The program mbse-fg-smoother-forward-dynamics is a demo for forward dynamic simulation using factor graphs (FG).

Examples of use

    mbse-fg-smoother-forward-dynamics \
      --mechanism ../config/mechanisms/fourbars1.yaml \
      --dt 5e-3 --end-time 2.0 --lag-time 15e-3

    mbse-viewer \
      --mechanism ../config/mechanisms/fourbars1.yaml \
      -q q.txt

See also: Mechanism definition YAML files

CLI options


   mbse-fg-smoother-forward-dynamics  [-v] [--final-batch]
                                        [--output-prefix <prefix>]
                                        [--smoother-iterations <xxx>]
                                        [--lag-time <xxx>] [--end-time
                                        <xxx>] [--dt <xxx>] --mechanism
                                        <YAML model definition> [--]
                                        [--version] [-h]


   -v,  --verbose
     Verbose console output

     Run an additional final batch optimizer

     Show factor errors for the final state

     Do NOT add the dq manifold constraint factors

     Do NOT add the q manifold constraint factors

   --output-prefix <prefix>
     Output files prefix

   --smoother-iterations <xxx>
     Smoother optimization maximum iterations

   --lag-time <xxx>
     Smoother lag time

   --end-time <xxx>
     Simulation end time

   --dt <xxx>
     Step time

   --mechanism <YAML model definition>
     (required)  Mechanism model YAML file

   --,  --ignore_rest
     Ignores the rest of the labeled arguments following this flag.

     Displays version information and exits.

   -h,  --help
     Displays usage information and exits.