Description
Convergence control based on the 6-DoF motion state.
The body linear and angular velocities are averaged over a specified time
window and compared to specified velocity convergence criteria and the run
stopped after writing the current time results, if the criteria are met.
Example of function object specification:
\verbatim
sixDoFRigidBodyControl
{
type sixDoFRigidBodyControl;
libs ("libsixDoFRigidBodyState.so");
angleFormat degrees;
window 1;
convergedVelocity (1e-2 1e-2 1e-2);
convergedAngularVelocity (5 5 5);
}
\endverbatim
Note the units of the \c convergedAngularVelocity are specified by the \c
angleFormat entry.
Usage
\table
Property | Description | Required | Default value
type | Type name: sixDoFRigidBodyControl | yes |
angleFormat | Degrees or radians | no | radian
window | Averaging window | yes |
convergedVelocity | Linear velocity convergence criterion | yes |
convergedAngularVelocity | Angular velocity convergence criterion | yes |
\endtable
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