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Robotran C Documentation
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2 #ifndef MBS_EQUIL_STRUCT_h
3 #define MBS_EQUIL_STRUCT_h
double * x
variables for the equilibrium
Definition: mbs_equil_struct.h:112
int grad_lpk
options to compute the gradient through the lpk parabolic fitting method. If not activated,...
Definition: mbs_equil_struct.h:22
int nxe
number of added variables for the equilibrium
Definition: mbs_equil_struct.h:120
int clearmbsglobal
Q? inout = 1, out = 2, none = 3, all = 4, default = 1 ???
Definition: mbs_equil_struct.h:70
int * xe
index of the added variables in the vector of equilibrium variables
Definition: mbs_equil_struct.h:121
double lpk_absincr_max
options for the lpk gradient [default = 0]
Definition: mbs_equil_struct.h:26
int compute_uxd
no = 0, yes = 1, flag to compute the extra constitutive differential equations as equil equations [de...
Definition: mbs_equil_struct.h:20
int visualize
Q? no = 0, yes = 1, default = 0.
Definition: mbs_equil_struct.h:69
double * max_inc
Maximum absolute value of the increment of each variable between iterations.
Definition: mbs_equil_struct.h:92
char * buffer_format
if NULL, "%e" is used
Definition: mbs_equil_struct.h:57
buffer used to store the user variables to output
Definition: mbs_buffer.h:98
double lpk_relincr
options for the lpk gradient [default = 1e-2]
Definition: mbs_equil_struct.h:24
MbsBuffer ** buffers
buffer to store generalized coordinates, velocities, acceleration, joint forces...
Definition: mbs_equil_struct.h:142
Definition: mbs_linearipk_struct.h:19
double lpk_absincr
options for the lpk gradient [default = 1e-3]
Definition: mbs_equil_struct.h:25
double * qd_saved
initial generalized velocities as defined in the mbsysPad
Definition: mbs_equil_struct.h:108
int verbose
Verbosity level propagated to other compatible module:
Definition: mbs_equil_struct.h:13
int * quch
index of changed independant variables
Definition: mbs_equil_struct.h:76
int method
fsolvepk = 1, other method to be added. [default = 1]
Definition: mbs_equil_struct.h:11
double ** x_ptr
vector of pointers pointing to the equilibrium variables
Definition: mbs_equil_struct.h:113
char * resfilename
Basename of the results files, suffixes and extension added automatically.
Definition: mbs_equil_struct.h:40
double * F
Definition: mbs_equil_struct.h:137
int * xns
index of non sensitive variables in the vector of equilibrium variables
Definition: mbs_equil_struct.h:126
int nxns
number of non sensitive variables for the equilibrium
Definition: mbs_equil_struct.h:125
double devjac
deviate state for Gradient calculation [default = 1e-6]
Definition: mbs_equil_struct.h:66
double equitol
equilibrium acceptation tolerance [default = 1e-6]
Definition: mbs_equil_struct.h:12
int framerate
number of frame per second for the .anim file
Definition: mbs_equil_struct.h:87
MbsEquilOptions * options
structure defining the option of a equilibrium
Definition: mbs_equil_struct.h:105
int nxs
number of sensitive variables for the equilibrium
Definition: mbs_equil_struct.h:123
Definition: mbs_equil_struct.h:103
char ** joints_name
Array containing the name of each joints.
Definition: mbs_equil_struct.h:91
int itermax
maximum number of iteration for solvepk [default = 30]
Definition: mbs_equil_struct.h:67
char * respath
Path in which results file are saved.
Definition: mbs_equil_struct.h:48
char * animpath
Path in which animation file is saved.
Definition: mbs_equil_struct.h:56
double ** grad
Linear Tangent matrix: delta Fx / delta x (obtained numerically)
Definition: mbs_equil_struct.h:131
double * qdd_saved
initial generalized accelerations as defined in the mbsysPad
Definition: mbs_equil_struct.h:109
Definition: mbs_buffer.h:46
int Nux_saved
copy of mbs_data Nux
Definition: mbs_equil_struct.h:115
int iter
current iteration in the equilibrium computation
Definition: mbs_equil_struct.h:139
int close_geo_sensitive
Definition: mbs_equil_struct.h:99
MbsLpk * lpk
working structure to compute the linearized matrices (one by one)
Definition: mbs_equil_struct.h:135
int nxe
number of extra equilibrium variables
Definition: mbs_equil_struct.h:79
void(* fxe_ptr)(MbsData *, double *)
pointer pointing on the .c function calculating the added equilibrum functions
Definition: mbs_equil_struct.h:90
double relaxcoeff
relaxation coefficient [default = 0.9]
Definition: mbs_equil_struct.h:62
double ** grad_Rr
mbs Linear Tangent matrix: delta Rr / delta x (obtained numerically)
Definition: mbs_equil_struct.h:132
int soft
softing in pk algorithm no = 0, yes = 1 [default = 0]
Definition: mbs_equil_struct.h:64
int save_anim
1 to save the anim file, 0 otherwise (only valid if 'save2file' is set to 1)
Definition: mbs_equil_struct.h:86
int relax
relaxation in pk algorithm no = 0, yes = 1 [default = 0]
Definition: mbs_equil_struct.h:61
int * xch
index of the exchange variables in the vector of equilibrium variables
Definition: mbs_equil_struct.h:118
int bufferNb
Definition: mbs_equil_struct.h:141
int saveperiod
The number of iteration between two buffer records [default = 1] (every iteration are recorded)
Definition: mbs_equil_struct.h:85
Definition: mbs_data.h:247
int success
1 if the equilibrium process were successful (0 if none -1 if failed)
Definition: mbs_equil_struct.h:146
int * xe_index
vector containing the index of the added variables inside the equilibrium variables vector
Definition: mbs_equil_struct.h:82
Definition: mbs_equil_struct.h:9
double lpk_equitol
options for the lpk gradient [default = 1e-6]
Definition: mbs_equil_struct.h:27
double ** grad_uxd
uxd Linear Tangent matrix: delta uxd / delta x (obtained numerically)
Definition: mbs_equil_struct.h:133
double senstol
tolerance for testing a variable non-sensitivity [default = 1e-6]
Definition: mbs_equil_struct.h:65
int buffersize
The number of time step that can be recorded in the buffer [default = -1].
Definition: mbs_equil_struct.h:88
MbsGrowingBuffer * user_buffer
growing buffer to store user values
Definition: mbs_equil_struct.h:143
double lpk_lintol
options for the lpk gradient [default = 1e-3]
Definition: mbs_equil_struct.h:28
int nx
number of variables for the equilibrium
Definition: mbs_equil_struct.h:111
MbsAux * aux
Definition: mbs_equil_struct.h:106
int * xs
index of sensitive variables in the vector of equilibrium variables
Definition: mbs_equil_struct.h:124
double ** grad_fxe
fxe Linear Tangent matrix: delta fxe / delta x (obtained numerically)
Definition: mbs_equil_struct.h:134
int savePeriodCounter
counter for checking whether results must be saved
Definition: mbs_equil_struct.h:140
double ** xe_ptr
vector of pointers pointing to the extra variables
Definition: mbs_equil_struct.h:80
int max_save_user
The maximal number of user variables saved [default = 12].
Definition: mbs_equil_struct.h:89
double norm_pk
norm of the equlibrium variables vector x (parameter to minimize in the solvepk algorithm)
Definition: mbs_equil_struct.h:129
int save2file
1: results saved 0: not saved [default = 1]
Definition: mbs_equil_struct.h:19
int nxch
number of exchange variables for the equilibrium
Definition: mbs_equil_struct.h:117
int nquch
number of changed independant variables
Definition: mbs_equil_struct.h:75
double ** savedArrays
pointer to the array that must be saved to buffers
Definition: mbs_equil_struct.h:144
double R
Definition: mbs_equil_struct.h:138
double relaxIterMax
maximum number of relaxation iterations [default = 10]
Definition: mbs_equil_struct.h:63
int mode
1=static / 2=quasistatic / 3=dynamic [default = 1]
Definition: mbs_equil_struct.h:60
double ** xch_ptr
vector of pointers pointing to the exchange variables (the ones that replaces the changed qu)
Definition: mbs_equil_struct.h:77
int lpk_itermax
options for the lpk gradient [default = 10]
Definition: mbs_equil_struct.h:23