nass-simscape/src/initializeSample.m

function [sample] = initializeSample(args)

arguments
  args.type         char   {mustBeMember(args.type,{'rigid', 'flexible', 'none'})} = 'flexible'
  args.radius (1,1) double {mustBeNumeric, mustBePositive} = 0.1 % [m]
  args.height (1,1) double {mustBeNumeric, mustBePositive} = 0.3 % [m]
  args.mass   (1,1) double {mustBeNumeric, mustBePositive} = 50 % [kg]
  args.freq   (1,1) double {mustBeNumeric, mustBePositive} = 100 % [Hz]
  args.offset (1,1) double {mustBeNumeric} = 0 % [m]
  args.x0     (1,1) double {mustBeNumeric} = 0 % [m]
  args.y0     (1,1) double {mustBeNumeric} = 0 % [m]
  args.z0     (1,1) double {mustBeNumeric} = 0 % [m]
end

sample = struct();

switch args.type
  case 'none'
    sample.type = 0;
  case 'rigid'
    sample.type = 1;
  case 'flexible'
    sample.type = 2;
end

sample.radius = args.radius; % [m]
sample.height = args.height; % [m]
sample.mass = args.mass; % [kg]
sample.offset = args.offset; % [m]

sample.k.x = sample.mass * (2*pi * args.freq)^2; % [N/m]
sample.k.y = sample.mass * (2*pi * args.freq)^2; % [N/m]
sample.k.z = sample.mass * (2*pi * args.freq)^2; % [N/m]

sample.c.x = 0.1*sqrt(sample.k.x*sample.mass); % [N/(m/s)]
sample.c.y = 0.1*sqrt(sample.k.y*sample.mass); % [N/(m/s)]
sample.c.z = 0.1*sqrt(sample.k.z*sample.mass); % [N/(m/s)]

sample.x0 = args.x0; % [m]
sample.y0 = args.y0; % [m]
sample.z0 = args.z0; % [m]

save('./mat/stages.mat', 'sample', '-append');