mbs_dirdyn.c File Reference

#include "mbs_dirdyn.h"
#include <stdlib.h>
#include <stdio.h>
#include "integrator.h"
#include "mbs_project_interface.h"
#include "user_realtime_visu.h"
#include "string.h"
#include "realtime.h"
#include "set_output.h"
#include "MBSfun.h"
#include "mbs_check.h"
#include "mbs_errors_names.h"
#include "mbs_trigo.h"
#include "mbs_message.h"

Functions
MbsDirdyn *	mbs_new_dirdyn (MbsData *mbs_data)
	Create a new direct dynamic structure. More...
MbsDirdyn *	mbs_new_dirdyn_aux (MbsData *mbs_data, MbsAux *mbs_aux)
	Create MbsDirdyn strucure and fill it with auxiliary structure. More...
int	check_user_dirdyn_options (MbsDirdyn *dd, MbsData *mbs_data)
	check that the dirdyn options performed by the user are correct More...
void	mbs_delete_dirdyn (MbsDirdyn *dirdyn, MbsData *mbs_data)
	Free memory of the direct dynamic structure The options (MbsDirdynOptions) and MbsAux structures are also freed. More...
int	mbs_run_dirdyn (MbsDirdyn *dd, MbsData *mbs_data)
	Run the direct dynamic simulation. More...
int	mbs_dirdyn_save (MbsDirdyn *dd, MbsData *mbs_data, double t)
int	mbs_dirdyn_init (MbsDirdyn *dd, MbsData *mbs_data)
	Run the startup operations of the run_dirdyn function. More...
int	mbs_dirdyn_loop (MbsDirdyn *dd, MbsData *mbs_data)
	Time loop of the run_dirdyn function: More...
int	mbs_dirdyn_finish (MbsDirdyn *dd, MbsData *mbs_data)
	Run the finalization operations of the run_dirdyn function. More...
int	mbs_dirdyn_write_buffers (MbsDirdyn *dd)
	Compute the derivatives of the system (1st derivatives to be given to the ODE integrator) More...
int	mbs_fct_dirdyn (double tsim, double y[], double dydt[], MbsData *s, MbsDirdyn *dd)
	direct dynamics derivative computation More...
int	save_realtime_update (MbsDirdyn *dd, MbsData *mbs_data)
	update the real-time and saving modules if requested More...

Detailed Description

This file implements the functions of the dirdyn module in C.

Creation date: 19/11/2014

Author

Nicolas Docquier (based on the work of other from CEREM: nvdn, av, ...)

(c) Universite catholique de Louvain

Function Documentation

check_user_dirdyn_options()

int check_user_dirdyn_options	(	MbsDirdyn *	dd,
		MbsData *	mbs_data
	)

check that the dirdyn options performed by the user are correct

Parameters

[in]	dd	direct dynamics module
[in]	mbs_data	Robotran main structure

Returns

Error status, <0 in case of failure.

mbs_delete_dirdyn()

void mbs_delete_dirdyn	(	MbsDirdyn *	dirdyn,
		MbsData *	mbs_data
	)

Free memory of the direct dynamic structure The options (MbsDirdynOptions) and MbsAux structures are also freed.

mbs_dirdyn_finish()

int mbs_dirdyn_finish	(	MbsDirdyn *	dirdyn,
		MbsData *	mbs_data
	)

Run the finalization operations of the run_dirdyn function.

Returns

Error status, <0 in case of failure.

mbs_dirdyn_init()

int mbs_dirdyn_init	(	MbsDirdyn *	dirdyn,
		MbsData *	mbs_data
	)

Run the startup operations of the run_dirdyn function.

mbs_dirdyn_loop()

int mbs_dirdyn_loop	(	MbsDirdyn *	dirdyn,
		MbsData *	mbs_data
	)

Time loop of the run_dirdyn function:

The sequence of one iteration is:

• call the time integrator
• call the discrete state functions
• call the storing function

Parameters

[in,out]	dirdyn	the MbsDirdyn to be run
[in,out]	mbs_data	the MbsData structure of the model for which the direct dynamic is computed

Returns

Error status, <0 in case of failure.

mbs_dirdyn_save()

int mbs_dirdyn_save	(	MbsDirdyn *	dd,
		MbsData *	mbs_data,
		double	t
	)

mbs_dirdyn_write_buffers()

int mbs_dirdyn_write_buffers

(

MbsDirdyn *

dd

)

Compute the derivatives of the system (1st derivatives to be given to the ODE integrator)

t the integration variable (time in the case of MBS time integration) y the state vector for which the derivative must be computed dydt the state derivative vector in which the derivative must be returned s the MbsData of the system mbs_aux the local data structure Write the content of buffer associated to the given MbsDirdyn to disk. This is usefull for writing simulation results at the end of the simulation. This sepcific function is written to be able to ask for writing buffer from python.

dd the MbsDirdyn struct for which the buffers must be written

Returns

error (0 if no error)

mbs_fct_dirdyn()

int mbs_fct_dirdyn	(	double	t,
		double	y[],
		double	dydt[],
		MbsData *	s,
		MbsDirdyn *	dd
	)

direct dynamics derivative computation

Parameters

[in]	t	current simulation time [s]
[in]	y	state vector of size n
[out]	dydt	derivative
[in,out]	s	Robotran main structure
[in,out]	dd	direct dynamic main module structure

Returns

Error status, <0 in case of failure.

mbs_new_dirdyn()

MbsDirdyn* mbs_new_dirdyn

(

MbsData *

mbs_data

)

Create a new direct dynamic structure.

This function also initialize the options structures and the MbsAux for storing computational info during simulation.

Fields are allocated to default value.

Parameters

mbs_data

the data structure of the model for which the time integration will be computed.

Returns

An allocated MbsDirdyn structure.

mbs_new_dirdyn_aux()

MbsDirdyn* mbs_new_dirdyn_aux	(	MbsData *	mbs_data,
		MbsAux *	mbs_aux
	)

Create MbsDirdyn strucure and fill it with auxiliary structure.

This function also initialize the options structures. A pointer to the given MbsAux structure is kept by the returned structure.

The field of MbsDirdyn are set to default values.

mbs_data the data structure of the model for which the time integration will be computed mbs_aux the MbsAux structure related to the model for which the time integration will be computed.

Returns

An allocated MbsDirdyn structure.

mbs_run_dirdyn()

int mbs_run_dirdyn	(	MbsDirdyn *	dirdyn,
		MbsData *	mbs_data
	)

Run the direct dynamic simulation.

The MbsData structure associated to dirdyn is modified

Parameters

[in,out]	dirdyn	the MbsDirdyn to be run
[in,out]	mbs_data	the MbsData structure of the model for which the direct dynamic is computed

Returns

Error status, <0 in case of failure.

save_realtime_update()

int save_realtime_update	(	MbsDirdyn *	dd,
		MbsData *	mbs_data
	)

update the real-time and saving modules if requested

Parameters

[in]	dd	direct dynamics module
[in]	mbs_data	Robotran main structure

Returns

Error status, <0 in case of failure.