This header includes the functions to bind the JSON information to the MbsInfos structure. More...

#include "mbs_binder_public.h"
#include "json.h"
#include "mbs_load_struct.h"
#include "mbs_saver_struct.h"

Functions
int	mbs_json_inertia (JsonNode bdy_node, MbsInfoBody mbs_info_body, int mission)
	Translate the inertia key of a node from array (3,3) in node to array (6) in info. More...

JsonNode *	load_and_create_json (const char mbs_json_filename, int err)

int	mbs_info_json_binder (MbsInfos mbs_infos, JsonNode root_node, int mission, int verbose)
	Read or update the information from root node to all MbsInfo. More...

int	mbs_info_body_json_binder (MbsInfoBody mbs_info_body, JsonNode node, int mission)
	Read or update the information from body node to its MbsInfo. More...

int	mbs_info_tree_json_binder (MbsInfos mbs_infos, JsonNode node, int mission)
	Read or update the information from tree node to all MbsInfos. More...

int	mbs_info_bodytree_json_binder (MbsInfos mbs_infos, JsonNode node, int mission)
	Read or update the information in tree->bodies node to MbsInfoBase fields. More...

int	mbs_info_base_json_binder (MbsInfoBase mbs_info_base, JsonNode node, int mission)
	Read or update the information in base node to MbsInfoBase. More...

int	mbs_info_ref_point_json_binder (MbsInfoRefPoint mbs_info_ref_point, JsonNode node, int mission)

int	mbs_info_coordinates_json_binder (double coordinates_pointer, JsonNode node, int mission)

int	mbs_info_point_json_binder (MbsInfoPoint mbs_info_point, JsonNode node, int mission)

int	mbs_info_ball_json_binder (MbsInfoBall mbs_info_ball, JsonNode node, int mission)
	Read or update a ball json node with the infos. More...

int	mbs_info_rod_json_binder (MbsInfoRod mbs_info_rod, JsonNode node, int mission)
	Read or update a rod json node with the infos. More...

int	mbs_info_solid_json_binder (MbsInfoSolid mbs_info_solid, JsonNode node, int mission)
	Read or update a solid cut json node with the infos. More...

int	mbs_info_cuts_json_binder (MbsInfoCuts mbs_info_cuts, JsonNode node, int mission)
	Read or update the cuts list json node with the infos. More...

int	mbs_info_parameter_json_binder (MbsInfoParameter mbs_info_parameter, JsonNode node, int mission, int verbose)
	Read or update a user model parameter json node with the infos. More...

int	mbs_info_user_model_json_binder (MbsInfoUserModel um_info, JsonNode um_node, int mission, int verbose)
	Read or update a user model json node with the infos. More...

int	mbs_info_user_models_json_binder (MbsInfoUserModels ums_info, JsonNode ums_node, int mission, int verbose)
	Read or update the user models list json node with the infos. More...

int	mbs_info_user_IO_json_binder (MbsInfoUserIO mbs_info_user_IO, JsonNode node, int mission)

int	mbs_info_user_IOs_json_binder (MbsInfoUserIOs mbs_info_user_IOs, JsonNode node, int mission, int verbose)
	Read the user Input output variables list json node with the infos. More...

int	mbs_info_user_cstr_json_binder (MbsInfoUserCstr mbs_info_user_cstr, JsonNode node, int mission)

int	mbs_info_link_json_binder (MbsInfoLink mbs_info_link, JsonNode node, int mission)
	Read or update a link (point to point or 3D) json node with the infos. More...

int	mbs_info_links_json_binder (MbsInfoLinks mbs_info_links, JsonNode node, int mission)
	Read or update a links list json node with the infos. More...

int	mbs_info_links3d_json_binder (MbsInfoLinks mbs_info_links, JsonNode node, int mission)

int	mbs_info_sensor_json_binder (MbsInfoSensor mbs_info_sensor, JsonNode node, int mission)
	Read or update a sensor json node with the infos. More...

int	mbs_info_sensors_json_binder (MbsInfos mbs_info, JsonNode node, int mission)
	Read or update a sensors list json node with the infos. More...

int	mbs_info_extforce_json_binder (MbsInfoExtforce mbs_info_extf, JsonNode node, int mission)
	Read or update a external force json node with the infos. More...

int	mbs_info_extforces_json_binder (MbsInfos mbs_info, JsonNode node, int mission)
	Read or update a external forces list json node with the infos. More...

int	mbs_info_point_list_json_binder (MbsInfoPoint **point_list, JsonNode node, int mission, char body_name, int n_point)
	Link between points array value and all "points" key of a Json object node. More...

int	mbs_info_joint_json_binder (MbsInfoJoint mbs_info_joint, JsonNode node, int mission, int verbose)
	Read or update the information in joints node to MbsInfoBase, MbsInfoJoints. More...

int	mbs_info_joints_list_json_binder (MbsInfos mbs_infos, JsonNode joints_node, int mission)
	To Be Defined. More...

int	mbs_body_joint_recursive_linker (MbsInfos mbs_info, int ind_body_joint, int mission, int body_index)

int	mbs_tree_cleaner (MbsInfos *mbs_info, int mission)
	Correct the parents of joints. More...

int	mbs_info_json_linker (MbsInfos *mbs_info, int mission)

int	mbs_json_axis (JsonNode axis_node, int axis_int, int mission)
	Read or update the information in an axis node with an integer. More...

int	mbs_json_joint_nature (JsonNode nature_node, int nature_int, int mission)
	Read or update the information in an joint nature node with an integer. More...

int	mbs_info_init_and_binderJSON (MbsInfos mbs_infos, const char mbs_json_name, int mission, int verbose)
	Init and bind the MBS information contained in the .json file. More...

int	mbs_json_info_to_loader (MbsLoader mbs_loader, const char filename)
	Load and store the specified json file into the MbsLoader. More...

JsonNode *	mbs_info_init_and_binderJSON_rtn (MbsInfos mbs_infos, const char mbs_json_name, int *err, int mission, int verbose)
	Init and bind the MBS information contained in the .json file. More...

int	mbs_json_parent (JsonNode node, MbsInfoRefPoint point_parent, char joint_parent, int mission, const char key)
	Link between a parent infomation and a parent node. More...

int	json_is_on_base (JsonNode *parent)
	Check if a parent node (of body or joint) is the base. More...

JsonNode *	json_get_basebody (JsonNode bodies_node, int create, int err)
	Find the first body linked to the base inside the bodies list. More...

JsonNode *	json_get_body (JsonNode bodies_node, char body_name, int create, int *err)
	Find the first body with matching name inside the bodies list. More...

JsonNode *	json_get_body_3Dshapes (JsonNode body_node, int create, int err)
	Return the shapes array on the provided body node. More...

JsonNode *	json_get_shape (JsonNode shapes_node, char shape_name, char geometry, int allow_new, int err)
	Return the shape matching the name and geometry from the given list. More...

int	mbs_info_synch_shape (JsonNode shape, UpdateInline up_in, UpdateShape *up_sh)
	Synchronize, or fill with default value, a shape Json object node. More...

int	mbs_info_update_shapes_json (MbsLoader mbs_loader, UpdateInline up_in, UpdateShape *up_sh, int allow_new)
	Update, or create this shape/inline and all next in the linked list. More...

Detailed Description

This header includes the functions to bind the JSON information to the MbsInfos structure.

Declaration of mbs utilities function for json manipulations.

Date: Nov 2022 (modification)

Author: Robotran Team

Date: January 2023

Author: Robotran Team

Function Documentation

◆ json_get_basebody()

JsonNode* json_get_basebody	(	JsonNode *	bodies_node,
		int	create,
		int *	err
	)

Find the first body linked to the base inside the bodies list.

NOT IMPLEMENTED: Creation of missing base body.

Invalid members (not a body json node) in the list will be ignored (will not cause error).

Parameters

[in]	bodies_node	The JSON_ARRAY node containing the list of bodies.
[in]	create	NOT IMPLEMENTED, a new body linked to the base can be created if none is existing.
[out]	err	Pointer to error code, NULL can be provided. The error code is MBS_INFO_FAILURE, the success code is MBS_INFO_SUCCESS (macro in mbs_define.h).

Returns: Pointer to the JsonNode containing the base body or NULL.

◆ json_get_body()

JsonNode* json_get_body	(	JsonNode *	bodies_node,
		char *	body_name,
		int	create,
		int *	err
	)

Find the first body with matching name inside the bodies list.

NOT IMPLEMENTED: Creation of missing body.

Invalid members (not a body json node) in the list will be ignored (will not cause error).

Parameters

[in]	bodies_node	The JSON_ARRAY node containing the list of bodies.
[in]	body_name	The name of the body.
[in]	create	NOT IMPLEMENTED, a new body can be created if none is existing. The body mandatory fields (parent...) must be added by the caller as they are not provided as argument of this function.
[out]	err	Pointer to error code, NULL can be provided. The error code is MBS_INFO_FAILURE, the success code is MBS_INFO_SUCCESS (macro in mbs_define.h).

Returns: Pointer to the JsonNode containing the requested body or NULL.

◆ json_get_body_3Dshapes()

JsonNode* json_get_body_3Dshapes	(	JsonNode *	body_node,
		int	create,
		int *	err
	)

Return the shapes array on the provided body node.

Parameters

[in,out]	body_node	The JSON_OBJECT node containing the body.
[in]	create	Allow to create missing node(s) in the body.
[out]	err	Pointer to error code, NULL can be provided. The error code is MBS_INFO_FAILURE, the success code is MBS_INFO_SUCCESS (macro in mbs_define.h).

Returns: Pointer to the JsonNode containing the shapes array or NULL.

◆ json_get_shape()

JsonNode* json_get_shape	(	JsonNode *	shapes_node,
		char *	shape_name,
		char *	geometry,
		int	allow_new,
		int *	err
	)

Return the shape matching the name and geometry from the given list.

Invalid members (not a shape json node) in the list will be ignored (will not cause error).

Parameters

[in,out]	shapes_node	The JSON_ARRAY node containing the list of shape.
[in]	shape_name	The name of the shape
[in]	geometry	The name of the geometry, any contents (except NULL) will be considered as valid (no check from a pre-defined set of names).
[in]	allow_new	Allow to create a new shape in the list if none is matching. Only the shape name and geometry are created, the caller must create other mandatory fields (position...). The function mbs_info_synch_shape() can be used by provinding NULL in both update parameters. The error code is set to MBS_INFO_WARNING.
[in,out]	err	Pointer to error code (macro in mbs_define.h). NULL can be provided. The values are: MBS_INFO_FAILURE: error or shape not found; MBS_INFO_WARNING: New shape created WITHOUT some fields (position...); MBS_INFO_SUCCESS: Existing shape found;

Returns: Pointer to the JsonNode containing the shape or NULL.

◆ json_is_on_base()

int json_is_on_base ( JsonNode * parent )

Check if a parent node (of body or joint) is the base.

A parent is the base if it is a JSON_STRING node whose content is MBS_BASENAME (macro in mbs_define.h).

Parameters

[in] parent The node defining a parent. Invalid node (ie: not a JSON_STRING) will just generate the return associated to "not the base".

Returns: 1 if the parent refer the base, 0 otherwhise.

◆ load_and_create_json()

JsonNode* load_and_create_json	(	const char *	mbs_json_filename,
		int *	err
	)

◆ mbs_body_joint_recursive_linker()

int mbs_body_joint_recursive_linker	(	MbsInfos *	mbs_info,
		int *	ind_body_joint,
		int	mission,
		int	body_index
	)

◆ mbs_info_ball_json_binder()

int mbs_info_ball_json_binder	(	MbsInfoBall *	mbs_info_ball,
		JsonNode *	node,
		int	mission
	)

Read or update a ball json node with the infos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

ball_info	The info of the ball.
ball_node	The json node of the ball (a JSON_OBJECT).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_base_json_binder()

int mbs_info_base_json_binder	(	MbsInfoBase *	mbs_info_base,
		JsonNode *	base_node,
		int	mission
	)

Read or update the information in base node to MbsInfoBase.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

mbs_info_base	The MbsInfo structure.
base_node	The Json node of the base.
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

Read or update the information in base node to MbsInfoBase.

◆ mbs_info_body_json_binder()

int mbs_info_body_json_binder	(	MbsInfoBody *	mbs_info_body,
		JsonNode *	node,
		int	mission
	)

Read or update the information from body node to its MbsInfo.

A wanring message is printed if the inertia matrix in Json node is not symmetric.

Parameters

mbs_info_body	The MbsInfo structure of the body.
body_node	The Json node of the body (a JSON_OBJECT).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns

◆ mbs_info_bodytree_json_binder()

int mbs_info_bodytree_json_binder	(	MbsInfos *	mbs_infos,
		JsonNode *	node,
		int	mission
	)

Read or update the information in tree->bodies node to MbsInfoBase fields.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

mbs_infos	The MbsInfo structure.
bdies_node	The Json node of the bodies in the tree.
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_coordinates_json_binder()

int mbs_info_coordinates_json_binder	(	double *	coordinates_pointer,
		JsonNode *	node,
		int	mission
	)

◆ mbs_info_cuts_json_binder()

int mbs_info_cuts_json_binder	(	MbsInfoCuts *	mbs_info_cuts,
		JsonNode *	node,
		int	mission
	)

Read or update the cuts list json node with the infos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

mbs_info_cuts	The Info for the cuts
node	The cuts json node (an array).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_extforce_json_binder()

int mbs_info_extforce_json_binder	(	MbsInfoExtforce *	mbs_info_extf,
		JsonNode *	node,
		int	mission
	)

Read or update a external force json node with the infos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

force_info	The Info for the sensor.
force_node	The sensor json node (a JSON_OBJECT).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_extforces_json_binder()

int mbs_info_extforces_json_binder	(	MbsInfos *	mbs_info,
		JsonNode *	node,
		int	mission
	)

Read or update a external forces list json node with the infos.

Parameters

mbs_info	The Info for the project.
forces_node	The sensors json node (a JSON_ARRAY).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_init_and_binderJSON()

int mbs_info_init_and_binderJSON	(	MbsInfos *	mbs_infos,
		const char *	mbs_json_name,
		int	mission,
		int	verbose
	)

Init and bind the MBS information contained in the .json file.

It calls mbs_info_init_and_binderJSON_rtn

Parameters

[in,out]	mbs_infos	The MbsInfos structure, already allocated.
[in]	mbs_json_name	The filename of the json to be opened.
[in]	mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.
[in]	verbose	Verbosity level, from only errors (MBS_VERBOSE_ERROR) to full verbose (MBS_VERBOSE_DEBUG).

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE.

◆ mbs_info_init_and_binderJSON_rtn()

JsonNode* mbs_info_init_and_binderJSON_rtn	(	MbsInfos *	mbs_infos,
		const char *	mbs_json_name,
		int *	err,
		int	mission,
		int	verbose
	)

Init and bind the MBS information contained in the .json file.

Returns a newly allocated JsonNode that must be freed by the caller.

Parameters

[in,out]	mbs_infos	The MbsInfos structure, already allocated.
[in]	mbs_json_name	The filename of the json to be opened.
[in,out]	err	The error, MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE.
[in]	mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.
[in]	verbose	Verbosity level, from only errors (MBS_VERBOSE_ERROR) to full verbose (MBS_VERBOSE_DEBUG).

Returns: the pointer to the newly allocated JsonNode, NULL in case of failure

◆ mbs_info_joint_json_binder()

int mbs_info_joint_json_binder	(	MbsInfoJoint *	mbs_info_joint,
		JsonNode *	node,
		int	mission,
		int	verbose
	)

Read or update the information in joints node to MbsInfoBase, MbsInfoJoints.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

	mbs_infos	The MbsInfo structure.
	joints_node	The Json joints node.
	mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.
[in]	verbose	Verbosity level, from only errors (0) to full verbose (2).

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_joints_list_json_binder()

int mbs_info_joints_list_json_binder	(	MbsInfos *	mbs_infos,
		JsonNode *	joints_node,
		int	mission
	)

To Be Defined.

Parameters

mbs_infos	The MbsInfos structure.
joints_node	The Json joints node.
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE. WARNING is raised if the mission is not implemented or if some joint natures have been updated by the process.

◆ mbs_info_json_binder()

int mbs_info_json_binder	(	MbsInfos *	mbs_infos,
		JsonNode *	root_node,
		int	mission,
		int	verbose
	)

Read or update the information from root node to all MbsInfo.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

[in,out]	mbs_infos	The MbsInfo structure.
[in,out]	root_node	The Json node of the base.
[in]	mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.
[in]	verbose	Verbosity level, from only errors (MBS_VERBOSE_ERROR) to full verbose (MBS_VERBOSE_DEBUG).

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_json_linker()

int mbs_info_json_linker	(	MbsInfos *	mbs_info,
		int	mission
	)

◆ mbs_info_link_json_binder()

int mbs_info_link_json_binder	(	MbsInfoLink *	mbs_info_link,
		JsonNode *	node,
		int	mission
	)

Read or update a link (point to point or 3D) json node with the infos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

link_info	The Info for the link.
link_node	The link json node (an object).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_links3d_json_binder()

int mbs_info_links3d_json_binder	(	MbsInfoLinks *	mbs_info_links,
		JsonNode *	node,
		int	mission
	)

◆ mbs_info_links_json_binder()

int mbs_info_links_json_binder	(	MbsInfoLinks *	mbs_info_links,
		JsonNode *	node,
		int	mission
	)

Read or update a links list json node with the infos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

link_info	The Info for the links.
link_node	The links json node (an array).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_parameter_json_binder()

int mbs_info_parameter_json_binder	(	MbsInfoParameter *	mbs_info_parameter,
		JsonNode *	node,
		int	mission,
		int	verbose
	)

Read or update a user model parameter json node with the infos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

[in,out]	param_info	The Info for the parameter.
[in,out]	param_node	The node of parameter (a JSON_OBJECT).
[in]	mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.
[in]	verbose	Verbosity level, from only errors (MBS_VERBOSE_ERROR) to full verbose (MBS_VERBOSE_DEBUG).

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_point_json_binder()

int mbs_info_point_json_binder	(	MbsInfoPoint *	mbs_info_point,
		JsonNode *	node,
		int	mission
	)

◆ mbs_info_point_list_json_binder()

int mbs_info_point_list_json_binder	(	MbsInfoPoint ***	point_list,
		JsonNode *	node,
		int	mission,
		char *	body_name,
		int *	n_point
	)

Link between points array value and all "points" key of a Json object node.

Support READER, UPDATER and COUNTER mission.

Parameters

[in,out]	point_list	pointer to the point list array, the array (point_list[0] can be NULL for READER and COUNTER missions. In case of READER mission, the array is allocated, a warning is printed if the pointer was not NULL;
[in,out]	node	The Json node being a JSON_OBJECT containing a "points" key.
[in]	mission	The mission, not-implemented mission print a warning but returns success code.
[in]	body_name	The name of the body.
[in,out]	n_point	The current size of the point list array. It is set during COUNTER and READER mission. It must matche the `node` "points" JSON_ARRAY size for UPDATER mision

Returns: MBS_INFO_SUCCESS or MBS_INFO_FAILURE.

◆ mbs_info_ref_point_json_binder()

int mbs_info_ref_point_json_binder	(	MbsInfoRefPoint *	mbs_info_ref_point,
		JsonNode *	node,
		int	mission
	)

◆ mbs_info_rod_json_binder()

int mbs_info_rod_json_binder	(	MbsInfoRod *	mbs_info_rod,
		JsonNode *	node,
		int	mission
	)

Read or update a rod json node with the infos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

rod_info	The info of the rod.
rod_node	The json node of the rod (a JSON_OBJECT).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_sensor_json_binder()

int mbs_info_sensor_json_binder	(	MbsInfoSensor *	mbs_info_sensor,
		JsonNode *	node,
		int	mission
	)

Read or update a sensor json node with the infos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

sensor_info	The Info for the sensor.
sensor_node	The sensor json node (a JSON_OBJECT).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_sensors_json_binder()

int mbs_info_sensors_json_binder	(	MbsInfos *	mbs_info,
		JsonNode *	node,
		int	mission
	)

Read or update a sensors list json node with the infos.

Parameters

mbs_info	The Info for the project.
sensors_node	The sensors json node (a JSON_ARRAY).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_solid_json_binder()

int mbs_info_solid_json_binder	(	MbsInfoSolid *	mbs_info_solid,
		JsonNode *	node,
		int	mission
	)

Read or update a solid cut json node with the infos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

solid_info	The info of the solid cut.
solid_node	The json node of the solid cut (a JSON_OBJECT).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_synch_shape()

int mbs_info_synch_shape	(	JsonNode *	shape,
		UpdateInline *	up_in,
		UpdateShape *	up_sh
	)

Synchronize, or fill with default value, a shape Json object node.

Only one of up_in and up_sh can be non-NULL. Both up_in and up_sh can be NULL, then the shape missing keys are completed.

Parameters

[in,out]	shape	The shape JSON_OBJECT node.
[in]	up_in	Provide the INLINE shape modifications to be applied on the Json node. It must be NULL when `up_sh` is provided.
[in]	up_sh	Provide the BOX/CYLINDER/SPHERE/CONE shape modifications to be applied on the Json node. It must be NULL when `up_in` is provided.

Returns: MBS_INFO_SUCCESS or MBS_INFO_FAILURE (macro in mbs_define.h).

◆ mbs_info_tree_json_binder()

int mbs_info_tree_json_binder	(	MbsInfos *	mbs_infos,
		JsonNode *	node,
		int	mission
	)

Read or update the information from tree node to all MbsInfos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

mbs_infos	The MbsInfo structure.
tree_node	The Json node of the tree.
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_update_shapes_json()

int mbs_info_update_shapes_json	(	MbsLoader *	mbs_loader,
		UpdateInline *	up_in,
		UpdateShape *	up_sh,
		int	allow_new
	)

Update, or create this shape/inline and all next in the linked list.

The UpdateInline or UpdateShape is a linked list, the function will parse all the UpdateInline::next / UpdateShape::next items for updates until reaching the end of the list.

Only the shape or inline can be provided at one call.

Parameters

[in,out]	mbs_loader	The MbsLoader that contains all informations.
[in]	up_in	The descriptions of the modification to set on the inline(s). If non-NULL, `up_sh` must be NULL;
[in]	up_sh	The descriptions of the modification to set on the shape(s). If non-NULL, `up_in` must be NULL;
[in]	allow_new	Allow to create the shape/inline.

Returns: MBS_INFO_SUCCESS or MBS_INFO_FAILURE (macro in mbs_define.h).

◆ mbs_info_user_cstr_json_binder()

int mbs_info_user_cstr_json_binder	(	MbsInfoUserCstr *	mbs_info_user_cstr,
		JsonNode *	node,
		int	mission
	)

◆ mbs_info_user_IO_json_binder()

int mbs_info_user_IO_json_binder	(	MbsInfoUserIO *	mbs_info_user_IO,
		JsonNode *	node,
		int	mission
	)

◆ mbs_info_user_IOs_json_binder()

int mbs_info_user_IOs_json_binder	(	MbsInfoUserIOs *	mbs_info_user_IOs,
		JsonNode *	node,
		int	mission,
		int	verbose
	)

Read the user Input output variables list json node with the infos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING. The UPDATER mission does nothing, but raises a message if the verbosity level is at least set to MBS_VERBOSE_WARNING.

Parameters

[out]	mbs_info_user_IOs	The Infos for the user IO variables listing.
[in]	node	The node named "user_ios" in the multibody node.
[in]	mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.
[in]	verbose	The verbosity option.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

mbs_strcmp((const char*)cur_node->key, "user_variable"))

◆ mbs_info_user_model_json_binder()

int mbs_info_user_model_json_binder	(	MbsInfoUserModel *	um_info,
		JsonNode *	um_node,
		int	mission,
		int	verbose
	)

Read or update a user model json node with the infos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

[in,out]	um_info	The Info for the user model.
[in,out]	um_node	The node of user model (a JSON_OBJECT).
[in]	mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.
[in]	verbose	Verbosity level, from only errors (MBS_VERBOSE_ERROR) to full verbose (MBS_VERBOSE_DEBUG).

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_user_models_json_binder()

int mbs_info_user_models_json_binder	(	MbsInfoUserModels *	ums_info,
		JsonNode *	ums_node,
		int	mission,
		int	verbose
	)

Read or update the user models list json node with the infos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

[in,out]	ums_info	The Info for the user models.
[in,out]	ums_node	The node of users models (a JSON_ARRAY).
[in]	mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.
[in]	verbose	Verbosity level, from only errors (MBS_VERBOSE_ERROR) to full verbose (MBS_VERBOSE_DEBUG).

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_json_axis()

int mbs_json_axis	(	JsonNode *	axis_node,
		int *	axis_int,
		int	mission
	)

Read or update the information in an axis node with an integer.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Reading an unknow axis return a MBS_INFO_WARNING (with default value 0). Setting an unknow axis return a MBS_INFO_FAILURE (as no corresponding string is defined).

Parameters

axis_node	The Json axis node.
axis_int	The pointer to the integer corresponding to the axis.
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_json_inertia()

int mbs_json_inertia	(	JsonNode *	bdy_node,
		MbsInfoBody *	mbs_info_body,
		int	mission
	)

Translate the inertia key of a node from array (3,3) in node to array (6) in info.

Fore READER mission the upper triangle of the inertia matrix is considered. If the matrix was not symmetric warnings are raised.

Parameters

bdy_node	The Json node containing the body.
mbs_info_body	The mbs informations body structure. If its intertia pointer is NULL, it will be allocated for READER mission only.
key	The key of the json node to be used (to be read or set), if NULL the `node` is the array.
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_json_info_to_loader()

int mbs_json_info_to_loader	(	MbsLoader *	mbs_loader,
		const char *	filename
	)

Load and store the specified json file into the MbsLoader.

Parameters

[in,out]	mbs_loader	The MbsLoader that contains all informations.
[in]	filename	The filepath to the mbs to be loaded.

Returns: MBS_INFO_SUCCESS for succes, other is error code.

◆ mbs_json_joint_nature()

int mbs_json_joint_nature	(	JsonNode *	nature_node,
		int *	nature_int,
		int	mission
	)

Read or update the information in an joint nature node with an integer.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Reading an unknow joint nature return a MBS_INFO_WARNING (with default value 0). Setting an unknow joint nature return a MBS_INFO_FAILURE (as no corresponding string is defined).

Parameters

nature_node	The Json nature node.
nature_int	The pointer to the integer corresponding to the nature.
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_json_parent()

int mbs_json_parent	(	JsonNode *	node,
		MbsInfoRefPoint **	point_parent,
		char **	joint_parent,
		int	mission,
		const char *	key
	)

Link between a parent infomation and a parent node.

Support READER and UPDATER.

Parameters

[in,out]	node	The Json node describing a parent. The nature of the node is a JSON_STRING for a joint parent, or a JSON_OBJECT for a point (on a body) parent : During READER mission, only `point_parent` and `joint_parent` is set according to the `node` nature. During UPDATER mission, the node nature determine if informations are retrieved from `point_parent` or `joint_parent`. There is one exception, if the parent is the base origin point, is was specified in an JSON_STRING "base" but saved in a point "base/origin".
[in,out]	point_parent	The description of the parent point.
[in,out]	joint_parent	The name of the parent joint (or NULL).
[in]	mission	The mission id.
[in]	key	The key name of the parent description in the `node`.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_tree_cleaner()

int mbs_tree_cleaner	(	MbsInfos *	mbs_info,
		int	mission
	)

Correct the parents of joints.

If a joint (called P) is the parent of a body and at the same time the parent of one (or more) joints (called C) the tree is modified. All joints "C" will have as parent the body origin point.

A failure occurs either if at least one of the followong:

A body has no parent or if multiples bodies have the same joint parent.
A joint is the parent of multiple joint.

Parameters

[in,out]	mbs_info	The multibody system.
[in]	mission	The function only do something with the MBS_INFO_READER value.

Returns: MBS_INFO_SUCCESS or MBS_INFO_FAILURE.

Functions

Detailed Description

Function Documentation

◆ json_get_basebody()

◆ json_get_body()

◆ json_get_body_3Dshapes()

◆ json_get_shape()

◆ json_is_on_base()

◆ load_and_create_json()

◆ mbs_body_joint_recursive_linker()

◆ mbs_info_ball_json_binder()

◆ mbs_info_base_json_binder()

◆ mbs_info_body_json_binder()

◆ mbs_info_bodytree_json_binder()

◆ mbs_info_coordinates_json_binder()

◆ mbs_info_cuts_json_binder()

◆ mbs_info_extforce_json_binder()

◆ mbs_info_extforces_json_binder()

◆ mbs_info_init_and_binderJSON()

◆ mbs_info_init_and_binderJSON_rtn()

◆ mbs_info_joint_json_binder()

◆ mbs_info_joints_list_json_binder()

◆ mbs_info_json_binder()

◆ mbs_info_json_linker()

◆ mbs_info_link_json_binder()

◆ mbs_info_links3d_json_binder()

◆ mbs_info_links_json_binder()

◆ mbs_info_parameter_json_binder()

◆ mbs_info_point_json_binder()

◆ mbs_info_point_list_json_binder()

◆ mbs_info_ref_point_json_binder()

◆ mbs_info_rod_json_binder()

◆ mbs_info_sensor_json_binder()

◆ mbs_info_sensors_json_binder()

◆ mbs_info_solid_json_binder()

◆ mbs_info_synch_shape()

◆ mbs_info_tree_json_binder()

◆ mbs_info_update_shapes_json()

◆ mbs_info_user_cstr_json_binder()

◆ mbs_info_user_IO_json_binder()

◆ mbs_info_user_IOs_json_binder()

◆ mbs_info_user_model_json_binder()

◆ mbs_info_user_models_json_binder()

◆ mbs_json_axis()

◆ mbs_json_inertia()

◆ mbs_json_info_to_loader()

◆ mbs_json_joint_nature()

◆ mbs_json_parent()

◆ mbs_tree_cleaner()