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- semantic adaptation window_obstacle_sa_loop
- for fmu window_sa, obstacle
- input ports motor_speed
- output ports reaction_torque
- param MAXITER = 100;
- param REL_TOL = 1e-8;
- param ABS_TOL = 1e-8;
- initial state {
-
- }
- control rules {
- var reaction_force;
- var height := window_sa.get("height")
- var prev_height := height
- var window_state, obstacle_state;
- for (var iter in 0 .. MAXITER) {
- window_state := window_sa.getState()
- obstacle_state := obstacle.getState()
- obstacle.set("height", height)
- obstacle.doStep(t, H)
- reaction_force := obstacle.get("reaction_force")
- window_sa.set("reaction_force", reaction_force)
- window_sa.doStep(t, H)
- height := window_sa.get("height")
- if (is_close(prev_height, height, REL_TOL, ABS_TOL)) {
- break;
- } else {
- prev_height := height;
- obstacle.setState(obstacle_state);
- window_sa.setState(window_state);
- }
- }
- }
- in rules {
- true -> { } --> { window_sa.set("reaction_force", f(in_state)) };
- }
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