MBS data structure. More...

Public Attributes
MBS_data	mbsname
	Name of the system. More...

MBS_data	dpt
	Array containing the coordinate of all anchor points. More...

MBS_data	npt
	Number of anchor points. More...

MBS_data	l
	Array containing the centre of mass coordinates (in the body fixed frame, one column per body) More...

MBS_data	m
	Array containing the mass of each body. More...

MBS_data	In
	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]. More...

MBS_data	g
	The 3 gravity components. More...

MBS_data	Njoint
	Number of bodies in the system. More...

MBS_data	qu
	Array with the indices of the independent articulations (free) More...

MBS_data	nqu
	Number of independent articulations. More...

MBS_data	qc
	Array with the indices driven articulations: those articulations are controled by a user funtion q(qc)=f(t) More...

MBS_data	nqc
	Number of driven articulations. More...

MBS_data	qlocked
	Array with the indices of locked articulations: articulations with a constant position defined by the user q(nqc)=cte. More...

MBS_data	nqlocked
	Number of locked articulations. More...

MBS_data	qdriven

MBS_data	nqdriven

MBS_data	qa
	The index of the actuated articulations: those articulations are controlled by an actuator Qq=f(q) More...

MBS_data	nqa
	Number of actuated articulations. More...

MBS_data	qv
	Array with the indices of the dependent articulations q(qv)=q(qu) More...

MBS_data	nqv
	Number of dependent articulations. More...

MBS_data	hu
	Array with the indices of independent constraints. More...

MBS_data	nhu
	Number of independent constraints. More...

MBS_data	hv
	Array with the indices of dependant constraints. More...

MBS_data	q
	Array with the current values of the generalized coordinates. More...

MBS_data	qd
	Array with the current values of the generalized velocities. More...

MBS_data	qdd
	Array with the current values of the generalized accelerations. More...

MBS_data	qmin
	Array with the values of the minimal values of the generalized coordinates. More...

MBS_data	qmax
	Array with the values of the maximal values of the generalized coordinates. More...

MBS_data	frc
	Array with the components of the resultant external forces applied to the centre of mass of each body. More...

MBS_data	trq
	Array with the components of the resultant external torques (pure torque and couple produced by forces displacement) applied to each body. More...

MBS_data	Qq
	Array with the values of the joint forces. More...

MBS_data	Qc
	Array with the values of the driven joint forces. More...

MBS_data	tsim
	The time value. More...

MBS_data	lrod
	Array with the length of each rod (see loops: rod cutting procedure ) More...

MBS_data	Nloopc
	Number of loop constraints. More...

MBS_data	Ncons
	Number of algebraic constraints. More...

MBS_data	lambda
	Array with the values of Lagrange Multiplied related to the constraints. More...

MBS_data	Nuserc
	Number of user constraints. More...

MBS_data	user_constraints

MBS_data	Nlink
	Number of forces acting between two points of the system (see: user_LinkForces()) More...

MBS_data	Z
	Array with the current values of the distances between of the points of a link (see: user_LinkForces()) More...

MBS_data	Zd
	Array with the current values of the speed (spreading) between of the points of a link. More...

MBS_data	Fl
	Array with the current values of the forces on each link. More...

MBS_data	Nlink3D
	Number of 3D links. More...

MBS_data	link3D
	Array with the current values of the forces on each 3D link. More...

MBS_data	Nsensor
	Number of kinematic sensors. More...

MBS_data	Nxfrc
	Number of points where an external force is applied into a body. More...

MBS_data	xfidpt
	Array of the points defined as force application points. More...

MBS_data	SWr
	Array of Swr vector for each external forces. More...

MBS_data	xfscale

MBS_data	rnom
	Array with the values of the nominal radius of the wheels. More...

MBS_data	Nwheel
	Number of wheels of the model. More...

MBS_data	Nuser_model
	Number of declared user models. More...

MBS_data	user_model
	A structure whose fields correspond to the names of the user models ('user_model') defined for this system ie: table of values of the state variables on user models. More...

MBS_data	ux
	Array with the values of the user variables. More...

MBS_data	uxd
	Array with the values of the derivatives of the user variables. More...

MBS_data	ux0
	Array with the initial values of the user variables. More...

MBS_data	Nux
	Number of user constraints. More...

MBS_data	user_var

MBS_data	DonePart
	Flag that indicates if the coordinate partitioning module has been executed. More...

MBS_data	DoneDirdyn
	Flag that indicates if the dirdyn module has been executed. More...

MBS_data	DoneInvdyn
	Flag that indicates if the invdyn module has been executed. More...

MBS_data	DoneEquil
	Flag that indicates if the equilibrium module has been executed. More...

Detailed Description

MBS data structure.

This structure is aimed to be used by all the calculation routines of the MBsysLab package. The MBsysLab user should not directly modify this structure containing. This structure is created jointly to the MBS_info structure during the loading of the description file of this file containing, by means of the mbs_load() function and more specifically by the mbs_get_data() function that is called. (generated from Sdata_struct.m)

Member Data Documentation

◆ DoneDirdyn

MBS_data DoneDirdyn

Flag that indicates if the dirdyn module has been executed.

◆ DoneEquil

MBS_data DoneEquil

Flag that indicates if the equilibrium module has been executed.

◆ DoneInvdyn

MBS_data DoneInvdyn

Flag that indicates if the invdyn module has been executed.

◆ DonePart

MBS_data DonePart

Flag that indicates if the coordinate partitioning module has been executed.

◆ dpt

MBS_data dpt

Array containing the coordinate of all anchor points.

◆ Fl

MBS_data Fl

Array with the current values of the forces on each link.

◆ frc

MBS_data frc

Array with the components of the resultant external forces applied to the centre of mass of each body.

◆ g

MBS_data g

The 3 gravity components.

◆ hu

MBS_data hu

Array with the indices of independent constraints.

◆ hv

MBS_data hv

Array with the indices of dependant constraints.

◆ In

MBS_data In

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].

◆ l

MBS_data l

Array containing the centre of mass coordinates (in the body fixed frame, one column per body)

◆ lambda

MBS_data lambda

Array with the values of Lagrange Multiplied related to the constraints.

◆ link3D

MBS_data link3D

Array with the current values of the forces on each 3D link.

◆ lrod

MBS_data lrod

Array with the length of each rod (see loops: rod cutting procedure )

◆ m

MBS_data m

Array containing the mass of each body.

◆ mbsname

MBS_data mbsname

Name of the system.

◆ Ncons

MBS_data Ncons

Number of algebraic constraints.

◆ nhu

MBS_data nhu

Number of independent constraints.

◆ Njoint

MBS_data Njoint

Number of bodies in the system.

Number of joints in the system.

◆ Nlink

MBS_data Nlink

Number of forces acting between two points of the system (see: user_LinkForces())

◆ Nlink3D

MBS_data Nlink3D

Number of 3D links.

◆ Nloopc

MBS_data Nloopc

Number of loop constraints.

◆ npt

MBS_data npt

Number of anchor points.

◆ nqa

MBS_data nqa

Number of actuated articulations.

◆ nqc

MBS_data nqc

Number of driven articulations.

◆ nqdriven

MBS_data nqdriven

Todo:: still in use? What is the difference with Sd.nqc? To Be Defined

◆ nqlocked

MBS_data nqlocked

Number of locked articulations.

◆ nqu

MBS_data nqu

Number of independent articulations.

◆ nqv

MBS_data nqv

Number of dependent articulations.

◆ Nsensor

MBS_data Nsensor

Number of kinematic sensors.

◆ Nuser_model

MBS_data Nuser_model

Number of declared user models.

◆ Nuserc

MBS_data Nuserc

Number of user constraints.

◆ Nux

MBS_data Nux

Number of user constraints.

◆ Nwheel

MBS_data Nwheel

Number of wheels of the model.

◆ Nxfrc

MBS_data Nxfrc

Number of points where an external force is applied into a body.

◆ q

MBS_data q

Array with the current values of the generalized coordinates.

◆ qa

MBS_data qa

The index of the actuated articulations: those articulations are controlled by an actuator Qq=f(q)

◆ qc

MBS_data qc

Array with the indices driven articulations: those articulations are controled by a user funtion q(qc)=f(t)

◆ Qc

MBS_data Qc

Array with the values of the driven joint forces.

◆ qd

MBS_data qd

Array with the current values of the generalized velocities.

◆ qdd

MBS_data qdd

Array with the current values of the generalized accelerations.

◆ qdriven

MBS_data qdriven

Todo:: still in use? What is the difference with Sd.qc?

◆ qlocked

MBS_data qlocked

Array with the indices of locked articulations: articulations with a constant position defined by the user q(nqc)=cte.

◆ qmax

MBS_data qmax

Array with the values of the maximal values of the generalized coordinates.

◆ qmin

MBS_data qmin

Array with the values of the minimal values of the generalized coordinates.

◆ Qq

MBS_data Qq

Array with the values of the joint forces.

◆ qu

MBS_data qu

Array with the indices of the independent articulations (free)

◆ qv

MBS_data qv

Array with the indices of the dependent articulations q(qv)=q(qu)

◆ rnom

MBS_data rnom

Array with the values of the nominal radius of the wheels.

◆ SWr

MBS_data SWr

Array of Swr vector for each external forces.

Swr(9,1) = [Fx; Fy; Fz; Mx; My; Mz; dxF];

Force components (expressed in the inertial frame) : Fx, Fy, Fz
Pure torque components (expressed in the inertial frame) : Mx, My, Mz
Application point local coordinates vector (expressed in the body-fixed frame) : dxF(1:3,1);

◆ trq

MBS_data trq

Array with the components of the resultant external torques (pure torque and couple produced by forces displacement) applied to each body.

◆ tsim

MBS_data tsim

The time value.

◆ user_constraints

MBS_data user_constraints

Todo:: To Be Defined

◆ user_model

MBS_data user_model

A structure whose fields correspond to the names of the user models ('user_model') defined for this system ie: table of values of the state variables on user models.

◆ user_var

MBS_data user_var

Todo:: check definition A structure used for the user variables

◆ ux

MBS_data ux

Array with the values of the user variables.

◆ ux0

MBS_data ux0

Array with the initial values of the user variables.

Todo:: sill in use ?

◆ uxd

MBS_data uxd

Array with the values of the derivatives of the user variables.

◆ xfidpt

MBS_data xfidpt

Array of the points defined as force application points.

◆ xfscale

MBS_data xfscale

Todo:: To Be Defined

◆ Z

MBS_data Z

Array with the current values of the distances between of the points of a link (see: user_LinkForces())

◆ Zd

MBS_data Zd

Array with the current values of the speed (spreading) between of the points of a link.

The documentation for this struct was generated from the following file:

/builds/robotran/MBsysLab/mbs_modules/Sdata_struct.m

Public Attributes