mbs_infos_helper.h File Reference

#include "mbs_binder_public.h"

Go to the source code of this file.

Functions
MbsInfoUserIO *	mbs_get_info_user_io (MbsInfos *mbs_infos, const char *name, int verbose, int *err)
	Retrieve a user IO matching a name in the User IOs list of MbsInfos. More...
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_body_id (MbsInfos *mbs_infos, const char *name, int verbose)
	Retrieve a body indice from its name. 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_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...
int	mbs_info_get_body_points_ids (MbsInfos *mbs_infos, const char *body_name, int *nb_pts, int **ids, int verbose)
	Retrieve the indices of all points on a body except its origin. More...

Detailed Description

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

Creation date: 31-01-2023

Author

Robotran team

(c) Universite catholique de Louvain

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
	)

Retrieve a user IO matching a name in the User IOs list of MbsInfos.

Parameters

[in]	mbs_infos	The multibody system informations structure.
[in]	name	The user IO name.
[in]	verbose	Flag, see macros MBS_VERBOSE_XXX in "mbs_define.h".
[in,out]	Pointer	to the error code memory place. Values are: MBS_INFO_SUCCESS: normal output, no error (macro in "mbs_define.h"); -1: NULL pointer in arguments; -2: No MbsInfos::user_IOs loaded (empty structure), error at loading; -3: Incoherent datas in MbsInfoUserIOs (n_user_IO but NULL pointer to list), error at loading; -4: No user IO in the model. -5: Invalid user IO in the list (NULL pointer), error at loading; -6: Invalid user IO in the list (no name), error at loading or in multibody file; -7: No user IO with the specified name.

Returns

The MbsInfoUserIO, or NULL (not found or other error).

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_body_points_ids()

int mbs_info_get_body_points_ids	(	MbsInfos *	mbs_infos,
		const char *	body_name,
		int *	nb_pts,
		int **	ids,
		int	verbose
	)

Retrieve the indices of all points on a body except its origin.

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.
[out]	nb_pts	Pointer to set the number of points on the body. It cannot be NULL.
[out]	ids	Pointer to set the array of points ids. The provided targeted adress (ids[0]) is not freed if not NULL. It (ids) cannot be NULL.

Returns

MBS_INFO_SUCCESS, MBS_INFO_WARNING (no point on body) or MBS_INFO_FAILURE

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.