rubyneat 0.3.5.alpha.2
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class="attribute-access-type">[RW]</span>
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<span class="method-name">new</span><span
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class="method-args">(ipwin: nil, scale: 0.50, ang: 90.1, xpos: 500.0, ypos: 845.0, cartmass: 200.0, polemass: 100.10, bang: 10.0, thrust_decay: 2.0, window_pix_width: 1280, update_interval: 16.666666, naked: false)</span>
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<span class="method-click-advice">click to toggle source</span>
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<p>@param ipwin – the windowed canvalss this will be shown. @param scale –
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visual scale on the canvas. @param ang – initial angle in degrees, 0
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being the</p>
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<pre>positive side of the x axis.</pre>
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<p>@param xpos – initial x position of the center of cart, in pixels. @param
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cartmass – in kg. included are the mass of the wheels.</p>
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<pre>We will not deal with the angular momentum
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of the wheels, because that's beyond the scope
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of what this is supposed to accomplish.</pre>
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<p>@param polemass – in kg. The mass of the pole is assumed to all</p>
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<pre>reside at a point at
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the knobby end.</pre>
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<p>@param bang – per mouse event, how much bang (acceleration in m/s) to</p>
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<pre>deliver to the cart</pre>
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<pre><span class="ruby-comment"># File neater/rnlib/inverted_pendulum.rb, line 117</span>
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<span class="ruby-keyword">def</span> <span class="ruby-identifier">initialize</span>(<span class="ruby-identifier">ipwin</span><span class="ruby-operator">:</span> <span class="ruby-keyword">nil</span>,
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<span class="ruby-identifier">scale</span><span class="ruby-operator">:</span> <span class="ruby-value">0.50</span>,
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<span class="ruby-identifier">ang</span><span class="ruby-operator">:</span> <span class="ruby-value">90.1</span>,
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<span class="ruby-identifier">xpos</span><span class="ruby-operator">:</span> <span class="ruby-value">500.0</span>,
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<span class="ruby-identifier">ypos</span><span class="ruby-operator">:</span> <span class="ruby-value">845.0</span>,
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<span class="ruby-identifier">cartmass</span><span class="ruby-operator">:</span> <span class="ruby-value">200.0</span>,
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<span class="ruby-identifier">polemass</span><span class="ruby-operator">:</span> <span class="ruby-value">100.10</span>,
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<span class="ruby-identifier">bang</span><span class="ruby-operator">:</span> <span class="ruby-value">10.0</span>, <span class="ruby-comment"># acceleration on a bang event</span>
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<span class="ruby-identifier">thrust_decay</span><span class="ruby-operator">:</span> <span class="ruby-value">2.0</span>, <span class="ruby-comment"># thrust decay percentage per second</span>
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<span class="ruby-identifier">window_pix_width</span><span class="ruby-operator">:</span> <span class="ruby-value">1280</span>,
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<span class="ruby-identifier">update_interval</span><span class="ruby-operator">:</span> <span class="ruby-value">16.666666</span>,
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<span class="ruby-identifier">naked</span><span class="ruby-operator">:</span> <span class="ruby-keyword">false</span>)
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<span class="ruby-ivar">@t</span> = <span class="ruby-value">0</span>
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<span class="ruby-ivar">@bang</span> = <span class="ruby-identifier">bang</span>
|
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<span class="ruby-ivar">@thrust</span> = <span class="ruby-value">0</span> <span class="ruby-comment"># accumulated bang</span>
|
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|
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<span class="ruby-ivar">@thrust_decay</span> = <span class="ruby-identifier">thrust_decay</span>
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<span class="ruby-ivar">@scale</span> = <span class="ruby-identifier">scale</span>
|
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|
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<span class="ruby-ivar">@cart_length</span> = <span class="ruby-value">5.0</span> <span class="ruby-comment"># meters</span>
|
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<span class="ruby-ivar">@pix_meters</span> = <span class="ruby-value">640.0</span> <span class="ruby-operator">*</span> <span class="ruby-identifier">scale</span> <span class="ruby-operator">/</span> <span class="ruby-ivar">@cart_length</span>
|
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<span class="ruby-ivar">@ipwin</span> = <span class="ruby-identifier">ipwin</span>
|
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<span class="ruby-ivar">@pix_width</span> = <span class="ruby-ivar">@ipwin</span>.<span class="ruby-identifier">nil?</span> <span class="ruby-operator">?</span> <span class="ruby-identifier">window_pix_width</span> <span class="ruby-operator">:</span> <span class="ruby-ivar">@ipwin</span>.<span class="ruby-identifier">pix_width</span>
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<span class="ruby-ivar">@update_interval</span> = <span class="ruby-identifier">ipwin</span>.<span class="ruby-identifier">nil?</span> <span class="ruby-operator">?</span> <span class="ruby-identifier">update_interval</span> <span class="ruby-operator">:</span> <span class="ruby-ivar">@ipwin</span>.<span class="ruby-identifier">update_interval</span>
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<span class="ruby-ivar">@cart</span> = {
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<span class="ruby-identifier">pos</span><span class="ruby-operator">:</span> <span class="ruby-constant">Vector</span>[<span class="ruby-identifier">xpos</span> <span class="ruby-operator">/</span> <span class="ruby-ivar">@pix_meters</span>, <span class="ruby-identifier">ypos</span> <span class="ruby-operator">/</span> <span class="ruby-ivar">@pix_meters</span>, <span class="ruby-value">0</span>],
|
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<span class="ruby-identifier">vel</span><span class="ruby-operator">:</span> <span class="ruby-constant">Vector</span>[<span class="ruby-value">0.0</span>, <span class="ruby-value">0</span>, <span class="ruby-value">0</span>], <span class="ruby-comment">#speed in meters per second</span>
|
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|
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<span class="ruby-identifier">acc</span><span class="ruby-operator">:</span> <span class="ruby-constant">Vector</span>[<span class="ruby-value">0.0</span>, <span class="ruby-value">0</span>, <span class="ruby-value">0</span>], <span class="ruby-comment">#acceleration in meters per second squared</span>
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<span class="ruby-identifier">scale</span><span class="ruby-operator">:</span> <span class="ruby-value">0.2</span> <span class="ruby-operator">*</span> <span class="ruby-identifier">scale</span>,
|
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<span class="ruby-identifier">length</span><span class="ruby-operator">:</span> <span class="ruby-keyword">nil</span>, <span class="ruby-comment"># in meters, calculated from the scaled pixel length.</span>
|
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<span class="ruby-identifier">height</span><span class="ruby-operator">:</span> <span class="ruby-keyword">nil</span>, <span class="ruby-comment"># in meters, calculated from the scaled pixel height</span>
|
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|
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<span class="ruby-identifier">basis</span><span class="ruby-operator">:</span> {
|
|
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|
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<span class="ruby-identifier">horiz</span><span class="ruby-operator">:</span> <span class="ruby-constant">Vector</span>[<span class="ruby-value">1.0</span>, <span class="ruby-value">0.0</span>, <span class="ruby-value">0.0</span>], <span class="ruby-comment"># The cart is resticted to movement on the x axis</span>
|
|
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|
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<span class="ruby-identifier">vert</span><span class="ruby-operator">:</span> <span class="ruby-constant">Vector</span>[<span class="ruby-value">0.0</span>, <span class="ruby-value">1.0</span>, <span class="ruby-value">0.0</span>]}, <span class="ruby-comment"># so these basis vectors will never change.</span>
|
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<span class="ruby-identifier">force</span><span class="ruby-operator">:</span> {},
|
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<span class="ruby-identifier">mass</span><span class="ruby-operator">:</span> <span class="ruby-identifier">cartmass</span>
|
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|
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}
|
|
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|
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|
|
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|
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<span class="ruby-comment"># Pole is relative to cart, and in the image is laying horizontal.</span>
|
|
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|
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<span class="ruby-ivar">@pole</span> = {
|
|
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|
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<span class="ruby-identifier">z</span><span class="ruby-operator">:</span> <span class="ruby-value">0</span>,
|
|
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|
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<span class="ruby-identifier">xoff</span><span class="ruby-operator">:</span> <span class="ruby-value">0.0</span>,
|
|
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|
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<span class="ruby-identifier">yoff</span><span class="ruby-operator">:</span> <span class="ruby-value">0.5</span>,
|
|
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|
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<span class="ruby-identifier">ang</span><span class="ruby-operator">:</span> <span class="ruby-identifier">ang</span>, <span class="ruby-comment"># angle is in degrees</span>
|
|
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|
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<span class="ruby-identifier">dang</span><span class="ruby-operator">:</span> <span class="ruby-value">0.0</span>, <span class="ruby-comment"># degrees per second</span>
|
|
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|
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<span class="ruby-identifier">ddang</span><span class="ruby-operator">:</span> <span class="ruby-keyword">nil</span>, <span class="ruby-comment"># angular acceleration, degree / second ** 2</span>
|
|
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|
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<span class="ruby-identifier">cdang</span><span class="ruby-operator">:</span> <span class="ruby-value">0.0</span>, <span class="ruby-comment"># degrees per second, contribution from cart</span>
|
|
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|
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<span class="ruby-identifier">cddang</span><span class="ruby-operator">:</span> <span class="ruby-keyword">nil</span>, <span class="ruby-comment"># angular acceleration, degree / second ** 2, contribution from cart</span>
|
|
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|
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<span class="ruby-identifier">scale</span><span class="ruby-operator">:</span> <span class="ruby-value">0.2</span> <span class="ruby-operator">*</span> <span class="ruby-identifier">scale</span>,
|
|
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|
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<span class="ruby-identifier">force</span><span class="ruby-operator">:</span> {}, <span class="ruby-comment"># shall hold the 2 force vectors :shaft and :radial</span>
|
|
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|
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<span class="ruby-identifier">basis</span><span class="ruby-operator">:</span> {}, <span class="ruby-comment"># basis (unit) vectors</span>
|
|
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|
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<span class="ruby-identifier">cacc</span><span class="ruby-operator">:</span> <span class="ruby-constant">Vector</span>[<span class="ruby-value">0</span>,<span class="ruby-value">0</span>,<span class="ruby-value">0</span>], <span class="ruby-comment"># acceleration from cart</span>
|
|
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|
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<span class="ruby-identifier">length</span><span class="ruby-operator">:</span> <span class="ruby-keyword">nil</span>, <span class="ruby-comment"># in meters, calculated from the scaled pixel length.</span>
|
|
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|
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<span class="ruby-identifier">mass</span><span class="ruby-operator">:</span> <span class="ruby-identifier">polemass</span>
|
|
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|
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}
|
|
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|
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|
|
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|
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<span class="ruby-comment"># Wheels is relative to cart</span>
|
|
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|
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<span class="ruby-ivar">@wheels</span> = [
|
|
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|
+
{
|
|
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|
+
<span class="ruby-identifier">ang</span><span class="ruby-operator">:</span> <span class="ruby-value">0</span>,
|
|
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|
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<span class="ruby-identifier">dang</span><span class="ruby-operator">:</span> <span class="ruby-value">100</span>, <span class="ruby-comment">#FIXME: delete this for this will be overwritten anyway</span>
|
|
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|
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<span class="ruby-identifier">xoff</span><span class="ruby-operator">:</span> <span class="ruby-value">-0.7</span>, <span class="ruby-comment"># percentage from center</span>
|
|
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|
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<span class="ruby-identifier">yoff</span><span class="ruby-operator">:</span> <span class="ruby-value">0.4</span>, <span class="ruby-comment"># percentage from center</span>
|
|
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|
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<span class="ruby-identifier">scale</span><span class="ruby-operator">:</span> <span class="ruby-value">0.2</span> <span class="ruby-operator">*</span> <span class="ruby-identifier">scale</span>
|
|
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|
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},
|
|
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|
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{
|
|
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|
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<span class="ruby-identifier">ang</span><span class="ruby-operator">:</span> <span class="ruby-value">0</span>,
|
|
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|
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<span class="ruby-identifier">dang</span><span class="ruby-operator">:</span> <span class="ruby-value">12.33</span>, <span class="ruby-comment">#FIXME: delete this for this will be overwritten anyway</span>
|
|
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|
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<span class="ruby-identifier">xoff</span><span class="ruby-operator">:</span> <span class="ruby-value">0.7</span>,
|
|
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|
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<span class="ruby-identifier">yoff</span><span class="ruby-operator">:</span> <span class="ruby-value">0.4</span>,
|
|
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|
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<span class="ruby-identifier">scale</span><span class="ruby-operator">:</span> <span class="ruby-value">0.2</span> <span class="ruby-operator">*</span> <span class="ruby-identifier">scale</span>
|
|
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|
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}
|
|
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|
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]
|
|
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|
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<span class="ruby-keyword">end</span></pre>
|
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|
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</div>
|
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|
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|
|
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|
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|
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|
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|
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|
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|
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</div>
|
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|
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|
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|
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|
|
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|
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</section>
|
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|
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|
|
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|
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<section id="public-instance-5Buntitled-5D-method-details" class="method-section">
|
|
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|
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<header>
|
|
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|
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<h3>Public Instance Methods</h3>
|
|
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|
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</header>
|
|
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|
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|
|
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|
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|
|
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|
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<div id="method-i-big_bang" class="method-detail ">
|
|
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|
+
|
|
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|
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<div class="method-heading">
|
|
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|
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<span class="method-name">big_bang</span><span
|
|
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|
+
class="method-args">(bb = 0)</span>
|
|
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|
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|
|
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|
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<span class="method-click-advice">click to toggle source</span>
|
|
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|
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|
|
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|
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</div>
|
|
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|
+
|
|
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|
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|
|
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|
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<div class="method-description">
|
|
302
|
+
|
|
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|
+
<pre>Provide a bang for the cart.
|
|
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|
+
Return a thrust (acc) vector (really just x)
|
|
305
|
+
based on thrust</pre>
|
|
306
|
+
|
|
307
|
+
<p>@param bb – bang factor, normally -1, 0, or 1, but could be</p>
|
|
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|
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|
|
309
|
+
<pre>other values based on being a multiplier of the actual bang to be
|
|
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|
+
applied.</pre>
|
|
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|
+
|
|
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|
+
|
|
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|
+
|
|
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|
+
|
|
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|
+
<div class="method-source-code" id="big_bang-source">
|
|
316
|
+
<pre><span class="ruby-comment"># File neater/rnlib/inverted_pendulum.rb, line 212</span>
|
|
317
|
+
<span class="ruby-keyword">def</span> <span class="ruby-identifier">big_bang</span>(<span class="ruby-identifier">bb</span> = <span class="ruby-value">0</span>)
|
|
318
|
+
<span class="ruby-comment"># FIXME: this is temporary. Eventually this will call a callback in the Neater script.</span>
|
|
319
|
+
<span class="ruby-identifier">v</span> = <span class="ruby-constant">Vector</span>[<span class="ruby-ivar">@thrust</span>, <span class="ruby-value">0</span>, <span class="ruby-value">0</span>]
|
|
320
|
+
<span class="ruby-ivar">@thrust</span> <span class="ruby-operator">+=</span> <span class="ruby-ivar">@bang</span> <span class="ruby-operator">*</span> <span class="ruby-identifier">bb</span>
|
|
321
|
+
<span class="ruby-ivar">@thrust</span> <span class="ruby-operator">-=</span> <span class="ruby-ivar">@thrust</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@thrust_decay</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@dt</span>
|
|
322
|
+
<span class="ruby-identifier">v</span>
|
|
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|
+
<span class="ruby-keyword">end</span></pre>
|
|
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|
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|
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|
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</div>
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|
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|
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</div>
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|
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|
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|
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|
|
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|
+
<div id="method-i-button_down" class="method-detail ">
|
|
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|
+
|
|
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|
+
<div class="method-heading">
|
|
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|
+
<span class="method-name">button_down</span><span
|
|
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|
+
class="method-args">(id)</span>
|
|
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|
+
|
|
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|
+
<span class="method-click-advice">click to toggle source</span>
|
|
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|
+
|
|
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|
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</div>
|
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|
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|
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|
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<div class="method-description">
|
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|
|
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|
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|
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|
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|
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|
|
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|
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<div class="method-source-code" id="button_down-source">
|
|
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|
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<pre><span class="ruby-comment"># File neater/rnlib/inverted_pendulum.rb, line 220</span>
|
|
354
|
+
<span class="ruby-keyword">def</span> <span class="ruby-identifier">button_down</span>(<span class="ruby-identifier">id</span>)
|
|
355
|
+
<span class="ruby-identifier">big_bang</span> <span class="ruby-keyword">case</span> <span class="ruby-identifier">id</span>
|
|
356
|
+
<span class="ruby-keyword">when</span> <span class="ruby-constant">MOUSE_ROLL_FOREWARD</span>
|
|
357
|
+
<span class="ruby-value">1.0</span>
|
|
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<pre><span class="ruby-comment"># File neater/rnlib/inverted_pendulum.rb, line 231</span>
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<span class="ruby-keyword">def</span> <span class="ruby-identifier">button_up</span>(<span class="ruby-identifier">id</span>)
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<span class="ruby-comment"># no op for now.</span>
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<pre><span class="ruby-comment"># File neater/rnlib/inverted_pendulum.rb, line 328</span>
|
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<span class="ruby-keyword">def</span> <span class="ruby-identifier">draw</span>
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<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:image</span>].<span class="ruby-identifier">draw_rot</span>( <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:_x</span>] <span class="ruby-operator">%</span> <span class="ruby-ivar">@pix_width</span>,
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<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:_y</span>],
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<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:z</span>],
|
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<span class="ruby-operator">-</span><span class="ruby-ivar">@pole</span>[<span class="ruby-value">:ang</span>], <span class="ruby-comment"># negative because y is inverted on the canvas</span>
|
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<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:xoff</span>], <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:yoff</span>],
|
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<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:scale</span>],
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<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:scale</span>])
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<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:image</span>].<span class="ruby-identifier">draw</span>(<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:_x</span>] <span class="ruby-operator">%</span> <span class="ruby-ivar">@pix_width</span>,
|
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<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:_y</span>],
|
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<span class="ruby-value">0</span>,
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<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:scale</span>],
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<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:scale</span>])
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<span class="ruby-ivar">@wheels</span>.<span class="ruby-identifier">each</span> <span class="ruby-keyword">do</span> <span class="ruby-operator">|</span><span class="ruby-identifier">wh</span><span class="ruby-operator">|</span>
|
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<span class="ruby-identifier">wh</span>[<span class="ruby-value">:image</span>].<span class="ruby-identifier">draw_rot</span>(<span class="ruby-identifier">wh</span>[<span class="ruby-value">:_x</span>] <span class="ruby-operator">%</span> <span class="ruby-ivar">@pix_width</span>,
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<span class="ruby-identifier">wh</span>[<span class="ruby-value">:_y</span>],
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<span class="ruby-identifier">wh</span>[<span class="ruby-value">:ang</span>],
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<span class="ruby-value">0.5</span>, <span class="ruby-value">0.5</span>,
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<span class="ruby-identifier">wh</span>[<span class="ruby-value">:scale</span>],
|
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<span class="ruby-identifier">wh</span>[<span class="ruby-value">:scale</span>])
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<span class="ruby-keyword">end</span>
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<span class="ruby-keyword">end</span></pre>
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class="method-args">(ipwin)</span>
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<pre><span class="ruby-comment"># File neater/rnlib/inverted_pendulum.rb, line 190</span>
|
|
482
|
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<span class="ruby-keyword">def</span> <span class="ruby-identifier">ipwin=</span>(<span class="ruby-identifier">ipwin</span>)
|
|
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|
+
<span class="ruby-ivar">@ipwin</span> = <span class="ruby-identifier">ipwin</span>
|
|
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|
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<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:image</span>] = <span class="ruby-constant">Gosu</span><span class="ruby-operator">::</span><span class="ruby-constant">Image</span>.<span class="ruby-identifier">new</span>(<span class="ruby-identifier">ipwin</span>, <span class="ruby-string">'public/cart.png'</span>, <span class="ruby-keyword">true</span>)
|
|
485
|
+
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:image</span>] = <span class="ruby-constant">Gosu</span><span class="ruby-operator">::</span><span class="ruby-constant">Image</span>.<span class="ruby-identifier">new</span>(<span class="ruby-identifier">ipwin</span>, <span class="ruby-string">'public/pole.png'</span>, <span class="ruby-keyword">true</span>)
|
|
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|
+
<span class="ruby-ivar">@wheels</span>.<span class="ruby-identifier">each</span> {<span class="ruby-operator">|</span><span class="ruby-identifier">w</span><span class="ruby-operator">|</span>
|
|
487
|
+
<span class="ruby-identifier">w</span>[<span class="ruby-value">:image</span>] = <span class="ruby-constant">Gosu</span><span class="ruby-operator">::</span><span class="ruby-constant">Image</span>.<span class="ruby-identifier">new</span>(<span class="ruby-identifier">ipwin</span>, <span class="ruby-string">'public/wheel.png'</span>, <span class="ruby-keyword">true</span>)
|
|
488
|
+
<span class="ruby-comment"># radius of wheel in meters, need this for rotational velocity calculation</span>
|
|
489
|
+
<span class="ruby-identifier">w</span>[<span class="ruby-value">:radius</span>] = <span class="ruby-identifier">w</span>[<span class="ruby-value">:image</span>].<span class="ruby-identifier">width</span> <span class="ruby-operator">*</span> <span class="ruby-identifier">w</span>[<span class="ruby-value">:scale</span>] <span class="ruby-operator">/</span> <span class="ruby-ivar">@pix_meters</span> <span class="ruby-operator">/</span> <span class="ruby-value">2.0</span>
|
|
490
|
+
<span class="ruby-identifier">w</span>[<span class="ruby-value">:circumference</span>] = <span class="ruby-identifier">w</span>[<span class="ruby-value">:radius</span>] <span class="ruby-operator">*</span> <span class="ruby-value">2.0</span> <span class="ruby-operator">*</span> <span class="ruby-constant">PI</span>
|
|
491
|
+
}
|
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|
|
493
|
+
<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:length</span>] = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:image</span>].<span class="ruby-identifier">width</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:scale</span>] <span class="ruby-operator">/</span> <span class="ruby-ivar">@pix_meters</span>
|
|
494
|
+
<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:height</span>] = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:image</span>].<span class="ruby-identifier">height</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:scale</span>] <span class="ruby-operator">/</span> <span class="ruby-ivar">@pix_meters</span>
|
|
495
|
+
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:length</span>] = <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:image</span>].<span class="ruby-identifier">width</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:scale</span>] <span class="ruby-operator">/</span> <span class="ruby-ivar">@pix_meters</span>
|
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<span class="ruby-keyword">end</span></pre>
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<div id="method-i-update" class="method-detail ">
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<div class="method-heading">
|
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<span class="method-name">update</span><span
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class="method-args">()</span>
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|
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513
|
+
<span class="method-click-advice">click to toggle source</span>
|
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|
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</div>
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<div class="method-source-code" id="update-source">
|
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<pre><span class="ruby-comment"># File neater/rnlib/inverted_pendulum.rb, line 235</span>
|
|
527
|
+
<span class="ruby-keyword">def</span> <span class="ruby-identifier">update</span>
|
|
528
|
+
<span class="ruby-comment">## Physics updates</span>
|
|
529
|
+
<span class="ruby-ivar">@dt</span> = <span class="ruby-ivar">@update_interval</span> <span class="ruby-operator">/</span> <span class="ruby-value">1000.0</span>
|
|
530
|
+
<span class="ruby-ivar">@t</span> <span class="ruby-operator">+=</span> <span class="ruby-ivar">@dt</span>
|
|
531
|
+
|
|
532
|
+
<span class="ruby-comment">## Pole (Pendulum) forces, accelerations, etc.</span>
|
|
533
|
+
<span class="ruby-comment"># basis vectors</span>
|
|
534
|
+
<span class="ruby-identifier">ang</span> = <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:ang</span>] <span class="ruby-operator">*</span> <span class="ruby-constant">TORAD</span>
|
|
535
|
+
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:time</span>] = <span class="ruby-ivar">@t</span>
|
|
536
|
+
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:basis</span>][<span class="ruby-value">:shaft</span>] = <span class="ruby-identifier">iShaft</span> = <span class="ruby-constant">Vector</span>[<span class="ruby-identifier">cos</span>(<span class="ruby-identifier">ang</span>), <span class="ruby-identifier">sin</span>(<span class="ruby-identifier">ang</span>), <span class="ruby-value">0</span>]
|
|
537
|
+
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:basis</span>][<span class="ruby-value">:radial</span>] = <span class="ruby-identifier">iRadial</span> = <span class="ruby-constant">Vector</span>[<span class="ruby-identifier">sin</span>(<span class="ruby-identifier">ang</span>), <span class="ruby-operator">-</span><span class="ruby-identifier">cos</span>(<span class="ruby-identifier">ang</span>), <span class="ruby-value">0</span>]
|
|
538
|
+
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:r</span>] = <span class="ruby-identifier">r</span> = <span class="ruby-identifier">iShaft</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:length</span>]
|
|
539
|
+
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:force</span>][<span class="ruby-value">:shaft</span>] = <span class="ruby-identifier">iShaft</span>.<span class="ruby-identifier">basis</span>(<span class="ruby-constant">GV</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:mass</span>])
|
|
540
|
+
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:force</span>][<span class="ruby-value">:radial</span>] = <span class="ruby-identifier">radial</span> = <span class="ruby-identifier">iRadial</span>.<span class="ruby-identifier">basis</span>(<span class="ruby-constant">GV</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:mass</span>])
|
|
541
|
+
<span class="ruby-comment"># the magnitude of the radial vector goes to the torque on</span>
|
|
542
|
+
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:force</span>][<span class="ruby-value">:torque</span>] = <span class="ruby-identifier">torque</span> = <span class="ruby-identifier">r</span>.<span class="ruby-identifier">cross_product</span>(<span class="ruby-identifier">radial</span>)
|
|
543
|
+
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:alpha</span>] = <span class="ruby-identifier">alpha</span> = <span class="ruby-identifier">torque</span> <span class="ruby-operator">/</span> (<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:mass</span>] <span class="ruby-operator">*</span> (<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:length</span>] <span class="ruby-operator">**</span> <span class="ruby-value">2.0</span>))
|
|
544
|
+
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:ddang</span>] = <span class="ruby-operator">-</span><span class="ruby-identifier">alpha</span>[<span class="ruby-constant">Z</span>] <span class="ruby-operator">/</span> <span class="ruby-constant">TORAD</span> <span class="ruby-comment"># the pseudo vector component Z is the signed magnitude</span>
|
|
545
|
+
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:dang</span>] <span class="ruby-operator">+=</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:ddang</span>] <span class="ruby-operator">*</span> <span class="ruby-ivar">@dt</span> <span class="ruby-comment"># angular velocity</span>
|
|
546
|
+
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:vel</span>] = <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:basis</span>][<span class="ruby-value">:radial</span>] <span class="ruby-operator">*</span> (<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:dang</span>] <span class="ruby-operator">*</span> <span class="ruby-constant">TORAD</span> <span class="ruby-operator">*</span> <span class="ruby-constant">PI2</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:length</span>]) <span class="ruby-comment">#linear velocity at the pole mass</span>
|
|
547
|
+
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:ang</span>] <span class="ruby-operator">+=</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:dang</span>] <span class="ruby-operator">*</span> <span class="ruby-ivar">@dt</span>
|
|
548
|
+
|
|
549
|
+
<span class="ruby-comment">## Cart forces from pole [:force][:shaft] and centifugal</span>
|
|
550
|
+
<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:time</span>] = <span class="ruby-ivar">@t</span>
|
|
551
|
+
|
|
552
|
+
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:force</span>][<span class="ruby-value">:centrifugal</span>] = <span class="ruby-identifier">centrifugal</span> = (<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:basis</span>][<span class="ruby-value">:shaft</span>] <span class="ruby-operator">*</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:vel</span>].<span class="ruby-identifier">magnitude</span> <span class="ruby-operator">**</span> <span class="ruby-value">2</span>) <span class="ruby-operator">*</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:mass</span>]
|
|
553
|
+
<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:force</span>][<span class="ruby-value">:shaft</span>] = <span class="ruby-identifier">shaft</span> = <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:force</span>][<span class="ruby-value">:shaft</span>] <span class="ruby-comment"># + centrifugal #FIXME cemtrifugal calculations wonky!</span>
|
|
554
|
+
<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:force</span>][<span class="ruby-value">:horiz</span>] = <span class="ruby-identifier">horiz</span> = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:basis</span>][<span class="ruby-value">:horiz</span>].<span class="ruby-identifier">basis</span> <span class="ruby-identifier">shaft</span>
|
|
555
|
+
<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:force</span>][<span class="ruby-value">:vert</span>] = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:basis</span>][<span class="ruby-value">:vert</span>].<span class="ruby-identifier">basis</span> <span class="ruby-identifier">shaft</span> <span class="ruby-comment"># not that we use the vert</span>
|
|
556
|
+
|
|
557
|
+
<span class="ruby-comment"># Now the horz force induces an acceleration on the cart.</span>
|
|
558
|
+
<span class="ruby-comment"># Any additions to the acceleration vector must be done after</span>
|
|
559
|
+
<span class="ruby-comment"># this point.</span>
|
|
560
|
+
<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:acc</span>] = <span class="ruby-identifier">horiz</span> <span class="ruby-operator">/</span> (<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:mass</span>] <span class="ruby-operator">+</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:mass</span>] <span class="ruby-operator">*</span> <span class="ruby-identifier">cos</span>(<span class="ruby-identifier">ang</span>).<span class="ruby-identifier">abs</span>)
|
|
561
|
+
|
|
562
|
+
<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:acc</span>] <span class="ruby-operator">+=</span> <span class="ruby-identifier">big_bang</span>
|
|
563
|
+
|
|
564
|
+
<span class="ruby-comment">## Cart acceleration also affects angular torque</span>
|
|
565
|
+
<span class="ruby-comment"># FIXME: Note that recalculations are being done here, which</span>
|
|
566
|
+
<span class="ruby-comment"># FIXME: are not DRY. Redo this properly later.</span>
|
|
567
|
+
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:cacc</span>] = <span class="ruby-identifier">cacc</span> = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:acc</span>] <span class="ruby-operator">*</span> <span class="ruby-value">-1.0</span>
|
|
568
|
+
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:force</span>][<span class="ruby-value">:cradial</span>] = <span class="ruby-identifier">radial</span> = <span class="ruby-identifier">iRadial</span>.<span class="ruby-identifier">basis</span>(<span class="ruby-identifier">cacc</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:mass</span>])
|
|
569
|
+
<span class="ruby-comment"># the magnitude of the radial vector goes to the torque on</span>
|
|
570
|
+
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:force</span>][<span class="ruby-value">:ctorque</span>] = <span class="ruby-identifier">torque</span> = <span class="ruby-identifier">r</span>.<span class="ruby-identifier">cross_product</span>(<span class="ruby-identifier">radial</span>)
|
|
571
|
+
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:calpha</span>] = <span class="ruby-identifier">alpha</span> = <span class="ruby-identifier">torque</span> <span class="ruby-operator">/</span> (<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:mass</span>] <span class="ruby-operator">*</span> (<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:length</span>] <span class="ruby-operator">**</span> <span class="ruby-value">2.0</span>))
|
|
572
|
+
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:cddang</span>] = <span class="ruby-operator">-</span><span class="ruby-identifier">alpha</span>[<span class="ruby-constant">Z</span>] <span class="ruby-operator">/</span> <span class="ruby-constant">TORAD</span> <span class="ruby-comment"># the pseudo vector component Z is the signed magnitude</span>
|
|
573
|
+
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:cdang</span>] <span class="ruby-operator">+=</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:cddang</span>] <span class="ruby-operator">*</span> <span class="ruby-ivar">@dt</span>
|
|
574
|
+
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:ang</span>] <span class="ruby-operator">+=</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:cdang</span>] <span class="ruby-operator">*</span> <span class="ruby-ivar">@dt</span>
|
|
575
|
+
|
|
576
|
+
<span class="ruby-comment">## Actual cart physics</span>
|
|
577
|
+
<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:vel</span>][<span class="ruby-constant">X</span>] <span class="ruby-operator">+=</span> <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:acc</span>][<span class="ruby-constant">X</span>] <span class="ruby-operator">*</span> <span class="ruby-ivar">@dt</span>
|
|
578
|
+
<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:pos</span>][<span class="ruby-constant">X</span>] <span class="ruby-operator">+=</span> <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:vel</span>][<span class="ruby-constant">X</span>] <span class="ruby-operator">*</span> <span class="ruby-ivar">@dt</span>
|
|
579
|
+
<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:x</span>] = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:pos</span>][<span class="ruby-constant">X</span>] <span class="ruby-operator">*</span> <span class="ruby-ivar">@pix_meters</span>
|
|
580
|
+
<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:y</span>] = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:pos</span>][<span class="ruby-constant">Y</span>] <span class="ruby-operator">*</span> <span class="ruby-ivar">@pix_meters</span>
|
|
581
|
+
|
|
582
|
+
<span class="ruby-comment">#puts '=' * 80</span>
|
|
583
|
+
<span class="ruby-comment">#pp({pole: @pole, cart: @cart})</span>
|
|
584
|
+
|
|
585
|
+
<span class="ruby-comment"># wheels physics -- angular velocity of each wheel based</span>
|
|
586
|
+
<span class="ruby-comment"># on the linear velocity of the cart.</span>
|
|
587
|
+
<span class="ruby-ivar">@wheels</span>.<span class="ruby-identifier">each</span> <span class="ruby-keyword">do</span> <span class="ruby-operator">|</span><span class="ruby-identifier">w</span><span class="ruby-operator">|</span>
|
|
588
|
+
<span class="ruby-identifier">w</span>[<span class="ruby-value">:dang</span>] = <span class="ruby-value">360.0</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:vel</span>][<span class="ruby-constant">X</span>] <span class="ruby-operator">/</span> <span class="ruby-identifier">w</span>[<span class="ruby-value">:circumference</span>]
|
|
589
|
+
<span class="ruby-identifier">w</span>[<span class="ruby-value">:ang</span>] <span class="ruby-operator">+=</span> <span class="ruby-identifier">w</span>[<span class="ruby-value">:dang</span>] <span class="ruby-operator">*</span> <span class="ruby-ivar">@dt</span>
|
|
590
|
+
<span class="ruby-keyword">end</span>
|
|
591
|
+
|
|
592
|
+
<span class="ruby-comment"># model update</span>
|
|
593
|
+
<span class="ruby-keyword">self</span>.<span class="ruby-identifier">update_cart</span>
|
|
594
|
+
<span class="ruby-keyword">end</span></pre>
|
|
595
|
+
</div>
|
|
596
|
+
|
|
597
|
+
</div>
|
|
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|
+
|
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599
|
+
|
|
600
|
+
|
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601
|
+
|
|
602
|
+
</div>
|
|
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|
+
|
|
604
|
+
|
|
605
|
+
<div id="method-i-update_cart" class="method-detail ">
|
|
606
|
+
|
|
607
|
+
<div class="method-heading">
|
|
608
|
+
<span class="method-name">update_cart</span><span
|
|
609
|
+
class="method-args">()</span>
|
|
610
|
+
|
|
611
|
+
<span class="method-click-advice">click to toggle source</span>
|
|
612
|
+
|
|
613
|
+
</div>
|
|
614
|
+
|
|
615
|
+
|
|
616
|
+
<div class="method-description">
|
|
617
|
+
|
|
618
|
+
<p>update the positions of all the compnents of the cart in terms of the
|
|
619
|
+
relative positional relationships</p>
|
|
620
|
+
|
|
621
|
+
|
|
622
|
+
|
|
623
|
+
|
|
624
|
+
<div class="method-source-code" id="update_cart-source">
|
|
625
|
+
<pre><span class="ruby-comment"># File neater/rnlib/inverted_pendulum.rb, line 306</span>
|
|
626
|
+
<span class="ruby-keyword">def</span> <span class="ruby-identifier">update_cart</span>
|
|
627
|
+
<span class="ruby-comment"># center of cart is taken as (x, y), actual is (_x, _y)</span>
|
|
628
|
+
<span class="ruby-identifier">pw</span> = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:image</span>].<span class="ruby-identifier">width</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:scale</span>]
|
|
629
|
+
<span class="ruby-identifier">ph</span> = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:image</span>].<span class="ruby-identifier">height</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:scale</span>]
|
|
630
|
+
<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:_x</span>] = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:x</span>] <span class="ruby-operator">-</span> <span class="ruby-identifier">pw</span> <span class="ruby-operator">/</span> <span class="ruby-value">2.0</span>
|
|
631
|
+
<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:_y</span>] = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:y</span>] <span class="ruby-operator">-</span> <span class="ruby-identifier">ph</span> <span class="ruby-operator">/</span> <span class="ruby-value">2.0</span>
|
|
632
|
+
|
|
633
|
+
<span class="ruby-comment"># Wheels in their respective places</span>
|
|
634
|
+
<span class="ruby-ivar">@wheels</span>.<span class="ruby-identifier">each</span> <span class="ruby-keyword">do</span> <span class="ruby-operator">|</span><span class="ruby-identifier">wl</span><span class="ruby-operator">|</span>
|
|
635
|
+
<span class="ruby-comment">#ww = wl[:image].width * wl[:scale]</span>
|
|
636
|
+
<span class="ruby-comment">#wh = wl[:image].height * wl[:scale]</span>
|
|
637
|
+
<span class="ruby-identifier">wl</span>[<span class="ruby-value">:_x</span>] = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:x</span>] <span class="ruby-operator">+</span> <span class="ruby-identifier">wl</span>[<span class="ruby-value">:xoff</span>] <span class="ruby-operator">*</span> <span class="ruby-identifier">pw</span> <span class="ruby-operator">/</span> <span class="ruby-value">2.0</span>
|
|
638
|
+
<span class="ruby-identifier">wl</span>[<span class="ruby-value">:_y</span>] = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:y</span>] <span class="ruby-operator">+</span> <span class="ruby-identifier">wl</span>[<span class="ruby-value">:yoff</span>] <span class="ruby-operator">*</span> <span class="ruby-identifier">ph</span> <span class="ruby-operator">/</span> <span class="ruby-value">2.0</span>
|
|
639
|
+
<span class="ruby-keyword">end</span>
|
|
640
|
+
|
|
641
|
+
<span class="ruby-comment"># Pendulum</span>
|
|
642
|
+
<span class="ruby-identifier">polew</span> = <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:image</span>].<span class="ruby-identifier">width</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:scale</span>]
|
|
643
|
+
<span class="ruby-identifier">poleh</span> = <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:image</span>].<span class="ruby-identifier">height</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:scale</span>]
|
|
644
|
+
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:_x</span>] = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:x</span>]
|
|
645
|
+
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:_y</span>] = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:y</span>]
|
|
646
|
+
<span class="ruby-keyword">end</span></pre>
|
|
647
|
+
</div>
|
|
648
|
+
|
|
649
|
+
</div>
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|
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</div>
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</section>
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</section>
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</main>
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<footer id="validator-badges" role="contentinfo">
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<p><a href="http://validator.w3.org/check/referer">Validate</a>
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665
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<p>Generated by <a href="http://rdoc.rubyforge.org">RDoc</a> 4.1.1.
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666
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<p>Based on <a href="http://deveiate.org/projects/Darkfish-Rdoc/">Darkfish</a> by <a href="http://deveiate.org">Michael Granger</a>.
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</footer>
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