|
Robotran C Documentation
|
Go to the documentation of this file.
35 #define WIN32_LEAN_AND_MEAN
129 user_keyboard_ptr user_keyboard;
130 user_realtime_plot_ptr user_realtime_plot;
131 user_joystick_axes_ptr user_joystick_axes;
132 user_joystick_buttons_ptr user_joystick_buttons;
136 user_realtime_visu_ptr user_realtime_visu;
273 #if !defined SENSORKIN
int * qrot
Array with the indices of the rotational articulations (incremental values)
Definition: mbs_data.h:184
void(* mbs_link_ptr)(double **frc, double **trq, double *Flnk, double *Z, double *Zd, MbsData *s, double tsim)
Definition: mbs_project_fct_ptr.h:84
void(* mbs_print_user_IO_ptr)(UserIO *uio)
Definition: mbs_project_fct_ptr.h:59
void(* mbs_delete_user_IO_ptr)(UserIO *uvs)
Definition: mbs_project_fct_ptr.h:51
void(* user_realtime_options_ptr)(MbsData *mbs_data, Realtime_option *options)
Definition: mbs_project_fct_ptr.h:66
int * xfidpt
Array of the points defined as force application points.
Definition: mbs_data.h:264
void(* mbs_link3D_ptr)(double **frc, double **trq, MbsData *s, double tsim)
Definition: mbs_project_fct_ptr.h:85
int Ncons
Number of algebraic constraints.
Definition: mbs_data.h:218
Definition: user_model.h:24
double * qd
Array with the current values of the generalized velocities.
Definition: mbs_data.h:188
int * qa
Array with the indices of actuated articulations (only for inverse dynamic).
Definition: mbs_data.h:180
double dt0
Initial value of the integration step size [s]. For dirdyn and invdyn only. This parameter is set fro...
Definition: mbs_data.h:212
void(* user_invdyn_finish_ptr)(MbsData *MBSdata, MbsInvdyn *mbs_invd)
Definition: mbs_project_fct_ptr.h:28
double * m
Array containing the mass of each body.
Definition: mbs_data.h:155
int DonePart
Flag that indicates if the coordinate partitioning module has been executed (default: 0=not done; 1=d...
Definition: mbs_data.h:293
UserIO * user_IO
Definition: mbs_data.h:279
void(* mbs_save_um_ptr)(FILE *stream, UserModel *ums)
Definition: mbs_project_fct_ptr.h:58
mbs_cons_hJ_ptr mbs_cons_hJ
Definition: mbs_data.h:76
user_equil_finish_ptr user_equil_finish
Definition: mbs_data.h:99
double tsim
The time value.
Definition: mbs_data.h:208
int nqrot
Number of rotational joint (R1, R2 or R3)
Definition: mbs_data.h:172
int Nlink3D
Number of 3D links.
Definition: mbs_data.h:238
Contains information about UserIO.
Definition: mbs_user_interface.h:44
char * mbs_filename
Path to mbs file including the file with the extension (.mbs)
Definition: mbs_data.h:310
void(* mbs_dirdyna_ptr)(double **M, double *c, MbsData *s, double tsim)
Definition: mbs_project_fct_ptr.h:88
int nqv
Number of dependent articulations.
Definition: mbs_data.h:170
mbs_link_ptr mbs_link
Definition: mbs_data.h:70
mbs_new_user_model_ptr mbs_new_user_model
Definition: mbs_data.h:112
int DoneEquil
Flag that indicates if the equilibrium module has been executed (default: 0=not done; 1=done).
Definition: mbs_data.h:294
int * qc
Array with the indices of driven (locked and driven) articulations.
Definition: mbs_data.h:175
double * ux0
Array with the initial values of the user variables.
Definition: mbs_data.h:287
mbs_invdyna_ptr mbs_invdyna
Definition: mbs_data.h:75
void(* mbs_delete_user_model_ptr)(UserModel *ums)
Definition: mbs_project_fct_ptr.h:50
int nqu
Number of independent articulations.
Definition: mbs_data.h:165
void(* mbs_save_user_IO_ptr)(FILE *stream, UserIO *uio)
Definition: mbs_project_fct_ptr.h:60
int njoint
Number of joints in the system.
Definition: mbs_data.h:162
double tf
Final time of the simulation [s]. For dirdyn and invdyn only. This parameter is set from dirdyn/invyn...
Definition: mbs_data.h:211
int npt
Number of anchor points.
Definition: mbs_data.h:152
mbs_delete_user_model_ptr mbs_delete_user_model
Definition: mbs_data.h:113
user_equil_init_ptr user_equil_init
Definition: mbs_data.h:97
int(* mbs_accelred_ptr)(MbsData *s, double tsim)
Definition: mbs_project_fct_ptr.h:87
user_dirdyn_init_ptr user_dirdyn_init
Definition: mbs_data.h:89
user_equil_loop_ptr user_equil_loop
Definition: mbs_data.h:98
mbs_save_um_ptr mbs_save_um
Definition: mbs_data.h:121
user_dirdyn_loop_ptr user_dirdyn_loop
Definition: mbs_data.h:90
user_invdyn_finish_ptr user_invdyn_finish
Definition: mbs_data.h:95
int Nux
Number of user variable.
Definition: mbs_data.h:288
int flag_jac_position
Flag to compute the Jacobian of the constraint for position or velocity solution.
Definition: mbs_data.h:299
double ** jac_user
Jacobian of constraints [nqv x njoint] (starting at 1), only used in symbolic accelred,...
Definition: mbs_data.h:229
double zero_division_thrs
Value from which a warning is raised if a division by zero (or close to) occurs. Default=1....
Definition: mbs_data.h:308
user_ExtForces_ptr user_ExtForces
Definition: mbs_data.h:109
void(* mbs_print_user_model_ptr)(UserModel *ums)
Definition: mbs_project_fct_ptr.h:57
int DoneModal
Flag that indicates if the modal module has been executed (default: 0=not done; 1=done).
Definition: mbs_data.h:295
mbs_dirdyna_ptr mbs_dirdyna
Definition: mbs_data.h:74
int flag_optim_symb_sin_cos
allow the "optimisation" of the computation of the sine/cosine in the symbolic files....
Definition: mbs_data.h:198
UserIO *(* mbs_new_user_IO_ptr)(UserIoInfo *ioInfo)
Definition: mbs_project_fct_ptr.h:48
double ** SWr
Array of Swr vector for each external forces.
Definition: mbs_data.h:265
mbs_link3D_ptr mbs_link3D
Definition: mbs_data.h:71
double * q_cos
Array with the cosine values of the generalized coordinates, if rotational (if translational,...
Definition: mbs_data.h:197
void(* mbs_extforces_ptr)(double **frc, double **trq, MbsData *s, double tsim)
Definition: mbs_project_fct_ptr.h:86
user_Link3DForces_ptr user_Link3DForces
Definition: mbs_data.h:108
void(* user_cons_hJ_ptr)(double *h, double **Jac, MbsData *s, double tsim)
Definition: mbs_project_fct_ptr.h:35
int * hu
Array with the indices of independent constraints.
Definition: mbs_data.h:183
int Nxfrc
Number of points where an external force is applied into a body.
Definition: mbs_data.h:263
double * qd0
Array with the initial values of the generalized velocities.
Definition: mbs_data.h:192
mbs_get_user_model_list_ptr mbs_get_user_model_list
Definition: mbs_data.h:120
mbs_print_user_IO_ptr mbs_print_user_IO
Definition: mbs_data.h:122
int Nlink
Number of forces acting between two points of the system (force law implemented in user_LinkForces())...
Definition: mbs_data.h:237
Definition: mbs_data.h:59
void(* mbs_load_user_model_ptr)(MbsInfos *mbs_infos, UserModel *ums)
Definition: mbs_project_fct_ptr.h:55
mbs_load_user_model_ptr mbs_load_user_model
Definition: mbs_data.h:116
void(* user_cons_J_accelred_ptr)(MbsData *s, double tsim)
Definition: mbs_project_fct_ptr.h:37
double(* user_LinkForces_ptr)(double Z, double Zd, MbsData *mbs_data, double tsim, int ilnk)
Definition: mbs_project_fct_ptr.h:38
int flag_safety_checks
Flag to activate safety checks everywhere in mbsysc core. Faster computation if this flag is put to 0...
Definition: mbs_data.h:307
user_free_ptr user_free
Definition: mbs_data.h:87
UserIoInfo * __user_IO_info
Definition: mbs_data.h:280
UserModel *(* mbs_new_user_model_ptr)()
Definition: mbs_project_fct_ptr.h:49
mbs_sensor_ptr mbs_sensor
Definition: mbs_data.h:78
int MAX_NR_ITER
Maximal number of iterations for NR procedure, default 100.
Definition: mbs_data.h:221
int Nuserc
Number of user constraints.
Definition: mbs_data.h:219
user_equil_fxe_ptr user_equil_fxe
Definition: mbs_data.h:100
double * Fl
Array with the current values of the forces on each link (see: user_LinkForces()).
Definition: mbs_data.h:241
int * qu
Array with the indices of the independent articulations (free)
Definition: mbs_data.h:174
void(* user_Derivative_ptr)(MbsData *s)
Definition: mbs_project_fct_ptr.h:33
double NRerr
Maximal error on constraint allowed in Newton-Raphson algorithm, default 1.0e-9.
Definition: mbs_data.h:220
double ** trq
Matrix with the components of the resultant external torques (pure torque and couple produced by forc...
Definition: mbs_data.h:203
int * qv
Array with the indices of the dependent articulations .
Definition: mbs_data.h:182
double * Qc
Array with the value of joint force introduced in driven joint to respect the user function.
Definition: mbs_data.h:233
int Nloopc
Number of loop constraints.
Definition: mbs_data.h:217
double *(* user_JointForces_ptr)(MbsData *, double)
Definition: mbs_project_fct_ptr.h:20
mbs_extforces_ptr mbs_extforces
Definition: mbs_data.h:72
user_cons_hJ_ptr user_cons_hJ
Definition: mbs_data.h:104
double * Zd
Array with the current values of the speed (spreading) between of the points of a link (see: user_Lin...
Definition: mbs_data.h:240
user_LinkForces_ptr user_LinkForces
Definition: mbs_data.h:107
double * Qq
Array with the values of the joint forces.
Definition: mbs_data.h:204
double * q
Array with the current values of the generalized coordinates.
Definition: mbs_data.h:187
double ** In
Array containing the inertia tensor component of each body (in the body fixed frame,...
Definition: mbs_data.h:156
int Nsensor
< Array of l3DWr vector for each 3D link forces.
Definition: mbs_data.h:260
char * project_path
Path to the mbs project folder.
Definition: mbs_data.h:312
MbsDataLibInfo * symbolicLibHandle
Definition: mbs_data.h:62
int nqdriven
Number of driven articulations.
Definition: mbs_data.h:168
user_realtime_options_ptr user_realtime_options
Definition: mbs_data.h:126
void(* user_DrivenJoints_ptr)(MbsData *s, double tsim)
Definition: mbs_project_fct_ptr.h:34
Functions fct
Structure to store the pointer to the project-specific functions.
Definition: mbs_data.h:316
user_Derivative_ptr user_Derivative
Definition: mbs_data.h:102
void(* user_invdyn_init_ptr)(MbsData *MBSdata, MbsInvdyn *mbs_invd)
Definition: mbs_project_fct_ptr.h:26
void(* mbs_cons_hJ_ptr)(double *h, double **Jac, MbsData *s, double tsim)
Definition: mbs_project_fct_ptr.h:90
user_invdyn_loop_ptr user_invdyn_loop
Definition: mbs_data.h:94
mbs_get_user_model_size_ptr mbs_get_user_model_size
Definition: mbs_data.h:119
double ** frc
Matrix with the components of the resultant external forces (in the body fixed frame) applied to the ...
Definition: mbs_data.h:202
void(* mbs_cons_jdqd_ptr)(double *Jdqd, MbsData *s, double tsim)
Definition: mbs_project_fct_ptr.h:91
int nqc
Number of driven articulations, it includes qlocked and qdriven.
Definition: mbs_data.h:166
void(* mbs_bind_user_model_ptr)(MbsInfos *mbs_infos, UserModel *ums)
Definition: mbs_project_fct_ptr.h:56
void(* user_invdyn_loop_ptr)(MbsData *MBSdata, MbsInvdyn *mbs_invd)
Definition: mbs_project_fct_ptr.h:27
double ** l3DWr
Definition: mbs_data.h:243
HINSTANCE lib_handle
Definition: mbs_data.h:49
This structures contains a reference to a dynamic library handle.
Definition: mbs_data.h:45
UserModel * user_model
Structure containing all user model, this structure is specific for each project.
Definition: mbs_data.h:276
void * realtime
Pointer to Simu_realtime structure.
Definition: mbs_data.h:322
mbs_print_user_model_ptr mbs_print_user_model
Definition: mbs_data.h:118
mbs_accelred_ptr mbs_accelred
Definition: mbs_data.h:73
double ** dpt
Array containing the coordinate of all anchor points (3+1 lines, npt+1 columns).
Definition: mbs_data.h:153
void(* mbs_get_user_model_size_ptr)(int *n_usr_model)
Definition: mbs_project_fct_ptr.h:53
char * mbs_name
Name of the mbs project as it is stored in the xml file.
Definition: mbs_data.h:313
void(* user_cons_jdqd_ptr)(double *jdqd, MbsData *s, double tsim)
Definition: mbs_project_fct_ptr.h:36
void(* user_equil_finish_ptr)(MbsData *, MbsEquil *)
Definition: mbs_project_fct_ptr.h:31
double * q0
Array with the initial values of the generalized coordinates.
Definition: mbs_data.h:191
Definition: mbs_data.h:149
mbs_get_user_IO_size_ptr mbs_get_user_IO_size
Definition: mbs_data.h:115
mbs_gensensor_ptr mbs_gensensor
Definition: mbs_data.h:79
int n_rod
Number of rod constraint in the system.
Definition: mbs_data.h:215
user_cons_J_accelred_ptr user_cons_J_accelred
Definition: mbs_data.h:106
MbsDataLibInfo * userfctLibHandle
Definition: mbs_data.h:63
int * qlocked
Array with the indices of locked articulations.
Definition: mbs_data.h:176
double * Qa
Array of active joint forces (in case of simulink,invdyna,equil,linearization,...)
Definition: mbs_data.h:205
void(* user_equil_loop_ptr)(MbsData *MBSdata, MbsEquil *mbs_equil)
Definition: mbs_project_fct_ptr.h:30
user_load_post_ptr user_load_post
Definition: mbs_data.h:86
int Nuser_model
Number of declared user models in MBsysPad.
Definition: mbs_data.h:275
char * build_path
Path to the build folder.
Definition: mbs_data.h:311
mbs_new_user_IO_ptr mbs_new_user_IO
Definition: mbs_data.h:111
int process
Flag that indicate which module is currently running (1=partitioning, 2=equilibrium,...
Definition: mbs_data.h:297
int nbody
Number of bodies in the system.
Definition: mbs_data.h:160
double ** l
Array containing the center of mass coordinates (in the body fixed frame, one column per body includi...
Definition: mbs_data.h:154
void(* user_dirdyn_loop_ptr)(MbsData *MBSdata, MbsDirdyn *mbs_dd)
Definition: mbs_project_fct_ptr.h:24
double t0
Initial time of the simulation [s]. For dirdyn and invdyn only. This parameter is set from dirdyn/inv...
Definition: mbs_data.h:210
void(* user_load_post_ptr)(MbsData *MBSdata)
Definition: mbs_project_fct_ptr.h:21
void(* user_dirdyn_finish_ptr)(MbsData *, MbsDirdyn *)
Definition: mbs_project_fct_ptr.h:25
user_cons_jdqd_ptr user_cons_jdqd
Definition: mbs_data.h:105
user_DrivenJoints_ptr user_DrivenJoints
Definition: mbs_data.h:103
user_invdyn_init_ptr user_invdyn_init
Definition: mbs_data.h:93
double * Z
Array with the current values of the distances between of the points of a link (see: user_LinkForces(...
Definition: mbs_data.h:239
void(* mbs_invdyna_ptr)(double *Q, MbsData *s, double tsim)
Definition: mbs_project_fct_ptr.h:89
double g[3+1]
The 3 gravity components.
Definition: mbs_data.h:158
int flag_stop
stop the simulation. For dirdyn, equil, invdyn and solvekin only.
Definition: mbs_data.h:298
void(* user_equil_fxe_ptr)(MbsData *, double *f)
Definition: mbs_project_fct_ptr.h:32
void(* mbs_get_user_IO_size_ptr)(int *n_in, int *n_out, int *n_user_IO)
Definition: mbs_project_fct_ptr.h:52
mbs_bind_user_model_ptr mbs_bind_user_model
Definition: mbs_data.h:117
void(* mbs_gensensor_ptr)(MbsSensor *sens, MbsData *s, int isens)
Definition: mbs_project_fct_ptr.h:93
void(* mbs_get_user_model_list_ptr)(int *user_model_list)
Definition: mbs_project_fct_ptr.h:54
int * qdriven
Array with the indices of driven articulations.
Definition: mbs_data.h:178
double * lambda
Array with the values of the Lagrange Multipliers related to the constraints.
Definition: mbs_data.h:222
double * uxd
Array with the values of the time derivatives of the user variables.
Definition: mbs_data.h:286
void(* user_free_ptr)(MbsData *MBSdata)
Definition: mbs_project_fct_ptr.h:22
double * q_sin
Array with the sine values of the generalized coordinates, if rotational (if translational,...
Definition: mbs_data.h:196
double * qdd0
Array with the initial values of the generalized acceleration.
Definition: mbs_data.h:193
void(* user_equil_init_ptr)(MbsData *MBSdata, MbsEquil *mbs_equil)
Definition: mbs_project_fct_ptr.h:29
int nqa
Number of actuated articulations.
Definition: mbs_data.h:169
mbs_delete_user_IO_ptr mbs_delete_user_IO
Definition: mbs_data.h:114
int nqlocked
Number of locked articulations.
Definition: mbs_data.h:167
double *(* user_Link3DForces_ptr)(double PxF[4], double RxF[4][4], double VxF[4], double OMxF[4], double AxF[4], double OMPxF[4], MbsData *s, double tsim, int ixF)
Definition: mbs_project_fct_ptr.h:39
mbs_save_user_IO_ptr mbs_save_user_IO
Definition: mbs_data.h:123
double * qdd
Array with the current values of the generalized acceleration.
Definition: mbs_data.h:189
mbs_cons_jdqd_ptr mbs_cons_jdqd
Definition: mbs_data.h:77
double * jdqd_user
Vector of jdqd for user constraints [nqv] (starting at 1), only used in symbolic accelred,...
Definition: mbs_data.h:230
void(* mbs_sensor_ptr)(MbsSensor *sens, MbsData *s, int isens)
Definition: mbs_project_fct_ptr.h:92
double * udd
For axelle red: array with the values of the acceleration of independent coordinate.
Definition: mbs_data.h:291
double * ux
Array with the values of the user variables.
Definition: mbs_data.h:285
void(* user_dirdyn_init_ptr)(MbsData *MBSdata, MbsDirdyn *mbs_dd)
Definition: mbs_project_fct_ptr.h:23
double *(* user_ExtForces_ptr)(double PxF[4], double RxF[4][4], double VxF[4], double OMxF[4], double AxF[4], double OMPxF[4], MbsData *s, double tsim, int ixF)
Definition: mbs_project_fct_ptr.h:40
user_JointForces_ptr user_JointForces
Definition: mbs_data.h:84
int nhu
Number of independent constraints.
Definition: mbs_data.h:171
double * lrod
Array with the length of each rod.
Definition: mbs_data.h:216
int n_user_IO
Definition: mbs_data.h:278
user_dirdyn_finish_ptr user_dirdyn_finish
Definition: mbs_data.h:91