Commit 0f968c04 authored by Quentin Docquier's avatar Quentin Docquier

change initial conditions for equil 2 which should lead to better reference results.

parent 6b47fa9c
Pipeline #4410 passed with stage
in 9 minutes and 37 seconds
<?xml version="1.0" encoding="UTF-8"?>
<mbsDescR7>
<mbsname>equilibrium_CI</mbsname>
<mbsyspad_version>1.10.0</mbsyspad_version>
<mbsyspad_version>1.11.0</mbsyspad_version>
<base>
<!--this is the base body-->
<gravity>
......@@ -635,8 +635,8 @@
<graphics>
<x2D>
<position>
<x>499.0</x>
<y>456.0</y>
<x>496.0</x>
<y>481.0</y>
</position>
</x2D>
<x3D>
......@@ -666,8 +666,8 @@
<graphics>
<x2D>
<position>
<x>610.0</x>
<y>456.0</y>
<x>607.0</x>
<y>481.0</y>
</position>
</x2D>
<x3D />
......
0.000000e+00 0.000000e+00 1.000000e+00 2.000000e-01 1.111135e+00 3.412312e-01
1.000000e+00 0.000000e+00 3.531925e-01 3.127931e-01 2.114508e+01 -3.903751e+01
2.000000e+00 0.000000e+00 1.917613e-01 2.950447e-01 2.131006e+01 -3.926274e+01
3.000000e+00 0.000000e+00 1.918178e-01 2.926016e-01 2.131000e+01 -3.926266e+01
4.000000e+00 0.000000e+00 1.918181e-01 2.926015e-01 2.131000e+01 -3.926266e+01
0.000000e+00 0.000000e+00 2.000000e-01 2.000000e-01 2.451635e+00 -1.552017e+00
1.000000e+00 0.000000e+00 1.914093e-01 2.926239e-01 2.460887e+00 -1.564126e+00
2.000000e+00 0.000000e+00 1.918181e-01 2.926016e-01 2.460445e+00 -1.563549e+00
3.000000e+00 0.000000e+00 1.918181e-01 2.926015e-01 2.460445e+00 -1.563549e+00
0.000000e+00 0.000000e+00 1.000000e+00 2.000000e-01
1.000000e+00 0.000000e+00 3.531925e-01 3.127931e-01
2.000000e+00 0.000000e+00 1.917613e-01 2.950447e-01
3.000000e+00 0.000000e+00 1.918178e-01 2.926016e-01
4.000000e+00 0.000000e+00 1.918181e-01 2.926015e-01
0.000000e+00 0.000000e+00 2.000000e-01 2.000000e-01
1.000000e+00 0.000000e+00 1.914093e-01 2.926239e-01
2.000000e+00 0.000000e+00 1.918181e-01 2.926016e-01
3.000000e+00 0.000000e+00 1.918181e-01 2.926015e-01
......@@ -86,7 +86,8 @@ int main(int argc, char const *argv[])
/* STATIC EQUILIBRIUM 2 *
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
mbs_reset_data(mbs_data);
mbs_data->q[R2_pendulum_id] = 1.0;
mbs_data->q[R2_crank_id] = 2.4;
mbs_data->q[R2_rod_id] = -1.5;
mbs_equil = mbs_new_equil(mbs_data);
// equil options (see documentations for additional options)
mbs_equil->options->senstol = 1e-06;
......
<?xml version="1.0" encoding="UTF-8"?>
<mbsDescR7>
<mbsname>modal_CI</mbsname>
<mbsyspad_version>1.9.7</mbsyspad_version>
<mbsyspad_version>1.11.0</mbsyspad_version>
<base>
<!--this is the base body-->
<gravity>
......@@ -111,6 +111,33 @@
<z>0.2</z>
</size>
</box>
<box>
<name>New_Shape</name>
<position>
<x>0.0</x>
<y>-0.25</y>
<z>-0.1</z>
</position>
<scale>
<x>1.0</x>
<y>1.0</y>
<z>1.0</z>
</scale>
<rotation>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
</rotation>
<color R="51" G="51" B="51" />
<specularColor R="255" G="255" B="255" />
<shininess>250.0</shininess>
<transparency>0.0</transparency>
<size>
<x>0.05</x>
<y>0.1</y>
<z>0.5</z>
</size>
</box>
</x3D_shapes>
</x3D>
</graphics>
......@@ -822,10 +849,10 @@
<!--This is the viewpoint list-->
<viewpoint>
<name>following</name>
<joint>T1_cart</joint>
<joint>base</joint>
<position>
<x>1.0</x>
<y>2.0</y>
<x>1.5</x>
<y>2.7</y>
<z>-1.0</z>
</position>
<target>
......
......@@ -93,7 +93,7 @@ int main(int argc, char const *argv[])
mbs_modal->options->save_evec = 1;
mbs_modal->options->save_result = 1;
mbs_modal->options->save_anim = 1;
//mbs_modal->options->mode_ampl = 0.2;
mbs_modal->options->mode_ampl = 0.5;
mbs_modal->options->verbose = 1;
mbs_run_modal(mbs_modal, mbs_data);
mbs_modal_finish(mbs_modal, mbs_data);
......
......@@ -229,7 +229,7 @@ void mbs_modal_loop(MbsModal *mo, MbsData *s)
if (mo->options->verbose)
{
mbs_msg(">>MODAL(LPK)>> Computation of the 1st order matrix A\n");
mbs_msg(">>MODAL(SS) >> Computation of the 1st order matrix A\n");
}
mbs_compute_statespace(mo->ss, s, mo->Mr, mo->Gr, mo->Kr, mo->aux->Bvuc);
......@@ -238,7 +238,7 @@ void mbs_modal_loop(MbsModal *mo, MbsData *s)
if (mo->options->verbose)
{
mbs_msg(">>MODAL >> Eigenvalue Problem Solving\n");
mbs_msg(">>MODAL(LPK)>> Eigenvalue Problem Solving\n");
}
mbs_eig_0(mo->ss->A, 2 * mo->nx, mo->eval_a, mo->eval_b, mo->evec_a, mo->evec_b);
......
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