mbs_Mred.c File Reference

#include "MBSfun.h"
#include "math.h"
#include "nrfct.h"
#include "mbs_project_interface.h"
#include "mbs_message.h"
#include "mbs_trigo.h"

Functions
int	mbs_Mred (MbsAux *mbs_aux, MbsData *s)
	compute Mr, the reduced mass matrix [nqu x nqu] obtained after the 2 consecutive reductions (Robotran Basics). More...

Function Documentation

mbs_Mred()

int mbs_Mred	(	MbsAux *	mbs_aux,
		MbsData *	s
	)

compute Mr, the reduced mass matrix [nqu x nqu] obtained after the 2 consecutive reductions (Robotran Basics).

necessary for

• the state space representation (computation of A) and then the modal analysis.

Parameters

[in,out]	mbs_aux	the local computation structure, where the result is stored in the variable Mr.
[in,out]	s	the MbsData of the system, where q(iqv),qd(iqv) and qdd(iqv) are updated.