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tkoolentkoolen
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Work around #113.
Pass GUI callback into `ODEProblem` ctor instead of into `solve` function, since the callback passed into the `ODEProblem` ctor is now simply replaced with the one passed into `solve`, instead of being merged into a `CallbackSet` (SciML/OrdinaryDiffEq.jl#919).
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‎notebooks/Quick start guide/Quick start guide.ipynb

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},
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"cell_type": "code",
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"\u001b[32m\u001b[1mActivating\u001b[22m\u001b[39m environment at `~/.julia/dev/RigidBodySim/notebooks/Quick start guide/Project.toml`\n",
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"\u001b[32m\u001b[1m Updating\u001b[22m\u001b[39m registry at `~/.julia/registries/General`\n",
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"\u001b[32m\u001b[1m Updating\u001b[22m\u001b[39m git-repo `ssh://[email protected]/JuliaRegistries/General.git`\n",
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"\u001b[?25l\u001b[2K\u001b[?25h\u001b[32m\u001b[1mPrecompiling\u001b[22m\u001b[39m project...\n"
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]
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],
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"source": [
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"using Pkg\n",
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"Pkg.activate(@__DIR__);\n",
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"text/html": [
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"<script class='js-collapse-script' src='/assetserver/d00ee8fccd1d3e94c11866a3589118e637f8d9e1-assets/webio/dist/bundle.js'></script>"
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"<script class='js-collapse-script' src='/assetserver/292f6e6efeb6819ddb313f5cc13018054e00772b-assets/webio/dist/bundle.js'></script>"
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"HTML{String}(\"<script class='js-collapse-script' src='/assetserver/d00ee8fccd1d3e94c11866a3589118e637f8d9e1-assets/webio/dist/bundle.js'></script>\")"
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"HTML{String}(\"<script class='js-collapse-script' src='/assetserver/292f6e6efeb6819ddb313f5cc13018054e00772b-assets/webio/dist/bundle.js'></script>\")"
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"<script class='js-collapse-script' src='/assetserver/d00ee8fccd1d3e94c11866a3589118e637f8d9e1-assets/providers/ijulia_setup.js'></script>"
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"<script class='js-collapse-script' src='/assetserver/292f6e6efeb6819ddb313f5cc13018054e00772b-assets/providers/ijulia_setup.js'></script>"
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"HTML{String}(\"<script class='js-collapse-script' src='/assetserver/d00ee8fccd1d3e94c11866a3589118e637f8d9e1-assets/providers/ijulia_setup.js'></script>\")"
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"HTML{String}(\"<script class='js-collapse-script' src='/assetserver/292f6e6efeb6819ddb313f5cc13018054e00772b-assets/providers/ijulia_setup.js'></script>\")"
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"u0: [0.3, 0.4, 1.0, 2.0]"
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"text": [
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"┌ Warning: `Ext(type, data)` is deprecated, use `MsgPack.Extension(type, data)` instead.\n",
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"│ caller = pack(::Base.GenericIOBuffer{Array{UInt8,1}}, ::MeshCat.PackedVector{Float32}) at msgpack.jl:7\n",
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"└ @ MeshCat /Users/tkoolen/.julia/packages/MeshCat/J3ExE/src/msgpack.jl:7\n"
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"source": [
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"gui = GUI(mechanism, visuals)\n",
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"if !haskey(ENV, \"CI\") # don't try to open a GUI on a headless CI build\n",
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" open(gui)\n",
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"end;"
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"using Blink: Window\n",
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"if !haskey(ENV, \"CI\") # don't try to open a GUI on a headless CI build\n",
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" open(gui.controls, Window())\n",
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" open(gui.visualizer, Window());\n",
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"end"
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" open(gui.visualizer, Window())\n",
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"end;"
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"control! (generic function with 1 method)"
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]
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"source": [
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"function control!(τ, t, state)\n",
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" view(τ, velocity_range(state, shoulder)) .= 5 * sin(t)\n",
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" view(τ, velocity_range(state, elbow)) .= -configuration(state, shoulder)\n",
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"end"
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"end;"
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}
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"source": [
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"zero!(state)\n",
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"problem = ODEProblem(Dynamics(mechanism, controller), state, (0., 5.))"
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"problem = ODEProblem(Dynamics(mechanism, controller), state, (0., 5.), callback=gui_callback)"
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"source": [
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"sol = solve(problem, Tsit5(), abs_tol = 1e-10, dt = 0.05, callback = gui_callback);"
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"sol = solve(problem, Tsit5(), abs_tol = 1e-10, dt = 0.05);"
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}
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"metadata": {
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"@webio": {
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"lastCommId": null,
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"kernelspec": {
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"display_name": "Julia 1.0.2",
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"display_name": "Julia 1.2.0",
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"language": "julia",
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"name": "julia-1.2"
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"name": "julia",
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"version": "1.2.0"
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"nbformat": 4,

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