soil_dynamics: Doxygen documentation
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namespace soil_simulator
Variables
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std::mt19937 rng
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class SoilDynamics
- #include <soil_dynamics.hpp>
Simulation class.
Public Functions
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void Init(SimOut *sim_out, Grid grid, float amp_noise)
Initialize the simulator.
- Parameters:
sim_out – Class that stores simulation outputs.
grid – Class that stores information related to the simulation grid.
amp_noise – Amplitude of the Simplex noise. [m]
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template<typename T>
bool Step(SimOut *sim_out, std::vector<float> pos, std::vector<float> ori, Grid grid, T *body, SimParam sim_param, float tol) Step the simulation.
- Parameters:
sim_out – Class that stores simulation outputs.
pos – Cartesian coordinates of the body origin. [m]
ori – Orientation of the body. [Quaternion]
grid – Class that stores information related to the simulation grid.
body – Class that stores information related to the body object.
sim_param – Class that stores information related to the simulation.
tol – Small number used to handle numerical approximation errors.
- Returns:
A boolean indicating whether soil update has been done.
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void Check(SimOut *sim_out, int init_volume, Grid grid, float tol)
Check the validity of the simulation outputs.
- Parameters:
sim_out – Class that stores simulation outputs.
init_volume – Initial number of soil cells.
grid – Class that stores information related to the simulation grid.
tol – Small number used to handle numerical approximation errors.
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template<typename T>
void WriteOutputs(SimOut *sim_out, Grid grid, T *body) Write the simulation outputs into files.
- Parameters:
sim_out – Class that stores simulation outputs.
grid – Class that stores information related to the simulation grid.
body – Class that stores information related to the body object.
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void Init(SimOut *sim_out, Grid grid, float amp_noise)
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std::mt19937 rng