36 lines
824 B
Mathematica
36 lines
824 B
Mathematica
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function [] = initializeSimConf(opts_param)
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%% Default values for opts
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opts = struct('Ts', 1e-4, ... % Sampling time [s]
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'Tsim', 10, ... % Simulation time [s]
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'cl_time', 0, ... % Close Loop time [s]
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'gravity', false ... % Gravity along the z axis [m/s^2]
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);
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%% Populate opts with input parameters
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if exist('opts_param','var')
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for opt = fieldnames(opts_param)'
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opts.(opt{1}) = opts_param.(opt{1});
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end
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end
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%%
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sim_conf = struct();
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%%
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sim_conf.Ts = opts.Ts;
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sim_conf.Tsim = opts.Tsim;
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sim_conf.cl_time = opts.cl_time;
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%% Gravity
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if opts.gravity
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sim_conf.g = -9.8;
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else
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sim_conf.g = 0;
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end
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%% Save
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save('./mat/sim_conf.mat', 'sim_conf');
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end
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