mbs_dirdyn_struct.h File Reference

#include "mbs_aux.h"
#include "mbs_buffer.h"

Go to the source code of this file.

Classes
struct	MbsDirdynOptions
	Structure defining the option of a direct dynamic. More...
struct	MbsDirdyn
	General structure of the direct dynamic module. More...

Macros
#define	DOPRI5_NB_ALLOC_VEC   8
	number of vectors to allocate for dopri5 More...
#define	DIRDYN_INTEGRATOR_OPTION_DEFAULT_nmax   (int) 1e9
	Define of default options for integrator in DirdynStruc. More...
#define	DIRDYN_INTEGRATOR_OPTION_DEFAULT_toler   1.0e-3
#define	DIRDYN_INTEGRATOR_OPTION_DEFAULT_rtoler   1.0e-3
#define	DIRDYN_INTEGRATOR_OPTION_DEFAULT_atoler   1.0e-6
#define	DIRDYN_INTEGRATOR_OPTION_DEFAULT_dt_max   1.0e-3
#define	DIRDYN_INTEGRATOR_WAYPOINT_TIME_ERROR_max   1.0e-10

Typedefs
typedef void(*	initialize_integrator_ptr) (MbsData *mbs_data, MbsDirdyn *mbs_dd, int(*derivs) (double, double[], double[], MbsData *, MbsDirdyn *), void(*loop_fct) (MbsData *, MbsDirdyn *), int(*save_realtime_update) (MbsDirdyn *dd, MbsData *mbs_data))
	These three pointers of functions should be defined for each integrator separately, in the corresponding files They are called in dirdyn, according to the integrator chosen. More...
typedef int(*	loop_integrator_ptr) (double t0, double tf, MbsData *mbs_data, MbsDirdyn *mbs_dd)
	main loop of integration, in which the integrator is called More...
typedef void(*	finish_integrator_ptr) (MbsData *mbs_data, MbsDirdyn *mbs_dd)
	end of the integration, free the memory More...

Functions
int	mbs_fct_dirdyn (double t, 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 header defines structure of the dirdyn module in C.

Creation date: 10/09/2015

Author

Nicolas Docquier, Timothée Habra

(c) Universite catholique de Louvain

Macro Definition Documentation

DIRDYN_INTEGRATOR_OPTION_DEFAULT_atoler

#define DIRDYN_INTEGRATOR_OPTION_DEFAULT_atoler   1.0e-6

DIRDYN_INTEGRATOR_OPTION_DEFAULT_dt_max

#define DIRDYN_INTEGRATOR_OPTION_DEFAULT_dt_max   1.0e-3

DIRDYN_INTEGRATOR_OPTION_DEFAULT_nmax

#define DIRDYN_INTEGRATOR_OPTION_DEFAULT_nmax   (int) 1e9

Define of default options for integrator in DirdynStruc.

DIRDYN_INTEGRATOR_OPTION_DEFAULT_rtoler

#define DIRDYN_INTEGRATOR_OPTION_DEFAULT_rtoler   1.0e-3

DIRDYN_INTEGRATOR_OPTION_DEFAULT_toler

#define DIRDYN_INTEGRATOR_OPTION_DEFAULT_toler   1.0e-3

DIRDYN_INTEGRATOR_WAYPOINT_TIME_ERROR_max

#define DIRDYN_INTEGRATOR_WAYPOINT_TIME_ERROR_max   1.0e-10

DOPRI5_NB_ALLOC_VEC

#define DOPRI5_NB_ALLOC_VEC   8

number of vectors to allocate for dopri5

Typedef Documentation

finish_integrator_ptr

typedef void(* finish_integrator_ptr) (MbsData *mbs_data, MbsDirdyn *mbs_dd)

end of the integration, free the memory

initialize_integrator_ptr

typedef void(* initialize_integrator_ptr) (MbsData *mbs_data, MbsDirdyn *mbs_dd, int(*derivs)(double, double[], double[], MbsData *, MbsDirdyn *), void(*loop_fct)(MbsData *, MbsDirdyn *), int(*save_realtime_update)(MbsDirdyn *dd, MbsData *mbs_data))

These three pointers of functions should be defined for each integrator separately, in the corresponding files They are called in dirdyn, according to the integrator chosen.

initialization of the integrator structure(s)

loop_integrator_ptr

typedef int(* loop_integrator_ptr) (double t0, double tf, MbsData *mbs_data, MbsDirdyn *mbs_dd)

main loop of integration, in which the integrator is called

Function Documentation

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

MBS_INFO_SUCCESS in case of success, any other value 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.