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robotology / gazebo-fmi

FMI import plugins for the Gazebo Simulator.
GNU Lesser General Public License v3.0
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Consider using FMI4cpp #27

Open traversaro opened 6 years ago

traversaro commented 6 years ago

FMI4cpp is a new FMI 2.0 C++ library available at https://github.com/SFI-Mechatronics/FMI4cpp .

The API seems quite C++ idiomatic, and may be easier to use than the C-based api of FMILibrary that we currently use.

traversaro commented 6 years ago

An interesting feature not available in FMILibrary would be to be able to call Model-Exchange models as Co-Simulation models https://github.com/SFI-Mechatronics/FMI4cpp/issues/5 , this would give us the freedom of choose which kind of simulator use in the FMU exported from OpenModelica, that at the moment is constrained to be Forward Euler (see https://trac.openmodelica.org/OpenModelica/ticket/4273). cc @triccyx @prashanthr05

prashanthr05 commented 6 years ago

@traversaro thanks! looks like I need to catch up with this repository and its concepts ;D

traversaro commented 6 years ago

Yes! One of the advantages of https://github.com/SFI-Mechatronics/FMI4cpp is that is quite a new and self-contained codebase.

markaren commented 6 years ago

I like to see that there are some interest for FMI4cpp :)

An interesting feature not available in FMILibrary would be to be able to call Model-Exchange models as Co-Simulation models

Once implemented, this should work the same way as in FMI4j.

traversaro commented 5 years ago

Example of FMILibrary --> FMI4cpp migration: https://github.com/SFI-Mechatronics/FMU-proxy/pull/62 .