mbs_invdyn_struct.h

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#ifndef MBS_INVDYN_STRUCT_h
#define MBS_INVDYN_STRUCT_h
 
#include "lut.h"
#include "mbs_aux.h"
#include "mbs_buffer.h"
#include "mbs_solvekin_struct.h"
 
typedef struct MbsInvdyn
{
    MbsInvOptions* options;
    MbsAux* mbs_aux;
 
    double tsim;
    int tindex;
 
    MbsBuffer **buffers;
    MbsGrowingBuffer *user_buffer;
    int bufferNb;
    double** savedArrays;
    int savePeriodCounter;
 
    int trajectorytype;
 
    MbsLutRes *q, *qd, *qdd;
}MbsInvdyn;
 
 
#endif