TwoCarSim.ds2 File Reference

Simulate two cars to demonstrate targets. More...

Go to the source code of this file.

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Detailed Description

Simulate two cars to demonstrate targets.

<Simulation>
    <version>1</version>
    <timeStep>0.1</timeStep>
    <startSeconds>0</startSeconds>
    <startJD>2456349.985255916</startJD>
    <timeScale>1</timeScale>
    <name>Two car simulation</name>
    <integrator>
        <name>RK4</name>
        <type>DSimRK4</type>
        <library>builtin</library>
    </integrator>
    <objectTree>
        <object>
            <name>Car1</name>
            <type>AutomobileSimple</type>
            <library>/Library/Application Support/VisualCommander/Model Libraries/DACSimulation.bundle</library>
            <integrator>RK4</integrator>
            <telemetry>rolling_friction_coeff</telemetry>
            <telemetry>r</telemetry>
            <telemetry>frontal_area</telemetry>
            <telemetry>torque</telemetry>
            <telemetry>mass</telemetry>
            <telemetry>state</telemetry>
            <telemetry>yaw_matrix</telemetry>
            <telemetry>position</telemetry>
            <telemetry>steering_angle</telemetry>
            <telemetry>drag_coeff_coeff</telemetry>
            <telemetry>rho</telemetry>
            <telemetry>inertia</telemetry>
            <command>torque</command>
            <command>steering_angle</command>
            <child>
                <name>Network</name>
                <type>AutomobileNetwork</type>
                <library>/Library/Application Support/VisualCommander/Model Libraries/DACSimulation.bundle</library>
                <integrator>RK4</integrator>
                <connectTarget>
                    <name>automobile_network_target</name>
                    <target>Car2|Network</target>
                </connectTarget>
                <telemetry>fov</telemetry>
                <telemetry>boresight</telemetry>
                <telemetry>transmit</telemetry>
                <telemetry>message_incoming</telemetry>
                <telemetry>position</telemetry>
                <command>transmit</command>
                <command>message_outgoing</command>
            </child>
        </object>
        <object>
            <name>Car2</name>
            <type>AutomobileSimple</type>
            <library>/Library/Application Support/VisualCommander/Model Libraries/DACSimulation.bundle</library>
            <integrator>RK4</integrator>
            <setValue>
                <variable>state</variable>
                <value>[100;0;0;0;0;0]</value>
            </setValue>
            <telemetry>torque</telemetry>
            <telemetry>inertia</telemetry>
            <telemetry>state</telemetry>
            <telemetry>rolling_friction_coeff</telemetry>
            <telemetry>steering_angle</telemetry>
            <telemetry>mass</telemetry>
            <telemetry>r</telemetry>
            <telemetry>rho</telemetry>
            <telemetry>frontal_area</telemetry>
            <telemetry>drag_coeff_coeff</telemetry>
            <telemetry>yaw_matrix</telemetry>
            <telemetry>position</telemetry>
            <command>torque</command>
            <command>steering_angle</command>
            <child>
                <name>Network</name>
                <type>AutomobileNetwork</type>
                <library>/Library/Application Support/VisualCommander/Model Libraries/DACSimulation.bundle</library>
                <integrator>RK4</integrator>
                <connectTarget>
                    <name>automobile_network_target</name>
                    <target>Car1|Network</target>
                </connectTarget>
                <telemetry>boresight</telemetry>
                <telemetry>message_incoming</telemetry>
                <telemetry>position</telemetry>
                <telemetry>transmit</telemetry>
                <telemetry>fov</telemetry>
                <command>message_outgoing</command>
                <command>transmit</command>
            </child>
        </object>
    </objectTree>
</Simulation>

Definition in file TwoCarSim.ds2.