mbsysc/MBsysC/mbs__data_8h_source.html

#ifndef mbs_data_h

#define mbs_data_h

/*--------------------*/


#include "stdio.h"

#include "stdlib.h"


#include "mbs_output_struct.h"

#include "mbs_user_interface.h"

#include "mbs_project_fct_ptr.h"

#include "mbs_realtime_struct.h"


/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */

// utility structure for managing dynamic lib (for userfct and symbolic libraries)


#ifdef _WIN32

    #define WIN32_LEAN_AND_MEAN

    #include <windows.h>

#elif defined(__unix__) || defined(__APPLE__)

    #include <dlfcn.h>

#else

#error Platform not supported.

#endif


typedef struct MbsDataLibInfo{

#ifdef _WIN32

    HINSTANCE lib_handle;

#elif defined(__unix__) || defined(__APPLE__)

    void *lib_handle;

#else

#error Platform not supported.

#endif

}MbsDataLibInfo;


/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */


typedef struct{


    // Pointers to libraries from which the functions were loaded

    MbsDataLibInfo* symbolicLibHandle;

    MbsDataLibInfo* userfctLibHandle;


    // Pointers to project function


    // symbolic function pointers are firstly defined to get the same structure

    // fields ordering with and without realtime

    struct{

        mbs_link_ptr    mbs_link;

        mbs_link3D_ptr    mbs_link3D;

        mbs_extforces_ptr mbs_extforces;

        mbs_accelred_ptr mbs_accelred;

        mbs_dirdyna_ptr mbs_dirdyna;

        mbs_invdyna_ptr mbs_invdyna;

        mbs_cons_hJ_ptr mbs_cons_hJ;

        mbs_cons_jdqd_ptr mbs_cons_jdqd;

        mbs_sensor_ptr mbs_sensor;

        mbs_gensensor_ptr mbs_gensensor;

        mbs_checksymb_ptr mbs_check_symbolic;

        mbs_invdynared_d_ptr mbs_invdynared_dq;

        mbs_invdynared_d_ptr mbs_invdynared_dqd;

        mbs_invdynared_d_ptr mbs_invdynared_dqdd;

        mbs_invdynared_d_ptr mbs_invdynared_dp;

    } symb;


    // user function pointers

    struct{

        user_JointForces_ptr user_JointForces;

        // user load

        user_load_post_ptr user_load_post;

        user_free_ptr user_free;

        // user dirdyn

        user_dirdyn_init_ptr user_dirdyn_init;

        user_dirdyn_loop_ptr user_dirdyn_loop;

        user_dirdyn_finish_ptr user_dirdyn_finish;

        // user invdyn

        user_invdyn_init_ptr user_invdyn_init;

        user_invdyn_loop_ptr user_invdyn_loop;

        user_invdyn_finish_ptr user_invdyn_finish;

        // user equil

        user_equil_init_ptr user_equil_init;

        user_equil_loop_ptr user_equil_loop;

        user_equil_finish_ptr user_equil_finish;

        user_equil_fxe_ptr user_equil_fxe;

        // Various project operation

        user_Derivative_ptr user_Derivative;

        user_DrivenJoints_ptr user_DrivenJoints;

        // Constraints

        user_cons_hJ_ptr user_cons_hJ;

        user_cons_jdqd_ptr user_cons_jdqd;

        user_cons_J_accelred_ptr user_cons_J_accelred;

        // Forces

        user_LinkForces_ptr user_LinkForces;

        user_Link3DForces_ptr user_Link3DForces;

        user_ExtForces_ptr user_ExtForces;


        mbs_new_user_IO_ptr mbs_new_user_IO;


        mbs_new_user_model_ptr mbs_new_user_model;

        mbs_delete_user_model_ptr mbs_delete_user_model;

        mbs_delete_user_IO_ptr mbs_delete_user_IO;

        mbs_get_user_IO_size_ptr mbs_get_user_IO_size;

        mbs_load_user_model_ptr mbs_load_user_model;

        mbs_bind_user_model_ptr mbs_bind_user_model;

        mbs_bind_user_name_ptr mbs_bind_user_name;

        mbs_print_user_model_ptr mbs_print_user_model;

        mbs_get_user_model_size_ptr mbs_get_user_model_size;

        mbs_get_user_model_list_ptr mbs_get_user_model_list;

        mbs_save_um_ptr mbs_save_um;

        mbs_print_user_IO_ptr mbs_print_user_IO;

        mbs_save_user_IO_ptr mbs_save_user_IO;


        // Symbolic derivative function

        user_JointForces_d_ptr user_JointForces_dq;

        user_JointForces_d_ptr user_JointForces_dqd;

        user_JointForces_d_ptr user_JointForces_dqdd;

        user_JointForces_dp_ptr user_JointForces_dp;


        user_LinkForces_d_ptr user_LinkForces_dq;

        user_LinkForces_d_ptr user_LinkForces_dqd;

        user_LinkForces_d_ptr user_LinkForces_dqdd;

        user_LinkForces_dp_ptr user_LinkForces_dp;


        user_Link3DForces_d_ptr user_Link3DForces_dq;

        user_Link3DForces_d_ptr user_Link3DForces_dqd;

        user_Link3DForces_d_ptr user_Link3DForces_dqdd;

        user_Link3DForces_dp_ptr user_Link3DForces_dp;


        user_ExtForces_d_ptr user_ExtForces_dq;

        user_ExtForces_d_ptr user_ExtForces_dqd;

        user_ExtForces_d_ptr user_ExtForces_dqdd;

        user_ExtForces_dp_ptr user_ExtForces_dp;


        // Function dedicated to Realtime feature

        user_realtime_options_ptr user_realtime_options;

        user_keyboard_ptr user_keyboard;

        user_realtime_plot_ptr user_realtime_plot;

        user_joystick_axes_ptr user_joystick_axes;

        user_joystick_buttons_ptr user_joystick_buttons;

        user_realtime_visu_ptr user_realtime_visu;


        // Function to synchronize global variables between instances of outputs

        set_mbs_to_output_ptr user_synch_outputs;

    } user;


} Functions;


typedef struct MbsDp{

    double **K;

    double **G;

    double **M;


    double *dq_dp;

    double *dqd_dp;

    double *dqdd_dp;


    double *dQa_dp;

    double *dQc_dp;


    // User joint forces

    double **dQq_dq;

    double **dQq_dqd;

    double **dQq_dqdd;

    double *dQq_dp;


    // User external forces

    double ***dSWr_dq;

    double ***dSWr_dqd;

    double ***dSWr_dqdd;

    double **dSWr_dp;


    // User link3d forces

    double*** dSWr_link3d_dq;

    double*** dSWr_link3d_dqd;

    double*** dSWr_link3d_dqdd;

    double** dSWr_link3d_dp;

} MbsDp;


typedef struct MbsDataUtils

{

    char **joint_names;

    char **body_names;

    char **point_names;

    char **sensor_names;

    char **extforce_names;

    char **link_names;

    char **link3D_names;

    char **ball_names;

    char **solid_names;

    char **rod_names;

} MbsDataUtils;


/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */


struct MbsData

{

    // Geometric and dynamic data //

    int npt;

    double **dpt;

    double **l;

    double *m;

    double **In;

    double g[3+1];


    int nbody;

    int njoint;


    // Infos partitionning //

    int nqu;

    int nqc;

    int nqlocked;

    int nqdriven;

    int nqa;

    int nqv;

    int nhu;

    int nqrot;


    int *qu;

    int *qc;

    int *qlocked;

    int *qdriven;

    int *qa;

    int *qv;

    int *hu;

    int *qrot;


    // Joint coordinates, initial values and trigonometric values //

    double *q;

    double *qd;

    double *qdd;


    double *q0;

    double *qd0;

    double *qdd0;


    // only for dirdyn and qu, for now :-)

    double *q_sin;

    double *q_cos;

    int flag_optim_symb_sin_cos;

    // for advanced use of Robotran only ! default is 0.


    // Frc, Trq, Qq, tsim

    double **frc;

    double **trq;

    double *Qq;

    double *Qa;


    double tsim;


    double t0;

    double tf;

    double dt0;


    // Constraints

    int n_solid;

    int n_ball;

    int n_rod;

    double *lrod;

    int Nloopc;

    int Ncons;

    int Nuserc;

    double NRerr;

    int MAX_NR_ITER;


    double *lambda;

    double **jac_user;

    double *jdqd_user;


    // Driven variables (and joint forces)

    double *Qc;


    // Links

    int Nlink;

    int Nlink3D;

    double *Z;

    double *Zd;

    double *Fl;


    double **l3DWr; // JFC : Attention: la convention des indices est inversÃ©e par rapport aux habitudes Robotran


    // Sensors

    int Nsensor;


    // Ext Forces

    int Nxfrc;

    int *xfidpt;

    double **SWr;


#if !defined SENSORKIN

    // User Model

    int Nuser_model;

    UserModel *user_model;


    int n_user_IO;

    UserIO *user_IO;

    UserIoInfo *__user_IO_info;


#endif


    // User State

    double *ux;

    double *uxd;

    double *ux0;

    int Nux;


    // OTHER FIELDS //

    double *udd;


    int DonePart;

    int DoneEquil;

    int DoneModal;


    int process;

    int flag_stop;

    int flag_jac_position;


    int flag_safety_checks;

    double zero_division_thrs;


    char *mbs_filename;

    char *build_path;

    char *project_path;

    char *mbs_name;


    Functions fct;


    MbsDp* mbs_dp;


    Simu_realtime* realtime;


    MbsOutputPtr user_outputs;


    char *mbsysc_path;


    MbsDataUtils *data_utils;

};


/*--------------------*/

#endif