MBS direct dynamics structure. More...

Public Attributes
MBS_dirdyn	mbsname
	the system name More...

MBS_dirdyn	opt
	MBS_dirdyn_opt structure containing the direct dynamics options. More...

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

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

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

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

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

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

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

MBS_dirdyn	Zd
	Array with the current values of the velocities between two of the points of a link (see: user_LinkForces()) More...

MBS_dirdyn	lambda
	Array with the values of Lagrange multiplier related to the constraints. More...

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

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

MBS_dirdyn	Mr
	Array with the reduced mass matrix of the system. More...

MBS_dirdyn	Fr
	Array with the reduced force vector of the system. More...

MBS_dirdyn	Bvuc
	Array with the matrix of the velocity coupling. More...

MBS_dirdyn	tsim
	The time value. More...

MBS_dirdyn	tspan
	Time interval of the results to be saved. More...

MBS_dirdyn	etime
	Elapsed simulation time. More...

MBS_dirdyn	flag_perm

MBS_dirdyn	counter

MBS_dirdyn fctname symb	constrPV
	Name of the symbolic function 'cons_hJ'. More...

MBS_dirdyn fctname symb	constrA
	Name of the symbolic function 'cons_jdqd'. More...

MBS_dirdyn fctname symb	dyna
	Name of the symbolic function of direct dynamics. More...

MBS_dirdyn fctname symb	gensensor
	Name of the symbolic function 'gensensor'. More...

MBS_dirdyn fctname symb	link
	Name of the symbolic function 'link'. More...

MBS_dirdyn fctname symb	link3D
	Name of the symbolic function 'link3D'. More...

MBS_dirdyn fctname symb	fext
	Name of the symbolic function dealing with the specific external forces. More...

MBS_dirdyn fctname user	fext
	Name of the user function dealing with the specific external forces. More...

MBS_dirdyn fctname user	gfext
	Name of the user function dealing with the generic external forces. More...

MBS_dirdyn fctname user	djoint
	Name of the user function dealing with the driven joints. More...

MBS_dirdyn fctname user	fjoint
	Name of the user function dealing with the specific external forces. More...

MBS_dirdyn fctname user	flink
	Name of the user function dealing with the link forces. More...

MBS_dirdyn fctname user	flink3D
	Name of the user function dealing with the 3D link forces. More...

MBS_dirdyn fctname user	out
	Name of the user function dealing with the output. More...

MBS_dirdyn fctname user	derivatives

MBS_dirdyn	fctDerivatives
	name of the subroutine computing the derivatives of the system state variables, namely the direct dynamic model 'mbs_fct_dirdyn' More...

Detailed Description

MBS direct dynamics structure.

Member Data Documentation

◆ Bvuc

MBS_dirdyn Bvuc

Array with the matrix of the velocity coupling.

◆ constrA

MBS_dirdyn fctname symb constrA

Name of the symbolic function 'cons_jdqd'.

Todo:: Change memberof to MBS_dirdyn.fctname.symb.constrPV ? Add a link to a real function?

◆ constrPV

MBS_dirdyn fctname symb constrPV

Name of the symbolic function 'cons_hJ'.

Todo:: Change memberof to MBS_dirdyn.fctname.symb.constrPV ? Add a link to a real function?

◆ counter

MBS_dirdyn counter

Todo:: to be defined

◆ derivatives

MBS_dirdyn fctname user derivatives

Todo:: Definition? Difference with dirdyn.fctDerivatives? Change memberof to MBS_dirdyn.fctname.user.constrPV ? Add a link to a real function? What is this output?