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Biohydrodynamics Toolbox

bht_kine_check(varargin) BHT_KINE_CHECK
[discret_data,... BHT_BOUNDARIES_INIT
[gene_data,... BHT_TRANSLATION
[gene_data,... BHT_DATA_COMPILE
[phys_data,... BHT_SOLIDS_DATA_INIT
[x,dx,ddx]=bht_step1(t,epsilo... BHT_STEP1
bht_boundary_check(filename,p... BHT_BOUNDARY_CHECK
bht_controls_check(filename,r... BHT_CONTROLS_CHECK
bht_ellipse(t,der,varargin) BHT_ELLIPSE
bht_energy(varargin) %#ok BHT_ENERGY

bht_g_controls(nom,fish) BHT_G_CONTROLS
bht_g_kinematics(fish,filenam... BHT_G_KINEMATICS
bht_gravity_center(array_fish... BHT_GRAVITY_CENTER
bht_link1(t,der,varargin) BHT_LINK1
bht_link2(t,der,varargin) BHT_LINK2
bht_round_rectangle(t,der,var... BHT_ROUND_RECTANGLE
bht_simple_delay(t,tau) BHT_SIMPLE_DELAY
bht_simulation(varargin) BHT_SIMULATION
bht_step2(t,epsilon,a) BHT_STEP2
bht_traject_compute1(varargin) BHT_TRAJECT_COMPUTE
Articulated body's degrees of...
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Tutorial #1: Free fall of an ...
Tutorial #2: Two star-shaped ...
Tutorial #3: My first fish
Tutorial #4: Seeking optimal ...
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bht_boundaries_init page
bht_boundary_check page
bht_controls_check page
bht_data_compile page
bht_ellipse page
bht_euler_rhs page
bht_g_controls page
bht_g_kinematics page
bht_gravity_center page
bht_kine_check page
bht_link page
bht_round_rectangle page
bht_simple_delay page
bht_simulation page: how to m...
bht_solids_date_init page
bht_step page
bht_traject_compute page
bht_translation page
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from Biohydrodynamics Toolbox by Alexandre Munnier
Tool to simulate easily the motion of moving solids or swimming robots in a potential fluid flow.

bht_simple_delay page

bht_simple_delay page

Biohydrodynamics Toolbox

bht_simple_delay

Utility function.

Syntax

[p,dp,dttp] = bht_simple_delay(t,tau)

Description

Defines a smooth regular (C³) function of time, which grows from 0 to 1 when t goes from 0 to tau then remains constant and equal to 1 for t>tau.

Images/delay.jpg

The input variables are:

t: a vector of nonnegative real numbers.
tau: a positive number.

The function returns:

p, dp, and d2p which are respectively the function values, the first derivative values and the second derivative values computed at the instants of the vector t.

This function can be used to start smoothly the control of an hinge's angle.

See also

Controls M-File.

2008 - A. Munnier and B. Pincon (Insitut Elie Cartan and INRIA Lorraine, Projet CORIDA, Nancy, France).

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