mbs_binder_private.h

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/*
    This header includes the functions to bind the MbsInfos structure,
    needed during the loading.
 
    @Date Nov 2022
    @Author Robotran Team
*/
 
#ifndef MBS_BINDER_PRIVATE_h
#define MBS_BINDER_PRIVATE_h
 
#include "mbs_load_struct.h"
#include "mbs_binder_public.h"
#include "mbs_user_interface.h"
 
int mbs_info_loader(MbsLoader *mbs_loader, const char* mbs_filename, int verbose);
int mbs_info_updater(MbsInfos *mbs_infos, const char *mbs_filename, int verbose);
 
MbsInfos* mbs_new_infos(void);
 
//
//
/* *****************************************
 *       useful functions for linker
 ********************************************/
 
 /*
 * Find a body in the body tree according to its name "bodyname"
 * return NULL in case of failure
 *
 */
MbsInfoBody* find_body_in_bodytree(MbsInfos* mbs_infos, char* bodyname);
MbsInfoJoint* find_joint_in_bodytree(MbsInfos* mbs_infos, char* jointname);
int fill_all_joint_list(MbsInfos* mbs_infos);
MbsInfoJoint* find_joint_in_joint_list(MbsInfos* mbs_infos, char* jointname);
MbsInfoJoint* find_joint_with_parent_in_joint_list(MbsInfos* mbs_infos, char* jointname);
 
int mbs_copy_info_joint(MbsInfoJoint* mbs_info_joint_src, MbsInfoJoint* mbs_info_joint_dest);
int mbs_copy_info_body(MbsInfoBody* mbs_info_body_src, MbsInfoBody* mbs_info_body_dest);
 
 
int mbs_adapt_joint_nature(MbsInfoJoint* joint_info, int verbose);
 
/* BELOW ARE THE FUNCTION TO CREATE/DELETE MbsInfos structures */
 
MbsInfoDData* mbs_new_info_d_data(void);
void mbs_delete_info_d_data(MbsInfoDData* mbs_info_d_data);
 
MbsInfoRefPoint* mbs_new_info_ref_point(void);
void* mbs_delete_info_ref_point(MbsInfoRefPoint* mbs_info_ref_point);
 
MbsInfoSensor* mbs_new_info_sensor(void);
void mbs_delete_info_sensor(MbsInfoSensor* mbs_info_sensor);
 
MbsInfoExtforce* mbs_new_info_extforce(void);
void mbs_delete_info_extforce(MbsInfoExtforce* mbs_info_extforce);
 
MbsInfoPoint* mbs_new_info_point(void);
void* mbs_delete_info_point(MbsInfoPoint* mbs_info_point);
 
MbsInfoBase* mbs_new_info_base(void);
void mbs_delete_info_base(MbsInfoBase* mbs_info_base);
 
MbsInfoJoint* mbs_new_info_joint(void);
void* mbs_delete_info_joint(MbsInfoJoint* mbs_info_joint);
 
MbsInfoBody* mbs_new_info_body(void);
void mbs_delete_info_body(MbsInfoBody* mbs_info_body, void *all_joints_lists);
 
MbsInfoBodytree* mbs_new_info_bodytree(void);
void mbs_delete_info_bodytree(MbsInfoBodytree* mbs_info_bodytree, void *all_joints_list);
 
MbsInfoBall* mbs_new_info_ball(void);
void mbs_delete_info_ball(MbsInfoBall* mbs_info_ball);
 
MbsInfoRod* mbs_new_info_rod(void);
void mbs_delete_info_rod(MbsInfoRod* mbs_info_rod);
 
MbsInfoSolid* mbs_new_info_solid(void);
void mbs_delete_info_solid(MbsInfoSolid* mbs_info_solid);
 
MbsInfoCuts* mbs_new_info_cuts(void);
void mbs_delete_info_cuts(MbsInfoCuts* mbs_info_cuts);
 
MbsInfoLink* mbs_new_info_link(void);
void mbs_delete_info_link(MbsInfoLink* mbs_info_link);
 
MbsInfoLinks* mbs_new_info_links(void);
void mbs_delete_info_links(MbsInfoLinks* mbs_info_links);
 
MbsInfoParameter* mbs_new_info_parameter(void);
void mbs_delete_info_parameter(MbsInfoParameter* mbs_info_parameter);
 
MbsInfoUserModel* mbs_new_info_user_model(void);
void mbs_delete_info_user_model(MbsInfoUserModel* mbs_info_user_model);
 
MbsInfoUserModels* mbs_new_info_user_models(void);
void mbs_delete_info_user_models(MbsInfoUserModels* mbs_info_user_models);
 
MbsInfoUserIO* mbs_new_info_user_IO(void);
void mbs_delete_info_user_IO(MbsInfoUserIO* mbs_info_user_IO);
 
MbsInfoUserIOs* mbs_new_info_user_IOs(void);
void mbs_delete_info_user_IOs(MbsInfoUserIOs* mbs_info_user_IOs);
 
MbsInfoUserCstr* mbs_new_info_user_cstr(void);
void mbs_delete_info_user_cstr(MbsInfoUserCstr* mbs_info_user_cstr);
 
MbsInfoOpti* mbs_new_info_opti(void);
void mbs_delete_info_opti(MbsInfoOpti* mbs_info_opti);
 
void mbs_delete_user_IO_info(UserIoInfo* ioInfo);
 
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
 * Function altering the content of the MbsInfo
 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
JsonNode *mbs_info_configuration(MbsInfos *mbs_infos, const char *config_file, int *err);
#endif