Coordinate partitioning

Partitionning of the generalized coordinates into independent and dependent variables (for constrained multibody systems only).
For more information, see Robotran theoritical framework.

Note: This module must be run once prior to any other module in case of multibody model containing loop and/or user-constraint.

Code sample

For running the coordinate partitioning, insert the following code in your main script and adapt it to your need :

    /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
    /*              COORDINATE PARTITIONING                      *
    /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
    MbsPart *mbs_part;
    mbs_data->process = 1;
 
    mbs_part = mbs_new_part(mbs_data);
 
    mbs_part->options->rowperm=1;
    mbs_part->options->verbose = 1;
 
    mbs_run_part(mbs_part, mbs_data);
 
    mbs_delete_part(mbs_part);

Use

The partitioning is performed by the function mbs_run_part().

The user specifies the desired options of the partitioning in the MbsPartOptions structure. The results are provided in the MbsPart structure, and .

The function calls successively :