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55 lines
1.8 KiB
55 lines
1.8 KiB
#include <iostream>
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#include <gflags/gflags.h>
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#include "drake/examples/fibonacci/fibonacci_difference_equation.h"
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#include "drake/systems/analysis/simulator.h"
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#include "drake/systems/framework/diagram_builder.h"
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#include "drake/systems/primitives/vector_log_sink.h"
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DEFINE_int32(steps, 10, "Length of Fibonacci sequence to generate.");
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namespace drake {
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namespace examples {
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namespace fibonacci {
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namespace {
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// Use Drake's hybrid Simulator to produce the Fibonacci sequence up to
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// the step number supplied on the command line (default 10).
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int main(int argc, char* argv[]) {
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// Handle the command line "steps" argument.
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gflags::SetUsageMessage("usage: run_fibonacci [--steps=n]");
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gflags::ParseCommandLineFlags(&argc, &argv, true);
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// Build a Diagram containing the Fibonacci system and a data logger that
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// samples the Fibonacci output port exactly at the update times.
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systems::DiagramBuilder<double> builder;
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auto fibonacci = builder.AddSystem<FibonacciDifferenceEquation>();
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auto logger = LogVectorOutput(fibonacci->GetOutputPort("Fn"), &builder,
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FibonacciDifferenceEquation::kPeriod);
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auto diagram = builder.Build();
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// Create a Simulator and use it to advance time until t=steps*h.
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systems::Simulator<double> simulator(*diagram);
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simulator.AdvanceTo(FLAGS_steps * FibonacciDifferenceEquation::kPeriod);
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// Print out the contents of the log.
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const auto& log = logger->FindLog(simulator.get_context());
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for (int n = 0; n < log.sample_times().size(); ++n) {
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const double t = log.sample_times()[n];
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std::cout << n << ": " << log.data()(0, n)
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<< " (t=" << t << ")\n";
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}
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return 0;
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}
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} // namespace
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} // namespace fibonacci
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} // namespace examples
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} // namespace drake
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int main(int argc, char **argv) {
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return drake::examples::fibonacci::main(argc, argv);
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}
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