mbsysc/MBsysC/mbs__aux_8h_source.html

//-------------------------------

// UCL-CEREM-MBS

//

// @version MBsysLab_s 1.7.a

//

// Creation : 2008 by JF Collard

// Last update : 01/10/2008

//-------------------------------

//

// Gestion via Bugzilla :

// 01/10/2008 : JFC : Bug n 39

//


#ifndef mbs_aux_h

#define mbs_aux_h

/*--------------------*/


#include "mbs_sensor_struct.h"

#include "mbs_data.h"


typedef struct MbsAux_tag

{

        double norm_h;

        double NRerr;

        int MAX_NR_ITER;

        int n_iter_close_loop;


        double *h;

        double **Jac;

        double *huserc;

        double  **Juserc;

        double **mJv;

        int *ind_mJv;

        double *Qc;


        double *mJv_h;


        int nquc;

        int *iquc;

        double **Juct; // JFC: 15/01/2008 : changement nom


        double **Bvuc;


        double *Jvtlambda;

        double **Jvt;

        int *ind_Jvt;


        int* qrot_qu_indvec;

        int* qrot_qc_indvec;

        int* qrot_qv_indvec;


        double *jdqd;

        double *jdqduserc;


        double *bp;


        MbsSensor *psens; // temporary sensor pointer


        double *q_save;

        int     close_anim;


        double **M;

        double *c;

        double *F;


        double **BtMvu, **BtMB;

        double **BtMvv;

        double *BtFv,*MBMb;


        double **Mruc;

        double *Fruc;


        double **Mr;

        double *Fr;


        double *p_Mr;

        int *compute_Qc_vec;


        double *Qa;


        double **A;

        int *ind_A;

        double *b;


        double *w;

        double **v;


        double *phi;

        double *R;

        double *Rruc;

        double *Rred;


} MbsAux;


MbsAux* initMbsAux(MbsData *mbs_data);


void freeMbsAux(MbsAux* mbs_aux, MbsData *mbs_data);


#endif