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 :

• mbs_new_part()
• mbs_run_part()
• mbs_delete_part()

Notes

The Partitioning module randomly perturb the system. For the results to be reproducible, the module set the seed of the random generator (MbsPartOptions::set_seed). If your simulation requires a random seed, either:

• set a random seed in MbsPartOptions::set_seed;
• re-set the seed after the partitioning module;