mbs_binder_public.h File Reference

This header defines MbsInfos (and its substructures) as well as the loading/deleting functions. More...

Go to the source code of this file.

Classes
struct	MbsInfoDData
struct	MbsInfoRefPoint
	Structure defining the parent point of a body. More...
struct	MbsInfoSensor
	This structure contains all information about a sensor defined on the MBS structure. More...
struct	MbsInfoExtforce
	This structure contains all information about an external force sensor defined on the MBS structure. More...
struct	MbsInfoPoint
	This structure handle everything that a point on a MBS structure can handle (sensor, ...) More...
struct	MbsInfoBase
	Structure handling the informations defined on the base of the MBS. More...
struct	MbsInfoJoint
	This structure contains all informations about a joint. More...
struct	MbsInfoBody
	This structure contains all informations about a body. More...
struct	MbsInfoBodytree
struct	MbsInfoBall
struct	MbsInfoRod
struct	MbsInfoSolid
struct	MbsInfoCuts
struct	MbsInfoLink
struct	MbsInfoLinks
struct	MbsInfoParameter
	Description of a user model parameter loaded from the mbs file. More...
struct	MbsInfoUserModel
struct	MbsInfoUserModels
struct	MbsInfoUserIO
struct	MbsInfoUserIOs
struct	MbsInfoUserCstr
struct	MbsInfoOpti
struct	MbsInfos

Enumerations
enum	ParamType {   UM_NO_TYPE, UM_SCALAR, UM_VECTOR, UM_LUT1D,   UM_LUT2D, UM_STATE, UM_STRUCTURE, UM_INT,   UM_STRING }

Functions
MbsInfos *	mbs_info_reader (const char *mbs_filename, int verbose)
	Read the mbs file to retrieve size informations (number of joints...). More...
void	mbs_delete_infos (MbsInfos *mbs_infos)

Detailed Description

This header defines MbsInfos (and its substructures) as well as the loading/deleting functions.

Date

Sept. 2023 (modification)

Author

Robotran Team

Enumeration Type Documentation

ParamType

enum ParamType

Enumerator
UM_NO_TYPE
UM_SCALAR
UM_VECTOR
UM_LUT1D
UM_LUT2D
UM_STATE
UM_STRUCTURE
UM_INT
UM_STRING

Function Documentation

mbs_delete_infos()

void mbs_delete_infos

(

MbsInfos *

mbs_infos

)

< Pointer to a list of sensor

< Pointer to a list of external force sensor

mbs_info_reader()

MbsInfos* mbs_info_reader	(	const char *	mbs_filename,
		int	verbose
	)

Read the mbs file to retrieve size informations (number of joints...).

Parameters

	mbs_filename	Path and name of the file (with extension).
[in]	verbose	Verbosity level, from only errors (0) to full verbose (2), debug verbose is 3.

Returns

An allocated MbsInfos structure or NULL ptr in case of failure.