Adams Car Package > Adams Car > Tutorials and Examples > Example .dcd File

Example .dcd File

The following shows the architecture of a .dcd file and all the options you can set for a .dcd file. It contains options, logic, and general rules that you must follow when creating a .dcd file.

[MDI_HEADER]

FILE_NAME = filename.dcd

FILE_TYPE = 'dcd'

FILE_VERSION = 1.0 FILE_FORMAT = 'ASCII'

(COMMENTS)

{comment_string}

'Any comment'

[UNITS]

LENGTH = 'meter' || 'millimeter' || 'centimeter' || 'kilometer' || etc.

FORCE = 'newton' || 'kilogram_force' || etc. ANGLE = 'deg' MASS = 'kg'

TIME = 'sec'

[CLOSED_LOOP]

comment = string

steering_control = 'none' || 'curvature' || 'path' || 'lat_acc' speed_control = 'none' || 'lon_vel' || 'lon_acc' || 'lat_acc' || 'path'

ordinal = 'distance' || 'time'

lon_vel_max = float

lon_vel_min = float

lon_acc_max = float

lon_acc_min = float

lat_acc_max = float

lat_acc_min = float

(DATA)

$ steering, speed

$ 1 Case{none, none} -- null case, no data required!!

$ 2 Case{none, lon_vel}

$ 3 Case{none, lon_acc}

$ 4 Case{none, lat_acc} -- NOT VALID

$ 5 Case{none, path} -- NOT VALID

{ ( distance || time ) && ( lon_vel || lon_acc ) }

$ 6 Case{curvature, none} -- Must have distance with curvature

{ distance && curvature }

$ 7 Case{curvature, lon_vel}

$ 8 Case{curvature, lon_acc}

$ 9 Case{curvature, lat_acc}

$10 Case{curvature, path} -- NOT VALID

{ ( distance || time ) && curvature && ( lon_vel || lon_acc

|| lat_acc ) }

$11 Case{path, none}

$12 Case{path, lon_vel}

$13 Case{path, lon_acc}

$14 Case{path, lat_acc}

{ x && y && ( lon_vel || lon_acc || lat_acc ) }

$15 Case{path, path}

{ x && y && time }

$16 Case{lat_acc, none} -- NOT VALID

$17 Case{lat_acc, lon_vel}

$18 Case{lat_acc, lon_acc}

$19 Case{lat_acc, lat_acc} -- NOT VALID

$20 Case{lat_acc, path} -- NOT VALID

{ ( distance || time ) && lat_acc && ( lon_vel || lat_acc ) }

[OPEN_LOOP]

ordinal = 'time' || 'distance'

{distance || time steering throttle brake gear clutch}*

0.0 0.0 0.0 0.0 2 0.0

0.1 0.0 0.0 0.0 2 0.0

*You can select distance or time and any combination of steering, throttle, brake, gear, and clutch

.Example corresponding to $ 2 Case{none,lon_vel}:

.....

[CLOSED_LOOP]

STEERING_CONTROL = 'NONE'

SPEED_CONTROL = 'LON_VEL'

ORDINAL = 'TIME'

(DATA)

{ TIME, LON_VEL }

0.0 27.777

0.1 27.777

0.2 27.776

0.3 27.775

0.4 27.774

0.5 27.773

.....

Example corresponding to $ 7 Case{curvature,lon_vel}:

.....

[CLOSED_LOOP]

STEERING_CONTROL = 'CURVATURE'

SPEED_CONTROL = 'LON_VEL'

ORDINAL = 'DISTANCE'

(DATA)

{ DISTANCE, CURVATURE, LON_VEL }

0.0 0.000 27.777

1.0 0.002 27.777

2.0 0.004 27.777

3.0 0.006 27.776

4.0 0.008 27.775

5.0 0.010 27.774

6.0 0.010 27.773

7.0 0.010 27.774

8.0 0.010 27.774

9.0 0.010 27.774

10.0 0.010 27.774

11.0 0.010 27.774

12.0 0.010 27.774

13.0 0.010 27.774

.....