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bullet3/examples/MultiBody/pendulum_gold.h
erwincoumans ab8f16961e Code-style consistency improvement: 
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 14:17:31 -07:00

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#ifndef PENDULUM_GOLD_H
#define PENDULUM_GOLD_H
#include "LinearMath/btScalar.h"
/*
sPendulumGold data was created using the Python script,
thanks to Andreas Bihlmaier for the script.
#!/usr/bin/env python
from __future__ import print_function
import numpy as np
from scipy import integrate
import pylab as pl
import math
import argparse
theta_pos = 0
dtheta_pos = 1
def pendulum_system(Y, t):
m = 10 # [kg]
g = 9.81 # [m/s^2]
l = 0.5 # [m]
tau = 20 # [Nm]
I = m * pow(l, 2) # inertia
return [Y[dtheta_pos], (tau - m*g*l*math.sin(Y[theta_pos])) / I]
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--plot', action='store_true', default=False, help='Plot results')
args = parser.parse_args()
t = np.arange(0, 2, 0.001) # [s]
theta0 = 0
dtheta0 = 0
theta = integrate.odeint(pendulum_system, [theta0, dtheta0], t) # [rad]
print("timestamp;theta;")
for i in range(theta.shape[0]):
print("%f;%f;" % (t[i], theta[i,theta_pos]))
if args.plot:
pl.plot(t, theta[:,theta_pos], '+')
pl.show()
if __name__ == '__main__':
main()
*/
//sPendulumGold stores scalar values of a simulated pendulum in tuples 'timestamp' and 'theta joint angle'
static btScalar sPendulumGold[] =
{
0.000000, 0.000000,
0.001000, 0.000004,
0.002000, 0.000016,
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1.875000, 0.430117,
1.876000, 0.431936,
1.877000, 0.433754,
1.878000, 0.435572,
1.879000, 0.437390,
1.880000, 0.439208,
1.881000, 0.441025,
1.882000, 0.442842,
1.883000, 0.444658,
1.884000, 0.446474,
1.885000, 0.448290,
1.886000, 0.450105,
1.887000, 0.451919,
1.888000, 0.453733,
1.889000, 0.455547,
1.890000, 0.457359,
1.891000, 0.459171,
1.892000, 0.460983,
1.893000, 0.462793,
1.894000, 0.464603,
1.895000, 0.466412,
1.896000, 0.468221,
1.897000, 0.470028,
1.898000, 0.471834,
1.899000, 0.473640,
1.900000, 0.475445,
1.901000, 0.477248,
1.902000, 0.479051,
1.903000, 0.480853,
1.904000, 0.482653,
1.905000, 0.484453,
1.906000, 0.486251,
1.907000, 0.488048,
1.908000, 0.489844,
1.909000, 0.491639,
1.910000, 0.493432,
1.911000, 0.495224,
1.912000, 0.497015,
1.913000, 0.498804,
1.914000, 0.500592,
1.915000, 0.502379,
1.916000, 0.504164,
1.917000, 0.505948,
1.918000, 0.507730,
1.919000, 0.509511,
1.920000, 0.511290,
1.921000, 0.513067,
1.922000, 0.514843,
1.923000, 0.516618,
1.924000, 0.518390,
1.925000, 0.520161,
1.926000, 0.521930,
1.927000, 0.523697,
1.928000, 0.525463,
1.929000, 0.527226,
1.930000, 0.528988,
1.931000, 0.530748,
1.932000, 0.532506,
1.933000, 0.534262,
1.934000, 0.536016,
1.935000, 0.537768,
1.936000, 0.539518,
1.937000, 0.541265,
1.938000, 0.543011,
1.939000, 0.544755,
1.940000, 0.546496,
1.941000, 0.548235,
1.942000, 0.549972,
1.943000, 0.551707,
1.944000, 0.553439,
1.945000, 0.555169,
1.946000, 0.556897,
1.947000, 0.558623,
1.948000, 0.560346,
1.949000, 0.562066,
1.950000, 0.563784,
1.951000, 0.565500,
1.952000, 0.567213,
1.953000, 0.568924,
1.954000, 0.570632,
1.955000, 0.572337,
1.956000, 0.574040,
1.957000, 0.575740,
1.958000, 0.577438,
1.959000, 0.579132,
1.960000, 0.580824,
1.961000, 0.582514,
1.962000, 0.584200,
1.963000, 0.585884,
1.964000, 0.587565,
1.965000, 0.589242,
1.966000, 0.590917,
1.967000, 0.592589,
1.968000, 0.594259,
1.969000, 0.595925,
1.970000, 0.597588,
1.971000, 0.599248,
1.972000, 0.600905,
1.973000, 0.602559,
1.974000, 0.604210,
1.975000, 0.605857,
1.976000, 0.607502,
1.977000, 0.609143,
1.978000, 0.610781,
1.979000, 0.612416,
1.980000, 0.614047,
1.981000, 0.615676,
1.982000, 0.617301,
1.983000, 0.618922,
1.984000, 0.620540,
1.985000, 0.622155,
1.986000, 0.623766,
1.987000, 0.625374,
1.988000, 0.626979,
1.989000, 0.628579,
1.990000, 0.630177,
1.991000, 0.631770,
1.992000, 0.633361,
1.993000, 0.634947,
1.994000, 0.636530,
1.995000, 0.638109,
1.996000, 0.639685,
1.997000, 0.641257,
1.998000, 0.642825,
1.999000, 0.644389};
#endif //PENDULUM_GOLD_H
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