mbs_get_data.m File Reference

Functions
function	mbs_get_data (in sys)
MBS_data ta	dpt (1:3, Npoint)
MBS_data ta	inbody (Njoint)
MBS_data ta	l (:, Njoint)
MBS_data ta	m (Njoint)
MBS_data ta	In (:, Njoint)
MBS_data ta	xfidpt (Sdata.Nxfrc)
MBS_data ta	xfscale (1:3, Sdata.Nxfrc)
MBS_data ta	rnom (Nwheel)
MBS_data ta	link3D (link.id).idpt(1)
MBS_data ta	lrod (nrod)
function	getvar (in node)
function	point2dat (in sys, in pointlist)
function	collect_joint_data (in Sdata, in sysjoint)
MBS_data ta	qa (Sdata.nqa)
MBS_data ta	qu (Sdata.nqu)
MBS_data ta	qc (Sdata.nqc)
MBS_data ta	qlocked (Sdata.nqlocked)
MBS_data ta	qdriven (Sdata.nqdriven)
MBS_data ta	qv (Sdata.nqv)
MBS_data ta	q (ijoint)
MBS_data ta	qd (ijoint)
MBS_data ta	qdd (ijoint)
MBS_data ta	qmin (ijoint)
MBS_data ta	qmax (ijoint)
function	process_user_model (in Sdata, in um)
MBS_data ta	user_model (um.name).(pname)
MBS_data ta	ux0 (Sdata.Nux+i, 1)
MBS_data ta	ux (Sdata.Nux+i, 1)
MBS_data ta	uxd (Sdata.Nux+i, 1)
function	mark_user_model (in fel, in felid, in Nx)
function	check_user_model_name (in sys, in sysnode)

Variables
MBS_info	ame
	MBS_info
MBS_data	ta
MBS_data ta	mbsname
added by Tim for	doc
added by Tim for confirm if no	prob
MBS_data ta	g
MBS_info	ody
MBS_info ody	bodyname
MBS_info	oint
MBS_info oint	jointname
MBS_info oint	id
MBS_info oint	user_model_name
MBS_info	alljoints
MBS_info ody	joints
MBS_info ody	idreal
MBS_info ody	com
MBS_info ody	mass
MBS_info ody	inertia
MBS_info oint	pointname
MBS_info	allpoints
MBS_info	allsensors
MBS_data ta	Nxfrc
MBS_info oint	extforce
MBS_info	user_models
MBS_info	allextforces
MBS_info ody	points
MBS_info	heel
MBS_info ody	wheel
MBS_info	bodies
MBS_data ta	nbody
MBS_data ta	Njoint
MBS_data ta	Nwheel
MBS_data ta	Nsensor
MBS_data ta	npt
MBS_data ta	q
MBS_data ta	qd
MBS_data ta	qdd
MBS_data ta	qmin
MBS_data ta	qmax
MBS_data ta	frc
MBS_data ta	trq
MBS_data ta	Qq
MBS_data ta	Qc
MBS_info	alllinks
MBS_info	alllinks3D
MBS_data ta	Nlink
MBS_data ta	Nlink3D
MBS_data ta	Nloopc
MBS_data ta	Nuser_model
MBS_info	alluserstates
MBS_data ta	Nuserc
MBS_data ta	user_constraints {i}
MBS_data ta	Ncons
MBS_info	user_variables
MBS_data ta	DonePart
MBS_data ta	nqa
MBS_info oint	nature
MBS_data ta	nqu
MBS_data ta	nqc
MBS_data ta	nqlocked
MBS_data ta	nqdriven
MBS_data ta	nqv
MBS_info oint	q_ini
MBS_info oint	qd_ini
MBS_info oint	qdd_ini
MBS_data ta	Nux

Function Documentation

check_user_model_name()

function check_user_model_name	(	in	sys,
		in	sysnode
	)

collect_joint_data()

function collect_joint_data	(	in	Sdata,
		in	sysjoint
	)

dpt()

MBS_data ta dpt	(	1:3	,
		Npoint
	)

getvar()

function getvar

(

in

node

)

In()

MBS_data ta In	(	:	,
		Njoint
	)

inbody()

MBS_data ta inbody

(

Njoint

)

l()

MBS_data ta l	(	:	,
		Njoint
	)

link3D()

MBS_data ta link3D

(

link.

id

)

lrod()

MBS_data ta lrod

(

nrod

)

m()

MBS_data ta m

(

Njoint

)

mark_user_model()

function mark_user_model	(	in	fel,
		in	felid,
		in	Nx
	)

mbs_get_data()

function mbs_get_data

(

in

sys

)

Todo:

document function description

More detailed description.

Parameters

sys	First argument : to be def

Return values

Sdata	return value for the first output variable : to be def
sys	return value for the second output variable : to be def

point2dat()

function point2dat	(	in	sys,
		in	pointlist
	)

process_user_model()

function process_user_model	(	in	Sdata,
		in	um
	)

q()

MBS_data ta q

(

ijoint

)

qa()

MBS_data ta qa

(

Sdata.

nqa

)

qc()

MBS_data ta qc

(

Sdata.

nqc

)

qd()

MBS_data ta qd

(

ijoint

)

qdd()

MBS_data ta qdd

(

ijoint

)

qdriven()

MBS_data ta qdriven

(

Sdata.

nqdriven

)

qlocked()

MBS_data ta qlocked

(

Sdata.

nqlocked

)

qmax()

MBS_data ta qmax

(

ijoint

)

qmin()

MBS_data ta qmin

(

ijoint

)

qu()

MBS_data ta qu

(

Sdata.

nqu

)

qv()

MBS_data ta qv

(

Sdata.

nqv

)

rnom()

MBS_data ta rnom

(

Nwheel

)

user_model()

MBS_data ta user_model

(

um.

name

)

ux()

MBS_data ta ux	(	Sdata.Nux+	i,
		1
	)

ux0()

MBS_data ta ux0	(	Sdata.Nux+	i,
		1
	)

uxd()

MBS_data ta uxd	(	Sdata.Nux+	i,
		1
	)

xfidpt()

MBS_data ta xfidpt

(

Sdata.

Nxfrc

)

xfscale()

MBS_data ta xfscale	(	1:3	,
		Sdata.	Nxfrc
	)

Variable Documentation

allextforces

MBS_info allextforces

alljoints

MBS_info alljoints

alllinks

MBS_info alllinks

alllinks3D

MBS_info alllinks3D

allpoints

MBS_info allpoints

allsensors

MBS_info allsensors

alluserstates

MBS_info alluserstates

ame

MBS_info ame

bodies

MBS_info bodies

bodyname

MBS_info ody bodyname

com

MBS_info ody com

doc

added by Tim for doc

DonePart

MBS_data ta DonePart

extforce

MBS_info oint extforce

frc

MBS_data ta frc

g

MBS_data ta g

heel

MBS_info heel

id

MBS_info heel id

idreal

MBS_info ody idreal

inertia

MBS_info ody inertia

jointname

MBS_info oint jointname

joints

MBS_info ody joints

mass

MBS_info ody mass

MBS_info

MBS_info

mbsname

MBS_data ta mbsname

nature

MBS_info oint nature

nbody

MBS_data ta nbody

Ncons

MBS_data ta Ncons

Njoint

MBS_data ta Njoint

Nlink

MBS_data ta Nlink

Nlink3D

MBS_data ta Nlink3D

Nloopc

MBS_data ta Nloopc

npt

MBS_data ta npt

nqa

MBS_data ta nqa

nqc

MBS_data ta nqc

nqdriven

MBS_data ta nqdriven

nqlocked

MBS_data ta nqlocked

nqu

MBS_data ta nqu

nqv

MBS_data ta nqv

Nsensor

MBS_data ta Nsensor

Nuser_model

MBS_data ta Nuser_model

Nuserc

MBS_data ta Nuserc

Nux

MBS_data ta Nux

Nwheel

MBS_data ta Nwheel

Nxfrc

MBS_data ta Nxfrc

ody

MBS_info ody

oint

MBS_info oint

pointname

MBS_info oint pointname

points

MBS_info ody points

prob

added by Tim for confirm if no prob

q

MBS_data ta q

q_ini

MBS_info oint q_ini

Qc

MBS_data ta Qc

qd

MBS_data ta qd

qd_ini

MBS_info oint qd_ini

qdd

MBS_data ta qdd

qdd_ini

MBS_info oint qdd_ini

qmax

MBS_data ta qmax

qmin

MBS_data ta qmin

Qq

MBS_data ta Qq

ta

MBS_data ta

trq

MBS_data ta trq

user_constraints

MBS_info user_constraints {i}

user_model_name

MBS_info heel user_model_name

user_models

MBS_info user_models

user_variables

MBS_info user_variables

wheel

MBS_info ody wheel