mbsysc/MBsysC/mbs__equil__struct_8h_source.html

#ifndef MBS_EQUIL_STRUCT_h

#define MBS_EQUIL_STRUCT_h


#include "mbs_aux.h"

#include "mbs_buffer.h"

#include "mbs_linearipk_struct.h"


typedef struct MbsEquilOptions

{

    int        method;

    double    equitol;

    int        verbose;

    int        save2file;

    int     compute_uxd;


    int grad_lpk;

    int lpk_itermax;

    double lpk_relincr;

    double lpk_absincr;

    double lpk_absincr_max;

    double lpk_equitol;

    double lpk_lintol;


    char *resfilename;

    char *respath;

    char *animpath;

    char* buffer_format;


    // solvepk related...

    int        mode;

    int        relax;

    double  relaxcoeff;

    double  relaxIterMax;

    int        soft;

    double    senstol;

    double    devjac;

    int        itermax;


    int        visualize;

    int        clearmbsglobal;


    //int nqui; //!< number of ignored independent variables for quasistatic equilibrium  ??Q should disappear

    //int *qui; //!< index  of ignored independant variables


    int nquch;

    int *quch;

    double **xch_ptr;


    int nxe;

    double **xe_ptr;


    int *xe_index;


    int saveperiod;

    int save_anim;

    int framerate;

    int buffersize;

    int max_save_user;

    void (* fxe_ptr)(MbsData*, double*);

    char **joints_name;

    double *max_inc;


    int close_geo_sensitive;


} MbsEquilOptions;


typedef struct MbsEquil

{

    MbsEquilOptions* options;

    MbsAux* aux;


    double *qd_saved;

    double *qdd_saved;


    int nx;

    double *x;

    double **x_ptr;


    int Nux_saved;


    int nxch;

    int *xch;


    int nxe;

    int *xe;


    int nxs;

    int *xs;

    int nxns;

    int *xns;


    //----- SolvePk related variables -----//

    double norm_pk;


    double **grad;

    double **grad_Rr;

    double **grad_uxd;

    double **grad_fxe;

    MbsLpk *lpk;


    double *F;

    double R;

    int iter;

    int savePeriodCounter;

    int bufferNb;

    MbsBuffer **buffers;

    MbsGrowingBuffer *user_buffer;

    double** savedArrays;


    int success;


} MbsEquil;


#endif