Robotran C Documentation

#include <mbs_data.h>
Public Attributes  
int  npt 
Number of anchor points. More...  
double *  dpt [3+1] 
Array containing the coordinate of all anchor points. More...  
double *  l [3+1] 
Array containing the center of mass coordinates (in the body fixed frame, one column per body). More...  
double *  m 
Array containing the mass of each body. More...  
double *  In [9+1] 
Array containing the inertia tensor component of each body (in the body fixed frame, relative to the center of mass). More...  
double  g [3+1] 
The 3 gravity components. More...  
int  nbody 
Number of bodies in the system. More...  
int  njoint 
Number of joints in the system. More...  
int  nqu 
Number of independent articulations. More...  
int  nqc 
Number of driven articulations, it includes qlocked and qdriven. More...  
int  nqlocked 
Number of locked articulations. More...  
int  nqdriven 
Number of driven articulations. More...  
int  nqa 
Number of actuated articulations. More...  
int  nqv 
Number of dependent articulations. More...  
int  nhu 
Number of independent constraints. More...  
int *  qu 
Array with the indices of the independent articulations (free) More...  
int *  qc 
Array with the indices of driven (locked and driven) articulations. More...  
int *  qlocked 
Array with the indices of locked articulations. More...  
int *  qdriven 
Array with the indices of driven articulations. More...  
int *  qa 
Array with the indices of actuated articulations (only for inverse dynamic). More...  
int *  qv 
Array with the indices of the dependent articulations . More...  
int *  hu 
Array with the indices of independent constraints. More...  
double *  q 
Array with the current values of the generalized coordinates. More...  
double *  qd 
Array with the current values of the generalized velocities. More...  
double *  qdd 
Array with the current values of the generalized acceleration. More...  
double *  q0 
Array with the initial values of the generalized coordinates. More...  
double *  qd0 
Array with the initial values of the generalized velocities. More...  
double *  qdd0 
Array with the initial values of the generalized acceleration. More...  
double *  qmin 
Deprecated? Array with the values of the minimal values of the generalized coordinates. More...  
double *  qmax 
Deprecated? Array with the values of the maximal values of the generalized coordinates. More...  
double *  frc [3+1] 
Matrix with the components of the resultant external forces (in the body fixed frame) applied to the center of mass of each body. More...  
double *  trq [3+1] 
Matrix with the components of the resultant external torques (pure torque and couple produced by forces displacement in the body fixed frame) applied to each body. More...  
double *  
Array with the values of the joint forces. More...  
double  tsim 
The time value. More...  
double  t0 
Initial time of the simulation [s]. For dirdyn and invdyn only. This parameter is set from dirdyn/invyn option at start of time simulation. More...  
double  tf 
Final time of the simulation [s]. For dirdyn and invdyn only. This parameter is set from dirdyn/invyn option at start of time simulation. More...  
double  dt0 
Initial value of the integration step size [s]. For dirdyn and invdyn only. This parameter is set from dirdyn/invyn option at start of time simulation. More...  
double *  lrod 
Array with the length of each rod. More...  
int  Nloopc 
Number of loop constraints. More...  
int  Ncons 
Number of algebraic constraints. More...  
int  Nuserc 
Number of user constraints. More...  
double  NRerr 
Maximal error on constraint allowed in NewtonRaphson algorithm. More...  
double *  lambda 
Array with the values of the Lagrange Multipliers related to the constraints. More...  
double *  Qc 
Array with the value of joint force introduced in driven joint to respect the user function. More...  
int  Nlink 
Number of forces acting between two points of the system (force law implemented in user_LinkForces()). More...  
int  Nlink3D 
Number of 3D links. More...  
double *  Z 
Array with the current values of the distances between of the points of a link (see: user_LinkForces()). More...  
double *  Zd 
Array with the current values of the speed (spreading) between of the points of a link (see: user_LinkForces()). More...  
double *  Fl 
Array with the current values of the forces on each link (see: user_LinkForces()). More...  
double **  l3DWr 
int  Nsensor 
Number of kinematic sensors. More...  
int  Nxfrc 
Number of points where an external force is applied into a body. More...  
int *  xfidpt 
Array of the points defined as force application points. More...  
double **  SWr 
Array of Swr vector for each external forces. More...  
int  Nuser_model 
Number of declared user models in MBsysPad. More...  
UserModel *  user_model 
Structure containing all user model, this structure is specific for each project. More...  
int  n_user_IO 
UserIO *  user_IO 
UserIoInfo *  __user_IO_info 
double *  ux 
Array with the values of the user variables. More...  
double *  uxd 
Array with the values of the time derivatives of the user variables. More...  
double *  ux0 
Array with the initial values of the user variables. More...  
int  Nux 
Number of user variable. More...  
double *  udd 
For axelle red: array with the values of the acceleration of independent coordinate. More...  
int  DonePart 
Flag that indicates if the coordinate partitioning module has been executed (default: 0=not done; 1=done). More...  
int  DoneEquil 
Flag that indicates if the equilibrium module has been executed (default: 0=not done; 1=done). More...  
int  DoneModal 
Flag that indicates if the modal module has been executed (default: 0=not done; 1=done). More...  
int  process 
Flag that indicate which module is currently running (1=partitioning, 2=equilibrium, 3=direct dynamic, 4=modal) More...  
int  simu_end 
DO NOT USE: Deprecated? More...  
int  flag_stop 
stop the simulation. For dirdyn and invdyn only. More...  
char *  mbs_filename 
Path to mbs file including the file with the extension (.mbs) More...  
char *  build_name 
Path to the build folder. More...  
void *  realtime 
Pointer to Simu_realtime structure. More...  
Functions  fct 
Structure to store the pointer to the projectspecific functions. More...  
UserIoInfo* __user_IO_info 
char* build_name 
Path to the build folder.
int DoneEquil 
Flag that indicates if the equilibrium module has been executed (default: 0=not done; 1=done).
int DoneModal 
Flag that indicates if the modal module has been executed (default: 0=not done; 1=done).
int DonePart 
Flag that indicates if the coordinate partitioning module has been executed (default: 0=not done; 1=done).
double* dpt[3+1] 
Array containing the coordinate of all anchor points.
double dt0 
Initial value of the integration step size [s]. For dirdyn and invdyn only. This parameter is set from dirdyn/invyn option at start of time simulation.
Functions fct 
Structure to store the pointer to the projectspecific functions.
double* Fl 
Array with the current values of the forces on each link (see: user_LinkForces()).
int flag_stop 
stop the simulation. For dirdyn and invdyn only.
double* frc[3+1] 
Matrix with the components of the resultant external forces (in the body fixed frame) applied to the center of mass of each body.
double g[3+1] 
The 3 gravity components.
int* hu 
Array with the indices of independent constraints.
double* In[9+1] 
Array containing the inertia tensor component of each body (in the body fixed frame, relative to the center of mass).
1 column containing 9 rows for each body as follow: [I11;I12;I13;I21;I22;I23;I31;I32;I33]
double* l[3+1] 
Array containing the center of mass coordinates (in the body fixed frame, one column per body).
double** l3DWr 
double* lambda 
Array with the values of the Lagrange Multipliers related to the constraints.
double* lrod 
Array with the length of each rod.
double* m 
Array containing the mass of each body.
char* mbs_filename 
Path to mbs file including the file with the extension (.mbs)
int n_user_IO 
int nbody 
Number of bodies in the system.
The 'fictitious' bodies are not taken into account.
int Ncons 
Number of algebraic constraints.
int nhu 
Number of independent constraints.
int njoint 
Number of joints in the system.
int Nlink 
Number of forces acting between two points of the system (force law implemented in user_LinkForces()).
int Nlink3D 
Number of 3D links.
int Nloopc 
Number of loop constraints.
int npt 
Number of anchor points.
int nqa 
Number of actuated articulations.
int nqc 
Number of driven articulations, it includes qlocked and qdriven.
int nqdriven 
Number of driven articulations.
int nqlocked 
Number of locked articulations.
int nqu 
Number of independent articulations.
int nqv 
Number of dependent articulations.
double NRerr 
Maximal error on constraint allowed in NewtonRaphson algorithm.
int Nsensor 
Number of kinematic sensors.
int Nuser_model 
Number of declared user models in MBsysPad.
int Nuserc 
Number of user constraints.
int Nux 
Number of user variable.
int Nxfrc 
Number of points where an external force is applied into a body.
int process 
Flag that indicate which module is currently running (1=partitioning, 2=equilibrium, 3=direct dynamic, 4=modal)
double* q 
Array with the current values of the generalized coordinates.
double* q0 
Array with the initial values of the generalized coordinates.
int* qa 
Array with the indices of actuated articulations (only for inverse dynamic).
Those articulations are controlled by an actuator.
int* qc 
Array with the indices of driven (locked and driven) articulations.
double* Qc 
Array with the value of joint force introduced in driven joint to respect the user function.
The driven forces/torques are saved in the entries given by index vector, MbsData::qc
double* qd 
Array with the current values of the generalized velocities.
double* qd0 
Array with the initial values of the generalized velocities.
double* qdd 
Array with the current values of the generalized acceleration.
double* qdd0 
Array with the initial values of the generalized acceleration.
int* qdriven 
Array with the indices of driven articulations.
Those articulations are controlled by a user function .
int* qlocked 
Array with the indices of locked articulations.
Those articulations have a constant position defined by the user .
double* qmax 
Deprecated? Array with the values of the maximal values of the generalized coordinates.
double* qmin 
Deprecated? Array with the values of the minimal values of the generalized coordinates.
double* Qq 
Array with the values of the joint forces.
int* qu 
Array with the indices of the independent articulations (free)
int* qv 
Array with the indices of the dependent articulations .
void* realtime 
Pointer to Simu_realtime structure.
int simu_end 
DO NOT USE: Deprecated?
double** SWr 
Array of Swr vector for each external forces.
Swr(9,1) = [Fx; Fy; Fz; Mx; My; Mz; dxF]:
WARNING: Indexes convention is the opposite of what is usually done in MBsysC.
double t0 
Initial time of the simulation [s]. For dirdyn and invdyn only. This parameter is set from dirdyn/invyn option at start of time simulation.
double tf 
Final time of the simulation [s]. For dirdyn and invdyn only. This parameter is set from dirdyn/invyn option at start of time simulation.
double* trq[3+1] 
Matrix with the components of the resultant external torques (pure torque and couple produced by forces displacement in the body fixed frame) applied to each body.
double tsim 
The time value.
double* udd 
For axelle red: array with the values of the acceleration of independent coordinate.
UserIO* user_IO 
UserModel* user_model 
Structure containing all user model, this structure is specific for each project.
double* ux 
Array with the values of the user variables.
double* ux0 
Array with the initial values of the user variables.
double* uxd 
Array with the values of the time derivatives of the user variables.
int* xfidpt 
Array of the points defined as force application points.
double* Z 
Array with the current values of the distances between of the points of a link (see: user_LinkForces()).
double* Zd 
Array with the current values of the speed (spreading) between of the points of a link (see: user_LinkForces()).