mbsysc/MBsysC/mbs__binder__public_8h_source.html

/*

    This header defines MbsInfos, as well as all the structures used by MbsInfos

    @Date Nov 2022 (modification)

    @Author Robotran Team

*/


#ifndef MBS_INFO_BINDER_PUBLIC_h

#define MBS_INFO_BINDER_PUBLIC_h


/* A.L.

  Either create new utilities file

  Or, implement his functions in this .c file

*/

#define MBS_INFO_READER 0

#define MBS_INFO_UPDATER 1


#define MBS_INFO_COUNTER 11

#define MBS_INFO_INIT 12


#define MBS_INFO_SUCCESS 0

#define MBS_INFO_WARNING 1

#define MBS_INFO_FAILURE -9


typedef struct MbsInfoBody MbsInfoBody; // Forward declaration


typedef struct MbsInfoDData

{

    int d_type;

    double d_0;

    double d_min;

    double d_max;

    double d_opti;


    // the following variables are "comptute" in "MDS_opti_structurer"

    int is_related;

    struct MbsInfoDData *master_d_ptr;


    double *d_ptr;


    double *MBSdata_d_ptr;


} MbsInfoDData;


typedef struct MbsInfoRefPoint

{

    char *bodyname;

    char *pointname;


} MbsInfoRefPoint;


typedef struct MbsInfoSensor

{

    char *name;

    MbsInfoRefPoint* parent_point;

    char* joint_parent;


    int Pos;

    int Rot;

    int Vit;

    int Om;

    int Acc;

    int Omp;

    int Jac;


} MbsInfoSensor;


typedef struct MbsInfoExtforce

{

    char *name;

    MbsInfoRefPoint* parent_point;

    char* joint_parent;


    int Pos;

    int Rot;

    int Vit;

    int Om;

    int Acc;

    int Omp;


} MbsInfoExtforce;


typedef struct MbsInfoPoint

{

    char *name;

    char *body_name;

    double *pt;


    MbsInfoSensor *sensor;

    MbsInfoExtforce *extforce;


    MbsInfoDData **d_pt; // x y z

    int is_symmmetric; // asymmetric = 0, symmetric master = 1, symmetric salve = 2

    char *symmetric_point_name; // the name of the symmetric point (filed if master, NULL if slave or non symetric)


} MbsInfoPoint;


typedef struct MbsInfoBase

{

    double *gravity;

    int n_base_point;

    MbsInfoPoint **base_point_list;

} MbsInfoBase;


typedef struct MbsInfoJoint

{

    char *name;

    int type;

    int nature;


    double q0;

    double qd0;

    double qdd0;


    int actuated;


    MbsInfoDData *d_qf;

    int is_symmmetric;

    char *symmetric_joint_name;


    int symb_q;

    int symb_qd;

    int symb_qdd;


    MbsInfoRefPoint* parent; // ST parent ref point of the joint

    char* joint_parent; // ST parent joint of the joint

    MbsInfoBody *children_body;

} MbsInfoJoint;


typedef struct MbsInfoBody

{

    char *name;


    MbsInfoRefPoint* point_parent;

    char *joint_parent;


    int n_joint;

    MbsInfoJoint **joint_list;


    double mass;

    double *com;

    double *inertia;


    int n_point;

    MbsInfoPoint **point_list;


} MbsInfoBody;


typedef struct MbsInfoBodytree

{

    int n_body;

    MbsInfoBody **body_list;


    int n_joint;

    MbsInfoJoint **joint_list;


    int n_qu;

    int *qu;


    int n_qv;

    int *qv;


    int n_qc;

    int *qc;


    int n_qlocked;

    int *qlocked;


    int n_qdriven;

    int *qdriven;


    int n_qa;

    int *qa;


    int n_qrot;

    int* qrot;


} MbsInfoBodytree;


typedef struct MbsInfoBall

{

    char *name;


    MbsInfoRefPoint *endpoint1;

    MbsInfoRefPoint *endpoint2;


    int *ignore; // x y z


} MbsInfoBall;


typedef struct MbsInfoRod

{

    char *name;


    MbsInfoRefPoint *endpoint1;

    MbsInfoRefPoint *endpoint2;


    double length;


    MbsInfoDData *d_length; // d_data for the length

    int is_symmmetric; // asymmetric = 0, symmetric master = 1, symmetric salve = 2

    char *symmetric_rod_name; // the name of the symmetric rod (filed if master, NULL if slave or non symetric)


} MbsInfoRod;


typedef struct MbsInfoSolid

{

    char *name;


    MbsInfoRefPoint *endpoint1;

    MbsInfoRefPoint *endpoint2;


    int *ignore; // x y z


} MbsInfoSolid;


typedef struct MbsInfoCuts

{

    int n_ball;

    int n_rod;

    int n_solid;


    MbsInfoBall **ball_list;

    MbsInfoRod **rod_list;

    MbsInfoSolid **solid_list;


} MbsInfoCuts;


typedef struct MbsInfoLink

{

    char *name;


    MbsInfoRefPoint *endpoint1;

    MbsInfoRefPoint *endpoint2;


} MbsInfoLink;


typedef struct MbsInfoLinks

{

    int n_link;

    MbsInfoLink **link_list;


    int n_link3D;

    MbsInfoLink **link3D_list;


} MbsInfoLinks;


typedef struct MbsInfoParameter

{

    char *name;


    int type;

    int n_value;


    double *value_list;


    void* val_ptr;


    /* probably members only used in the past for optimization purpose */

    MbsInfoDData **d_value;

    // d_value seems to be unused in MBsysC (structure only initialized).

    // According to the MbsInfoDData contents, it seems to be used for optimization purpose.


    int is_symmmetric;

    // is_symmmetric seems to be unused in MBsysC (initialized at 0).

    char *symmetric_parameter_name;

    // symmetric_parameter_name seems to be unused in MBsysC (initialized at NULL).


    /* if user model param is a structure name */

    char* structure_name;

    char* structure_header;


    /* if user model param is a lut1D or lut2D name */

    int   flag_PRJPATH;

    char* structure_lutfile;


} MbsInfoParameter;


typedef struct MbsInfoUserModel

{

    char *name;

    int n_parameter;

    MbsInfoParameter **parameter_list;


} MbsInfoUserModel;


typedef struct MbsInfoUserModels

{

    int n_user_model;

    MbsInfoUserModel **user_model_list;


} MbsInfoUserModels;


typedef struct MbsInfoUserIO

{

    char *name;

    int type;

    int size;


} MbsInfoUserIO;


typedef struct MbsInfoUserIOs

{

    int n_user_IO;

    int n_in,n_out;

    MbsInfoUserIO **user_IO_list;


} MbsInfoUserIOs;


typedef struct MbsInfoOpti

{

    int n_d_simplified;

    MbsInfoDData **d_simplified_list;


    int n_d_forced;

    MbsInfoDData **d_forced_list;


    int n_d_optimized;

    MbsInfoDData **d_optimized_list;


    int n_d_resulting;

    MbsInfoDData **d_resulting_list;


    int n_d_related;

    MbsInfoDData **d_related_list;


} MbsInfoOpti;


typedef struct MbsInfos

{

    MbsInfoBase *base;

    MbsInfoBodytree *bodytree;

    MbsInfoCuts *cuts;

    MbsInfoLinks *links;

    MbsInfoUserModels *user_models;

    MbsInfoUserIOs *user_IOs;


    char *mbsfile;

    char *mbsname;

    char *padversion;


    int n_point;

    MbsInfoPoint **point_list;


    /* A.L.

    *  Those are not really point listing but index listing for matrix point_list

    */

    int n_sensor;

    int *sensor_point_list;


    int n_extforce;

    int *extforce_point_list;


    int n_state;

    int n_state_value;

    MbsInfoParameter **state_list;


    MbsInfoOpti *opti;


    // specific to JSON binder, because structure of the file is different from XML .mbs

    MbsInfoJoint** all_joint_list; //temporary list of all joints

    int n_joint; // ST number of joints

    MbsInfoSensor** sensor_list;

    MbsInfoExtforce** extforce_list;

} MbsInfos;


#endif