mbs_dirdynared.c File Reference

#include <math.h>
#include "MBSfun.h"
#include "mbs_1D_array.h"
#include "nrfct.h"
#include "mbs_project_interface.h"
#include "mbs_define.h"
#include "mbs_message.h"
#include "mbs_errors_names.h"
#include "mbs_trigo.h"

Functions
int	dirdynared (MbsAux *mbs_aux, MbsData *s)
	Compute the joint accelerations of the system in the current configuration. More...

Function Documentation

dirdynared()

int dirdynared	(	MbsAux *	mbs_aux,
		MbsData *	s
	)

Compute the joint accelerations of the system in the current configuration.

The current configuration must be considered after the following updates:

• Driven joints has been updated at the time in MbsData::time
• Dependent joints coordinates and velocities have been updated to solve constraints.
• Computation of all user forces (joint, links, external...)

Parameters

[in,out]	mbs_aux	the local computation structure, where the result is stored in the variable Mr.
[in,out]	s	the MbsData of the system, where q(iqv),qd(iqv) and qdd(iqv) are updated.

Returns

MBS_INFO_SUCCESS in case of success, any other value in case of error.