mbsysc/MBsysC/mbs__dirdyn__struct_8h_source.html

#ifndef MBS_DIRDYN_STRUCT_h

#define MBS_DIRDYN_STRUCT_h


#include "mbs_aux.h"

#include "mbs_buffer.h"

//#include "integrator.h"


#define DOPRI5_NB_ALLOC_VEC 8


#define DIRDYN_INTEGRATOR_OPTION_DEFAULT_nmax (int) 1e9

#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


typedef struct MbsDirdynOptions

{

    double t0;

    double tf;

    double dt0;

    int save2file;


    char *resfilename;

    char *respath;

    char *animpath;


    int save_anim;


    int save_visu;


    int framerate;


    int saveperiod;


    int max_save_user;


    int buffersize;

    char* buffer_format;


    int saving_mode;

    char** label_joints_name;

    char** label_ux_name;

    char** label_link_name;

    char** label_link3d_name;


    int* indices_save_q;

    int* indices_save_qd;

    int* indices_save_qdd;

    int* indices_save_Qq;

    int* indices_save_Qc;

    int* indices_save_ux;

    int* indices_save_uxd;

    int* indices_save_lambda;

    int* indices_save_linkZ;

    int* indices_save_linkZd;

    int* indices_save_linkF;

    int* indices_save_link3D;


    int realtime;

    int realtime_break;


    int accelred;


    int flag_oneshot;


    int flag_compute_Qc;


    int compute_all_uxd;


    int *compute_Qc;


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

    /* Options related to numerical integration */

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

    int integrator;

    // Various

    int verbose;

    int flag_stop_stiff;

    int flag_precise_dynamics;


    // Baumgarte stabilization qdd = qdd - 2*alpha*qd - beta*beta*q

    int flag_baumgarte_stabilization;

    double baumgarte_alpha;

    double baumgarte_beta;


    // Options related to waypoints: force integrator to stop at fixed time

    int flag_waypoint;

    int flag_solout_wp;

    double delta_t_wp;


    // Options related to variable time-stepped methods

    int nmax;

    double toler;

    double rtoler;

    double atoler;

    double dt_max;


    // Options related to integrator that need Jacobian computation

    /*TO BE COMPLETED*/

    int n_freeze;

    int flag_symbolic_jacobian;


    // Various options

    int show_failed_closure;


} MbsDirdynOptions;


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)

                                         );

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

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


struct MbsDirdyn

{

    MbsDirdynOptions* options;

    MbsAux* mbs_aux;


    double tsim;

    double dt;


    int nState;

    double *y;

    double *yout;

    double *yd;


    MbsBuffer **buffers;


    MbsBuffer **buffer_visu;


    MbsGrowingBuffer *user_buffer;


    int bufferNb;


    double** savedArrays;

    int** indices_to_print_array;


    int savePeriodCounter;


    // Part related to numerical integrator

    int flag_ongoing_jac_computation;


    void *integrator_struct; // set by initialize_integrator

    initialize_integrator_ptr initialize_integrator;

    loop_integrator_ptr loop_integrator;

    finish_integrator_ptr finish_integrator;

};


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


int save_realtime_update(MbsDirdyn* dd, MbsData* mbs_data);


#endif