mbs_invdynared.c File Reference

#include <math.h>
#include "nrfct.h"
#include "MBSfun.h"
#include "mbs_linalg.h"
#include "mbs_message.h"
#include "useful_functions.h"
#include "mbs_project_interface.h"
#include "mbs_errors_names.h"

Functions
int	invdynared (MbsAux *mbs_aux, MbsData *s)
	Compute the required forces ont the actuated joints in a configuration. More...

Detailed Description

This c file implements the inverse dynamic procedure in MBsysC. This file is mainly dedicated to the projection of Rred (that assumes actuated joints are the independents joints) on the actuated joints.

Creation date: 19-06-2019

Author

Robotran team

Original file by JF Collard, 2008

(c) Universite catholique de Louvain

Function Documentation

invdynared()

int invdynared	(	MbsAux *	mbs_aux,
		MbsData *	s
	)

Compute the required forces ont the actuated joints in a configuration.

Parameters

[in,out]	mbs_aux	the local computation structure, where the result is stored in the variable Mr.
[in,out]	s	the MbsData of the system, where q(iqv),qd(iqv) and qdd(iqv) are updated.

Returns

Error status, <0 in case of failure.

case 1 : UNconstrained system

case 2 : UNconstrained system, fully driven

case 3 : constrained system with u : no actuated driven, overactuation possible

case 4 : constrained fully driven : actionnement sur c ou v