mbs_invdyn.c File Reference

#include <stdio.h>
#include <stdlib.h>
#include "string.h"
#include "lut.h"
#include "MBSfun.h"
#include "mbs_check.h"
#include "set_output.h"
#include "mbs_message.h"
#include "mbs_invdyn.h"
#include "mbs_invdyn_struct.h"
#include "mbs_project_interface.h"
#include "mbs_errors_names.h"
#include "mbs_trigo.h"

Functions
MbsInvdyn *	mbs_new_invdyn (MbsData *mbs_data)
	Create a new inverse dynamic structure. More...
MbsInvdyn *	mbs_new_invdyn_aux (MbsData *mbs_data, MbsAux *mbs_aux)
	Fills a new inverse dynamic auxilliary structure. More...
void	mbs_delete_invdyn (MbsInvdyn *invdyn, MbsData *mbs_data)
	Free memory of the inverse dynamic structure The options (MbsInvOptions) and MbsAux structures are also freed. More...
int	mbs_run_invdyn (MbsInvdyn *invd, MbsData *mbs_data)
	Run the inverse kinematic analysis. More...
int	mbs_invdyn_save (MbsInvdyn *invd, MbsData *mbs_data, double t)
	Save the values of invdyn analysis in the buffers. More...
int	mbs_invdyn_init (MbsInvdyn *invd, MbsData *mbs_data)
	Run the startup operations of the run_invdyn function. More...
int	mbs_invdyn_loop (MbsInvdyn *invd, MbsData *mbs_data)
	Time loop of the run_invdyn function: More...
int	mbs_invdyn_finish (MbsInvdyn *invd, MbsData *mbs_data)
	Run the finalization operations of the run_invdyn function. More...
int	mbs_invdyn_write_buffers (MbsInvdyn *invd)
	Write the content of buffer associated to the given MbsInvdyn to disk. More...
int	mbs_fct_invdyn (MbsData *s, MbsInvdyn *invd)
	inverse dynamic computation of q, qd and qdd More...

Detailed Description

This file implements the functions of the invdyn module in C.

Creation date: 20/08/2019

Author

Olivier Lantsoght

(c) Universite catholique de Louvain

Function Documentation

mbs_delete_invdyn()

void mbs_delete_invdyn	(	MbsInvdyn *	invdyn,
		MbsData *	mbs_data
	)

Free memory of the inverse dynamic structure The options (MbsInvOptions) and MbsAux structures are also freed.

mbs_fct_invdyn()

int mbs_fct_invdyn	(	MbsData *	s,
		MbsInvdyn *	invdyn
	)

inverse dynamic computation of q, qd and qdd

Parameters

[in,out]	s	Robotran main structure
[in,out]	invdyn	inverse dynamic main module structure

Returns

0 or an error value (<0)

mbs_invdyn_finish()

int mbs_invdyn_finish	(	MbsInvdyn *	invdyn,
		MbsData *	mbs_data
	)

Run the finalization operations of the run_invdyn function.

Parameters

[in,out]	invdyn	the MbsInvdyn to be terminated.
[in]	mbs_data	the MbsData structure of the model for which the inverse dynamic is computed.

Returns

Error status, <0 in case of failure.

mbs_invdyn_init()

int mbs_invdyn_init	(	MbsInvdyn *	invdyn,
		MbsData *	mbs_data
	)

Run the startup operations of the run_invdyn function.

Parameters

[in,out]	invdyn	the MbsInvdyn to be run
[in]	mbs_data	the MbsData structure of the model for which the inverse dynamic is computed.

Returns

Error status, <0 in case of failure.

mbs_invdyn_loop()

int mbs_invdyn_loop	(	MbsInvdyn *	invdyn,
		MbsData *	mbs_data
	)

Time loop of the run_invdyn function:

• call the update of joints coordinates, velocities and accelerations
• call the inverse dynamic procedure
• call the storing function

Parameters

[in,out]	invdyn	the MbsInvdyn to be run
[in,out]	mbs_data	the MbsData structure of the model for which the inverse dynamic is computed

Returns

Error status, <0 in case of failure.

mbs_invdyn_save()

int mbs_invdyn_save	(	MbsInvdyn *	invd,
		MbsData *	mbs_data,
		double	t
	)

Save the values of invdyn analysis in the buffers.

Parameters

invd	the MbsInvdyn to be stored in the buffers.
mbs_data	the MbsData structure of the model for which the inverse dynamic is computed.
t	the current time.

Returns

Error status, <0 in case of failure.

mbs_invdyn_write_buffers()

int mbs_invdyn_write_buffers

(

MbsInvdyn *

invdyn

)

Write the content of buffer associated to the given MbsInvdyn to disk.

This is usefull for writing simulation results at the end of the simulation. This sepcific function is written to be able to ask for writing buffer from python.

Parameters

invdyn

the MbsInvdyn struct for which the buffers must be written.

Returns

Error status, <0 in case of failure.

mbs_new_invdyn()

MbsInvdyn* mbs_new_invdyn

(

MbsData *

mbs_data

)

Create a new inverse dynamic structure.

This function also initialize the options structures and the MbsAux for storing computational info during computation.

Parameters

[in]

mbs_data

the data structure of the model for which the inverse dynamic will be computed.

mbs_new_invdyn_aux()

MbsInvdyn* mbs_new_invdyn_aux	(	MbsData *	mbs_data,
		MbsAux *	mbs_aux
	)

Fills a new inverse dynamic auxilliary structure.

A pointer to the given MbsAux structure is kept by the returned structure.

Parameters

[in]	mbs_data	the data structure of the model for which the inverse dynamic will be computed.
[in]	mbs_aux	the auxiliary structure to be filled.

mbs_run_invdyn()

int mbs_run_invdyn	(	MbsInvdyn *	invdyn,
		MbsData *	mbs_data
	)

Run the inverse kinematic analysis.

The MbsData structure associated to solvekin is modified

Parameters

[in,out]	invdyn	the MbsInvdyn to be run
[in,out]	mbs_data	the MbsData structure of the model for which the inverse dynamic is computed.

Returns

Error status, <0 in case of failure.