#include <errno.h>
#include <string.h>
#include "mbs_infos_helper.h"
#include "mbs_message.h"
#include "mbs_define.h"
#include "useful_functions.h"

Macros
#define	MSG_ERR ">> HELPER>> "

#define	MSG_TAB " >> "

Functions
MbsInfoUserIO *	mbs_get_info_user_io (MbsInfos mbs_infos, const char name, int verbose, int *err)

MbsInfoUserModel *	mbs_get_info_user_model (MbsInfos mbs_infos, const char name, int verbose, int *err)
	Retrieve a user model matching a name in the User Models list of MbsInfos. More...

MbsInfoParameter *	mbs_get_info_parameter (MbsInfoUserModel um, const char name, int verbose, int *err)
	Retrieve a user model parameter matching a name in a provided User Model. More...

MbsInfoParameter *	mbs_get_um_info_parameter (MbsInfos mbs_infos, const char um_name, const char param_name, int verbose, int err)
	Retrieve a parameter in a user model matching the names in the User Models list of MbsInfos. More...

MbsInfoBody *	mbs_get_info_body (MbsInfos mbs_infos, const char name, int verbose, int *err)
	Retrieve the body matching the given name. More...

MbsInfoJoint *	mbs_get_info_joint (MbsInfos mbs_infos, const char name, int verbose, int *err)
	Retrieve the joint matching the given name. More...

MbsInfoPoint *	mbs_get_info_point (MbsInfoBody mbs_body, const char name, int verbose, int *err)
	Retrieve the point matching the given name on a body. More...

int	mbs_info_get_joint_id (MbsInfos mbs_infos, const char name, int verbose)
	Retrieve a joint indice from its name. More...

int	mbs_info_get_body_id (MbsInfos mbs_infos, const char name, int verbose)
	Retrieve a body indice from its name. More...

int	mbs_info_get_point_id (MbsInfos mbs_infos, const char body_name, const char *point_name, int verbose)
	Retrieve a point indice from its names (body and point name). More...

Detailed Description

Define utilities to get and set values in an existing MbsInfos structure.

Creation date: 31-01-2023

Author: Robotran team

(c) Universite catholique de Louvain

Macro Definition Documentation

◆ MSG_ERR

#define MSG_ERR ">> HELPER>> "

◆ MSG_TAB

#define MSG_TAB " >> "

Function Documentation

◆ mbs_get_info_body()

MbsInfoBody* mbs_get_info_body	(	MbsInfos *	mbs_infos,
		const char *	name,
		int	verbose,
		int *	err
	)

Retrieve the body matching the given name.

Parameters

[in]	mbs_infos	The multibody system informations structure.
[in]	name	The body name.
[in]	verbose	Flag, set to false to disable verbosity.
[out]	err	Pointer to the error code memory place. Values are: 0: normal output, no error -1: Invalid arguments (NULL pointer, empty char...) -2: No body defined in the mbs infos -3: Invalid body in the body list (not allocated, not named...) -4: No body matching the given name

Returns: The pointer to the structure of the body, or NULL in case of error.

◆ mbs_get_info_joint()

MbsInfoJoint* mbs_get_info_joint	(	MbsInfos *	mbs_infos,
		const char *	name,
		int	verbose,
		int *	err
	)

Retrieve the joint matching the given name.

Parameters

[in]	mbs_infos	The multibody system informations structure.
[in]	name	The joint name.
[in]	verbose	Flag, set to false to disable verbosity.
[out]	err	Pointer to the error code memory place. Values are: 0: normal output, no error -1: Invalid arguments (NULL pointer, empty char...) -2: No joint defined in the mbs infos -3: Invalid joint in the joint list (not allocated, not named...) -4: No joint matching the given name

Returns: The pointer to the structure of the joint, or NULL in case of error.

◆ mbs_get_info_parameter()

MbsInfoParameter* mbs_get_info_parameter	(	MbsInfoUserModel *	um,
		const char *	name,
		int	verbose,
		int *	err
	)

Retrieve a user model parameter matching a name in a provided User Model.

Parameters

[in]	um	The user model containing the parameter.
[in]	name	The parameter name.
[in]	verbose	Flag, set to false to disable verbosity.
[out]	err	Pointer to the error code memory place. Values are: 0: normal output, no error -1: NULL pointer in arguments -2: No parameter defined in the user model. -3: Invalid parameter in the list (not allocated, missing name). -4: No parameter with the specified name in the user model.

Returns: The pointer to the structure of the parameter, or NULL in case of error.

◆ mbs_get_info_point()

MbsInfoPoint* mbs_get_info_point	(	MbsInfoBody *	mbs_body,
		const char *	name,
		int	verbose,
		int *	err
	)

Retrieve the point matching the given name on a body.

Parameters

[in]	mbs_body	The body to be parsed for the point.
[in]	name	The point name.
[in]	verbose	Flag, set to false to disable verbosity.
[out]	err	Pointer to the error code memory place. Values are: 0: normal output, no error -1: Invalid arguments (NULL pointer, empty char...) -2: No point defined in the mbs body -3: Invalid point in the point list (not allocated, not named...) -4: No point matching the given name

Returns: The pointer to the structure of the point, or NULL in case of error.

◆ mbs_get_info_user_io()

MbsInfoUserIO* mbs_get_info_user_io	(	MbsInfos *	mbs_infos,
		const char *	name,
		int	verbose,
		int *	err
	)

◆ mbs_get_info_user_model()

MbsInfoUserModel* mbs_get_info_user_model	(	MbsInfos *	mbs_infos,
		const char *	name,
		int	verbose,
		int *	err
	)

Retrieve a user model matching a name in the User Models list of MbsInfos.

Parameters

[in]	mbs_infos	The multibody system informations structure.
[in]	name	The user model name.
[in]	verbose	Flag, set to false to disable verbosity.
[out]	err	Pointer to the error code memory place. Values are: 0: normal output, no error -1: NULL pointer in arguments -2: No user model defined in the mbs_infos. -3: Invalid user model in the list (not allocated, missing name). -4: No user model with the specified name.

Returns: The pointer to the structure of the user model, or NULL in case of error.

◆ mbs_get_um_info_parameter()

MbsInfoParameter* mbs_get_um_info_parameter	(	MbsInfos *	mbs_infos,
		const char *	um_name,
		const char *	param_name,
		int	verbose,
		int *	err
	)

Retrieve a parameter in a user model matching the names in the User Models list of MbsInfos.

This function is a redirection to multiple subfunctions, the checking of the parameters is done by the subfunctions.

Parameters

[in]	mbs_infos	The multibody system informations structure.
[in]	um_name	The user model name.
[in]	param_name	The parameter name.
[in]	verbose	Flag, set to false to disable verbosity.
[out]	err	Pointer to the error code memory place. Values are: 0: normal output, no error Negative values: Error, see `mbs_get_info_user_model()` and `mbs_get_info_parameter()` error code.

Returns: The pointer to the structure of the parameter, or NULL in case of error.

◆ mbs_info_get_body_id()

int mbs_info_get_body_id	(	MbsInfos *	mbs_infos,
		const char *	name,
		int	verbose
	)

Retrieve a body indice from its name.

A specific warning is printed (if verbosity is activated) if the exact body is not located, but can be found in non-sensitive name comparison.

Parameters

[in]	mbs_infos	The multibody system informations structure.
[in]	name	The body name, the base body can be referenced by the keyword "base", "baseBodyName" or the name set on the base body in the file.
[in]	verbose	Flag, set to false to disable verbosity (errors included).

Returns

- MBS_INFO_FAILURE: Body not found

0: base body
>= 0: The body indice

◆ mbs_info_get_joint_id()

int mbs_info_get_joint_id	(	MbsInfos *	mbs_infos,
		const char *	name,
		int	verbose
	)

Retrieve a joint indice from its name.

A specific warning is printed (if verbosity is activated) if the exact joint is not located, but can be found in non-sensitive name comparison.

Set errno if joint is not located.

Parameters

[in]	mbs_infos	The multibody system informations structure.
[in]	name	The joint name.
[in]	verbose	Flag, set to false to disable verbosity (errors included).

Returns

- MBS_INFO_FAILURE: Joint not found

> 0: The joint indice

◆ mbs_info_get_point_id()

int mbs_info_get_point_id	(	MbsInfos *	mbs_infos,
		const char *	body_name,
		const char *	point_name,
		int	verbose
	)

Retrieve a point indice from its names (body and point name).

A specific warning is printed (if verbosity is activated) if the exact body/point is not located, but can be found in non-sensitive names comparison.

Parameters

[in]	mbs_infos	The multibody system informations structure.
[in]	name	The body name, the base body can be referenced by the keyword "base", "baseBodyName" or the name set on the base body in the file.
[in]	point_name	The point name (on the body).
[in]	verbose	Flag, set to false to disable verbosity (errors included).

Returns

- MBS_INFO_FAILURE: Point on body not found

>= 0: The point indice on the whole system.

Macros

Functions

Detailed Description

Macro Definition Documentation

◆ MSG_ERR

◆ MSG_TAB

Function Documentation

◆ mbs_get_info_body()

◆ mbs_get_info_joint()

◆ mbs_get_info_parameter()

◆ mbs_get_info_point()

◆ mbs_get_info_user_io()

◆ mbs_get_info_user_model()

◆ mbs_get_um_info_parameter()

◆ mbs_info_get_body_id()

◆ mbs_info_get_joint_id()

◆ mbs_info_get_point_id()