MBS direct dynamics option structure. More...

Public Attributes
MBS_dirdyn opt	time
	Vector containing the initial time, the printing time interval and the final time of the simulation : [Tinit Tspan Tfinal]. More...

MBS_dirdyn opt	motion
	Determines how qdd and &lambda, frc and trq are computed. More...

MBS_dirdyn opt	visualize
	Display of the 3D graphical model. More...

MBS_dirdyn opt	symbolic_model

MBS_dirdyn opt	odemethod
	Choice of the integration method (see Matlab help) Example : 'ode45','ode23','ode15s','ode45cp'. More...

MBS_dirdyn opt	depinteg
	Integration of the dependant speed. More...

MBS_dirdyn opt	dtmax
	Maximum value of the integration time step (see odeset, Matlab help) Default : 1E-2. More...

MBS_dirdyn opt	dtinit
	Initial value of the integration time (see odeset, Matlab help) Default : 1E-3. More...

MBS_dirdyn opt	reltol
	Relative tolerance of the integration result (see odeset, Matlab help) Default : 1E-3. More...

MBS_dirdyn opt	abstol
	Absolute tolerance of the integration result (see odeset, Matlab help) Default : 1E-3. More...

MBS_dirdyn opt	save2file
	Recording of the results in a configuration file of the form (tq, tqd, tqdd) at the end of the simulation. More...

MBS_dirdyn opt	renamefile
	Rename the result files. More...

MBS_dirdyn opt	resfilename
	to be defined More...

MBS_dirdyn opt	framerate
	to be defined More...

MBS_dirdyn opt	verbose
	to be defined More...

MBS_dirdyn opt	clearmbsglobal
	to be defined More...

Detailed Description

MBS direct dynamics option structure.

Todo:: document struct and each members

To be completed

Member Data Documentation

◆ abstol

MBS_dirdyn opt abstol

Absolute tolerance of the integration result (see odeset, Matlab help)
Default : 1E-3.

◆ clearmbsglobal

MBS_dirdyn opt clearmbsglobal

to be defined

◆ depinteg

MBS_dirdyn opt depinteg

Integration of the dependant speed.

This allow to get at each timestep an excellent estimate of the dependent generalized coordinates, which decreases the number of iterations required to solve the kinematic constraints equations by the Newton-Raphson method. This option must be activated for system with dependent joints which have a rapid evolution and large amplitude.

'yes'
'no'

◆ dtinit

MBS_dirdyn opt dtinit

Initial value of the integration time (see odeset, Matlab help)
Default : 1E-3.

◆ dtmax

MBS_dirdyn opt dtmax

Maximum value of the integration time step (see odeset, Matlab help)
Default : 1E-2.

◆ framerate

MBS_dirdyn opt framerate

to be defined

Todo:: Give the ratio between value of 'framerate' and speed of video

◆ motion

MBS_dirdyn opt motion

Determines how qdd and &lambda, frc and trq are computed.

'oneshot' : Evaluation of the direct dynamics function : compute the qdd, &lambda, frc, trq.
'simulation' : Execution of the system simulation for the 'time' option asked.
Todo:
Add this to the first sentence? : ... at one time step/only for the initial values.
add a link to the 'time' option