3, the time step, must be a positive numeric value");
dt=kv->mapleToFloat64(args[3]);
if(dt<=0)
kv->error("argument #3, the time step, must be a positive numeric value");
npts=(M_INT)ceil((tf+1e-10-t0)/dt)+1;
/* Processing ic in */
if( NDIFF==0 )
ic=NULL;
else if( kv->isInteger(args[4]) && kv->mapleToInteger32(args[4])==0 )
ic=NULL;
else if( !kv->isRTable(args[4]) ) {
ic=NULL;
kv->error("argument #4, the initial data, must be a 1..ndiff rtable");
}
else {
kv->rtableGetSettings(&s,args[4]);
if( s.storage != RTABLE_RECT || s.data_type != RTABLE_FLOAT64 ||
s.num_dimensions != 1 || kv->rtableLowerBound(args[4],1)!=1 ||
kv->rtableUpperBound(args[4],1) != NDIFF )
kv->error("argument #4, the initial data, must be a 1..ndiff rtable");
ic=(double *)kv->rtableData(args[4]);
}
/* Processing parameters in */
if( NPAR==0 )
p=NULL;
else if( kv->isInteger(args[5]) && kv->mapleToInteger32(args[5])==0 )
p=NULL;
else if( !kv->isRTable(args[5]) ) {
p=NULL;
kv->error("argument #5, the parameter data, must be a 1..npar rtable");
}
else {
kv->rtableGetSettings(&s,args[5]);
if( s.storage != RTABLE_RECT || s.data_type != RTABLE_FLOAT64 ||
s.num_dimensions != 1 || kv->rtableLowerBound(args[5],1)!=1 ||
kv->rtableUpperBound(args[5],1) != NPAR )
kv->error("argument #5, the parameter data, must be a 1..npar rtable");
p=(double *)kv->rtableData(args[5]);
}
/* Output data table */
if( nargs==6 ) {
outd=NULL;
if( !kv->isRTable(args[6]) ) {
out=NULL;
naout=0;
kv->error("argument #6, the output data, must be a 1..npts,1..nout+1 C_order rtable");
}
else {
kv->rtableGetSettings(&s,args[6]);
if( s.storage != RTABLE_RECT || s.data_type != RTABLE_FLOAT64 ||
s.order != RTABLE_C || s.num_dimensions != 2 ||
kv->rtableLowerBound(args[6],1)!=1 ||
kv->rtableLowerBound(args[6],2)!=1 ||
kv->rtableUpperBound(args[6],2) != NOUT+1 )
kv->error("argument #6, the output data, must be a 1..npts,1..nout+1 C_order rtable");
naout=kv->rtableUpperBound(args[6],1);
if( naout<1 )
kv->error("argument #6, the output data, must have at least 1 output slot");
out=(double *)kv->rtableData(args[6]);
if(naout<npts) npts=naout;
}
}
else {
kv->rtableGetDefaults(&s);
bounds[0]=1; bounds[1]=npts;
bounds[2]=1; bounds[3]=NOUT+1;
s.storage=RTABLE_RECT;
s.data_type=RTABLE_FLOAT64;
s.order=RTABLE_C;
s.num_dimensions=2;
s.subtype=RTABLE_ARRAY;
outd=kv->rtableCreate(&s,NULL,bounds);
out=(double *)kv->rtableData(outd);
naout=npts;
}
for(i=0;i<naout*(NOUT+1);i++) out[i]=*dsn_undef;
i=ParamDriverC(t0,dt,npts,ic,p,out,buf,1);
/* All done */
if(outd==NULL)
return(kv->toMapleInteger(i));
else
return(outd);
}
/* A class to contain all the information that needs to
be passed around between these functions, and can
encapsulate it and hide it from the Python interface.
Written by Travis DeWolf (May, 2013)
*/
class Sim {
/* Very simple class, just stores the variables we
need for simulation, and has 2 functions. Reset
resets the state of the simulation, and step steps it
forward. Tautology ftw!*/
double* params;
double dt, t0;
double u0[NINP], other_out[NOUT+1], y[NOUT];
double w[7 + 2 * NEQ + NPAR + NDFA + NEVT];
SolverStruct S;
public:
Sim(double dt_val, double* params_pointer);
void reset(double* out, double* ic);
void step(double* out, double* u);
};
Sim::Sim(double dt_val, double* params_pointer)
{
t0 = 0.0; // set up start time
dt = dt_val; // set time step
for (int i = 0; i < NINP; i++) u0[i] = 0.0; // initial control signal
params = params_pointer; // set up parameters reference
/* Setup */
S.w = w;
S.err = 0;
}
void Sim::reset(double* out, double* ic)
{
SolverSetup(t0, ic, u0, params, y, dt, &S);
/* Output */
out[0] = t0;
for(int j = 0; j < NOUT; j++) {
out[j + 1] = y[j];
}
}
void Sim::step(double* out, double* u)
/* u: control signal */
{
for (int k = 0; k < NOUT; k++)
out[k] = *dsn_undef; // clear values to nan
/* Integration loop */
/* Take a step with states */
EulerStep(u, &S);
if (S.err <= 0)
{
/* Output */
SolverOutputs(y, &S);
out[0] = S.w[0];
for(long j = 0; j < NOUT; j++)
out[j + 1] = y[j];
}
}