mbs_data.c File Reference

#include <float.h>
#include <string.h>
#include <errno.h>
#include "mbs_data.h"
#include "mbs_define.h"
#include "mbs_path.h"
#include "mbs_trigo.h"
#include "mbs_matrix.h"
#include "mbs_message.h"
#include "mbs_1D_array.h"
#include "useful_functions.h"

Macros
#define	MSG_ERR   ">> MBSDATA>> "
#define	MSG_PRE   ">> MBSDATA>> "

Functions
static void	mbs_print_diff_dvec_1 (const char *prefix, double *v1, double *v2, int size)
static void	mbs_print_diff_dmat_1_xyz (const char *prefix, double **m1, double **m2, int nc)
static void	mbs_print_diff_dmat_1_inertia (const char *prefix, double **m1, double **m2, int nc)
void	mbs_print_data (MbsData *s)
void	mbs_copy_data (MbsData *s, MbsData *s_copy)
	Copy all fields between two MBSdata structures. More...
void	mbs_reset_joints_kine (MbsData *s)
	Reset joints kinematics (q, qd, qdd) of a MbsData structure to initial values. More...
void	mbs_reset_data (MbsData *s)
	Reset all fields of a MbsData structure to initial values. More...
int	mbs_write_data (MbsData *s, char *filename, char *function_name)
	Write a source with a function allocating and setting a MbsData copy of the provided. More...
int	mbs_compare_data (MbsData *s1, MbsData *s2, int accelred)
	Compare two MbsData. More...
double *	mbs_data_get_IO (MbsData *mbs, const char *io_name, int in_out)
	Return the adress of the specified User IO. More...

Macro Definition Documentation

MSG_ERR

#define MSG_ERR   ">> MBSDATA>> "

MSG_PRE

#define MSG_PRE   ">> MBSDATA>> "

Function Documentation

mbs_compare_data()

int mbs_compare_data	(	MbsData *	s1,
		MbsData *	s2,
		int	accelred
	)

Compare two MbsData.

The following fields are not compared:

• MbsData::DonePart
• MbsData::DoneEquil
• MbsData::DoneModal
• MbsData::process
• MbsData::flag_stop
• MbsData::flag_jac_position
• MbsData::flag_safety_checks
• MbsData::flag_optim_symb_sin_cos
• MbsData::MAX_NR_ITER

Other fields may be ommited.

The user model parameters are not compared.

If using "accelred" activate the flag accelred (non-null value). Otherwhise deactivate it (null value). The field specifiec to accelered (MbsData::jac_user and MbsData::jdqd_user) are allocated with size MbsData::nqv at file loading. When not using "accelred" this value can be changed without reallocating the fields.

Parameters

[in]	s1	The first multibody system.
[in]	s2	The second multibody system
[in]	accelred	Flag to compare specified field for accelred usage (user jacobian and jdqd fields). Should be set to False by default.

Returns

0 if same system, -1 otherwhise

mbs_copy_data()

void mbs_copy_data	(	MbsData *	s,
		MbsData *	s_copy
	)

Copy all fields between two MBSdata structures.

WARNING: This function is not updated daily with new functionnalities of MbsData. Use with care.

The function does not modify the followings:

• user models
• user IOs
• multibody filename
• build path
• project path
• project name
• pointers to project functions
• pointer to realtime structure

Parameters

[in]	s	Pointer to the multibody source.
[out]	s_copy	Pointer to the multibody output.

Returns

mbs_data_get_IO()

double* mbs_data_get_IO	(	MbsData *	mbs,
		const char *	io_name,
		int	in_out
	)

Return the adress of the specified User IO.

The function set errno in case of error. No matches is not considered as an error.

Parameters

[in]	mbs	Pointer to the multibody structure.
[in]	io_name	Name of the user input or output to find.
[in]	in_out	Flag to determine if the requested user IO is an input, or or output: +1: user Input only; -1: user Output only; 0: Not specified, seach in inputs then output.

Returns

The adress of the double containing the user IO. NULL in case of error or if not found.

mbs_print_data()

void mbs_print_data

(

MbsData *

s

)

mbs_print_diff_dmat_1_inertia()

static void mbs_print_diff_dmat_1_inertia ( const char *  prefix, double **  m1, double **  m2, int  nc  )

static

mbs_print_diff_dmat_1_xyz()

static void mbs_print_diff_dmat_1_xyz ( const char *  prefix, double **  m1, double **  m2, int  nc  )

static

mbs_print_diff_dvec_1()

static void mbs_print_diff_dvec_1 ( const char *  prefix, double *  v1, double *  v2, int  size  )

static

mbs_reset_data()

void mbs_reset_data

(

MbsData *

s

)

Reset all fields of a MbsData structure to initial values.

Parameters

[in,out]

s

the MbsData structure to reset

mbs_reset_joints_kine()

void mbs_reset_joints_kine

(

MbsData *

s

)

Reset joints kinematics (q, qd, qdd) of a MbsData structure to initial values.

Parameters

[in,out]

s

the MbsData structure to reset

mbs_write_data()

int mbs_write_data	(	MbsData *	mbs,
		char *	filename,
		char *	function_name
	)

Write a source with a function allocating and setting a MbsData copy of the provided.

Parameters

[in]	mbs	The MbsData structure to be set in the function.
[in]	filename	The name of the source file to be created.
[in]	function_name	The name of the function creating the new MbsData. NULL can be provided, in such a case the name will be "get_mbs_data".

Returns

Negative number in case of error, 0 otherwhise.