Commit 0a1ce876 authored by Nicolas Van der Noot's avatar Nicolas Van der Noot
Browse files

remove user_kinematics_model

parent 4db217ff
......@@ -294,12 +294,8 @@ The following procedure can be used to generate new models of the COMAN robot (o
* Launch `./Gen_mds_user path_to_mbs user_all_id`
* Move the created file in the new folder: `mv userfctR/user_all_id.h symbolicR/new_version/`
* Go in the [dataR/extra](dataR/extra) folder, and create the folder *new_version*. Create the related *specific_simu_index.cc* file.
* Generate the *user_kinematics_model.c* file like this:
* Generate the *accelred* file (*mbs_accelred_new_version.c*) where the F sensors are set for *Position*, *Rotation Matrix* and *Velocity* and place this file in [this folder](userFiles/simu/forces/contactGeom/python).
* Go inside [the same folder](userFiles/simu/forces/contactGeom/python) and launch `python kinematics_gen.py mbs_accelred_new_version.c ../../../../../symbolicR/new_version/user_kinematics_model.c`
* Re-generate the *accelred* file, but unckecking *Position*, *Rotation Matrix* and *Velocity* (for computational speed) and place it in *symbolicR/new_version*.
* In [CMakeLists.txt](workR/CMakeLists.txt) change `set( WALKER_VERSION "old_version" )` by `set( WALKER_VERSION "new_version" )`
* Add a new COMAN version name *NEW_NAME* in [SimuOptions.h](userFiles/simu/io/simu_options/SimuOptions.h).
* Add a new version name *NEW_NAME* in [SimuOptions.h](userFiles/simu/io/simu_options/SimuOptions.h).
* Add the line `else if (!strcmp(WALKER_VERSION, "new_version")) return NEW_NAME;` in [SimuOptions.c](userFiles/simu/io/simu_options/SimuOptions.c).
* Adapt the files in the [indexes](userFiles/simu/main/indexes) folder ([SimuIndex.cc](userFiles/simu/main/indexes/SimuIndex.cc), [SimuIndex.hh](userFiles/simu/main/indexes/SimuIndex.hh), [ModelSimuIndex.cc](userFiles/simu/main/indexes/ModelSimuIndex.cc) and [ModelSimuIndex.hh](userFiles/simu/main/indexes/ModelSimuIndex.hh)).
* You might also have to adapt the following files:
......
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......@@ -66,48 +66,7 @@ namespace ContactGeom{
void user_contact_kinematics(std::vector<KinInfo> &kin_info_list, MainUnionShape *main_union, MbsData *mbs_data,
double **PxF_tab, double **VxF_tab, double **OMxF_tab, double ***RxF_tab)
{
int count_own;
SimuOptions *options;
options = mbs_data->user_IO->options;
switch (options->coman_model)
{
case INIT_FEET_COMAN:
case LONG_FEET_COMAN:
case FLEX_FEET_COMAN:
main_union->MbsSensorCompute();
break;
case SHORT_FEET_COMAN:
if (kin_info_list.size() == 10)
{
user_kinematics_model(mbs_data, PxF_tab, RxF_tab, VxF_tab, OMxF_tab);
update_kin_info(PxF_tab[0], RxF_tab[0], VxF_tab[0], OMxF_tab[0], kin_info_list, mbs_data->Nsensor + 1 );
update_kin_info(PxF_tab[1], RxF_tab[1], VxF_tab[1], OMxF_tab[1], kin_info_list, mbs_data->Nsensor + 2 );
update_kin_info(PxF_tab[2], RxF_tab[2], VxF_tab[2], OMxF_tab[2], kin_info_list, mbs_data->Nsensor + 3 );
update_kin_info(PxF_tab[3], RxF_tab[3], VxF_tab[3], OMxF_tab[3], kin_info_list, mbs_data->Nsensor + 5 );
update_kin_info(PxF_tab[4], RxF_tab[4], VxF_tab[4], OMxF_tab[4], kin_info_list, mbs_data->Nsensor + 6 );
update_kin_info(PxF_tab[5], RxF_tab[5], VxF_tab[5], OMxF_tab[5], kin_info_list, mbs_data->Nsensor + 8 );
update_kin_info(PxF_tab[6], RxF_tab[6], VxF_tab[6], OMxF_tab[6], kin_info_list, mbs_data->Nsensor + 9 );
update_kin_info(PxF_tab[7], RxF_tab[7], VxF_tab[7], OMxF_tab[7], kin_info_list, mbs_data->Nsensor + 10);
update_kin_info(PxF_tab[8], RxF_tab[8], VxF_tab[8], OMxF_tab[8], kin_info_list, mbs_data->Nsensor + 11);
update_kin_info(PxF_tab[9], RxF_tab[9], VxF_tab[9], OMxF_tab[9], kin_info_list, mbs_data->Nsensor + 12);
}
else
{
main_union->MbsSensorCompute();
}
break;
default:
std::cout << "Error: unknown COMAN model: " << options->coman_model << " !" << std::endl;
exit(EXIT_FAILURE);
}
// user own models
main_union->MbsOwnSensorCompute();
main_union->MbsSensorCompute();
}
/*! \brief update 'kin_info_list'
......
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