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8 #ifndef MBS_LOAD_JSON_h
9 #define MBS_LOAD_JSON_h
136 int mbs_json_tab(
JsonNode *node,
double ***tab_ptr,
int size_1,
int size_2,
const char *key,
int mission);
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.
Definition: mbs_load_json.c:2182
int n_rod
Definition: mbs_binder_public.h:241
MbsInfoRefPoint * endpoint1
Definition: mbs_binder_public.h:204
MbsInfoCuts * cuts
Definition: mbs_binder_public.h:388
int mbs_json_set_string(JsonNode *node, const char *string)
Set a double into a node.
Definition: mbs_load_json.c:3318
int mbs_json_double(JsonNode *node, double *val_ptr, char *key, int mission)
Link between double value and the specific key of a Json node or the current node.
Definition: mbs_load_json.c:3103
int mbs_info_init_and_binderJSON(MbsInfos *mbs_infos, const char *mbs_json_name, int mission)
Definition: mbs_load_json.c:128
double * pt
Array with the coordinates (x, y, z) of the point relative to the origin of the body expressed in the...
Definition: mbs_binder_public.h:98
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.
Definition: mbs_load_json.c:918
int mbs_json_set_bool(JsonNode *node, int value)
Set a bool (int) into a node.
Definition: mbs_load_json.c:3675
char * name
Definition: mbs_binder_public.h:78
MbsInfoBody * mbs_new_info_body(void)
Definition: mbs_loader_public.c:567
char * structure_name
Name of the structure, filled if the parameter is a structure.
Definition: mbs_binder_public.h:319
int Vit
1 if the computation of the sensor linear velocity has been asked, 0 otherwise.
Definition: mbs_binder_public.h:84
MbsInfoRefPoint * endpoint2
Definition: mbs_binder_public.h:205
Definition: mbs_binder_public.h:169
JsonNode * load_and_create_json(const char *mbs_json_filename, int *err)
Definition: mbs_load_json.c:34
char * bodyname
Name of the body that bear the reference point (origin of the joint chain until first body encounter)...
Definition: mbs_binder_public.h:49
char * name
Definition: mbs_binder_public.h:213
char * get_char_cpy(const char *fmt,...)
Copy the provided formatted string into a newly allocated memory.
Definition: useful_functions.c:191
#define MBS_INFO_INIT
Definition: mbs_binder_public.h:18
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.
Definition: mbs_load_json.c:1720
double * value_list
Vector (index starting at 1) containing the values retrieved from the multibody file.
Definition: mbs_binder_public.h:289
int mbs_info_user_models_json_binder(MbsInfoUserModels *mbs_info_user_models, JsonNode *node, int mission)
Read or update the user models list json node with the infos.
Definition: mbs_load_json.c:1529
JsonNode * json_decode(const char *json)
Definition: json.cc:361
int mbs_info_user_IOs_json_binder(MbsInfoUserIOs *mbs_info_user_IOs, JsonNode *node, int mission)
Definition: mbs_load_json.c:1666
char * name
Name of the parameter in the user model.
Definition: mbs_binder_public.h:274
int mbs_info_json_binder(MbsInfos *mbs_infos, JsonNode *node, int mission)
Read or update the information from root node to all MbsInfo.
Definition: mbs_load_json.c:178
int mbs_json_set_double(JsonNode *node, double value)
Set a double into a node.
Definition: mbs_load_json.c:3193
int n_out
Definition: mbs_binder_public.h:360
MbsInfoBodytree * mbs_new_info_bodytree(void)
Definition: mbs_loader_public.c:623
int mbs_info_base_json_binder(MbsInfoBase *mbs_info_base, JsonNode *node, int mission)
Read or update the information in base node to MbsInfoBase.
Definition: mbs_load_json.c:313
int mbs_json_axis(JsonNode *axis_node, int *axis_int, int mission)
Read or update the information in an axis node with an integer.
Definition: mbs_load_json.c:2961
Structure defining the parent point of a body.
Definition: mbs_binder_public.h:47
double qdd0
Initial acceleration of the joint.
Definition: mbs_binder_public.h:130
int mbs_info_rod_json_binder(MbsInfoRod *mbs_info_rod, JsonNode *node, int mission)
Read or update a rod json node with the infos.
Definition: mbs_load_json.c:863
int mbs_info_link_json_binder(MbsInfoLink *link_info, JsonNode *link_node, int mission)
Read or update a link (point to point or 3D) json node with the infos.
Definition: mbs_load_json.c:1851
char * joint_parent
parent joint of the current body (NULL if it is a parent point)
Definition: mbs_binder_public.h:80
MbsInfoBase * base
Definition: mbs_binder_public.h:386
int mbs_info_joints_list_json_binder(MbsInfos *mbs_infos, JsonNode *joints_node, int mission)
Definition: mbs_load_json.c:2414
int n_base_point
Number of point of interest (extremities of joint bearing a sensor plus anchor point) defined on the ...
Definition: mbs_binder_public.h:115
struct JsonNode::@0::@2 children
char * body_name
Name of the body holding the point.
Definition: mbs_binder_public.h:97
MbsInfoSolid * mbs_new_info_solid(void)
Definition: mbs_loader_public.c:754
double * get_dvec_0(int l_v)
create (with memory allocation) a vector (length l_v) of doubles, starting at index 0
Definition: mbs_1D_array.c:880
#define _MBS_ERR_LOW_FILES
Low Level error number Error during opening/writing files = -9.
Definition: mbs_errors_names.h:147
MbsInfoUserIO ** user_IO_list
Definition: mbs_binder_public.h:361
bool bool_
Definition: json.h:53
int mbs_info_joint_json_binder(MbsInfoJoint *mbs_info_joint, JsonNode *node, int mission)
Read or update the information in joints node to MbsInfoBase, MbsInfoJoints.
Definition: mbs_load_json.c:2267
This structure contains all informations about a joint.
Definition: mbs_binder_public.h:122
Definition: mbs_binder_public.h:238
int mbs_info_parameter_json_binder(MbsInfoParameter *mbs_info_parameter, JsonNode *node, int mission)
Read or update a user model parameter json node with the infos.
Definition: mbs_load_json.c:1279
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.
Definition: mbs_load_json.c:1851
void free_ivec_0(int *vec)
release memory for a vector of integers, starting with index 0
Definition: mbs_1D_array.c:415
int mbs_info_bodies_json_binder(MbsInfos *mbs_infos, JsonNode *bdies_node, int mission)
Definition: mbs_load_json.c:550
#define MBS_INFO_FAILURE
Definition: mbs_binder_public.h:22
#define json_foreach(i, object_or_array)
Definition: json.h:100
int mbs_json_array(JsonNode *node, double **tab_ptr, int *size, const char *key, int mission)
Link between array (1D) value and the specific key of a Json node or the current node.
Definition: mbs_load_json.c:3354
int mbs_strcmp(const char *__s1, const char *__s2)
Compare two char with strcmp.
Definition: useful_functions.c:261
int mbs_info_sensors_json_binder(MbsInfos *mbs_info, JsonNode *node, int mission)
Read or update a sensors list json node with the infos.
Definition: mbs_load_json.c:2022
void free_dmat_0(double **mat)
release memory for a matrix of doubles, starting at index 0
Definition: mbs_matrix.c:293
#define MBS_INFO_SUCCESS
Definition: mbs_binder_public.h:20
MbsInfoRefPoint * parent_point
parent point of the sensor (only for JSON loading ST 12072022) (NULL if it is a parent joint)
Definition: mbs_binder_public.h:79
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.
Definition: mbs_load_json.c:3032
double * gravity
Array with the component (x, y, z) of the gravity vector expressed in the inertial frame.
Definition: mbs_binder_public.h:114
int mbs_info_user_IO_json_binder(MbsInfoUserIO *mbs_info_user_IO, JsonNode *node, int mission)
Definition: mbs_load_json.c:1621
int n_ball
Definition: mbs_binder_public.h:240
double mass
Mass of the body.
Definition: mbs_binder_public.h:160
int mbs_json_tab(JsonNode *node, double ***tab_ptr, int size_1, int size_2, const char *key, int mission)
Link between array (2D) value and the specific key of a Json node or the current node.
Definition: mbs_load_json.c:3435
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.
MbsInfoParameter * mbs_new_info_parameter(void)
Definition: mbs_loader_public.c:914
int mbs_info_init_and_binderJSON(MbsInfos *mbs_infos, const char *mbs_json_name, int mission)
Definition: mbs_load_json.c:128
MbsInfoSensor * mbs_new_info_sensor(void)
Definition: mbs_loader_public.c:376
@ JSON_OBJECT
Definition: json.h:36
int mbs_json_set_bool(JsonNode *node, int value)
Set a bool (int) into a node.
Definition: mbs_load_json.c:3675
int mbs_info_sensors_json_binder(MbsInfos *mbs_info, JsonNode *sensors_node, int mission)
Read or update a sensors list json node with the infos.
Definition: mbs_load_json.c:2022
int size
type=1: in ; type=2
Definition: mbs_binder_public.h:353
int Acc
1 if the computation of the sensor linear acceleration has been asked, 0 otherwise.
Definition: mbs_binder_public.h:67
int mbs_json_get_bool(JsonNode *node, int *val_ptr)
Get the node value content a bool as int.
Definition: mbs_load_json.c:3623
int mbs_body_joint_recursive_linker(MbsInfos *mbs_info, int *ind_body_joint, int mission, int body_index)
Definition: mbs_load_json.c:2476
Definition: mbs_binder_public.h:384
int mbs_info_links_json_binder(MbsInfoLinks *links_info, JsonNode *links_node, int mission)
Read or update a links list json node with the infos.
Definition: mbs_load_json.c:1720
This header includes the functions to bind the JSON information to the MbsInfos structure.
int type
Definition: mbs_binder_public.h:352
JsonNode * next
Definition: json.h:45
char * name
Name of the point.
Definition: mbs_binder_public.h:96
char * name
Definition: mbs_binder_public.h:252
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.
Definition: mbs_load_json.c:3513
MbsInfoSensor * sensor
Pointer to a sensor structure if a sensor is defined on the point.
Definition: mbs_binder_public.h:100
int mbs_info_sensor_json_binder(MbsInfoSensor *mbs_info_sensor, JsonNode *node, int mission)
Read or update a sensor json node with the infos.
Definition: mbs_load_json.c:1946
int mbs_json_axis(JsonNode *axis_node, int *axis_int, int mission)
Read or update the information in an axis node with an integer.
Definition: mbs_load_json.c:2961
int mbs_info_json_linker(MbsInfos *mbs_info, int mission)
Definition: mbs_load_json.c:2683
int mbs_tree_cleaner(MbsInfos *mbs_info, int mission)
Correct the parents of joints.
Definition: mbs_load_json.c:2513
#define MBS_INFO_COUNTER
Definition: mbs_binder_public.h:17
int mbs_info_base_json_binder(MbsInfoBase *mbs_info_base, JsonNode *base_node, int mission)
Binders /////////////////////////////.
Definition: mbs_load_json.c:313
MbsInfoPoint ** base_point_list
Array of pointers to the MDS_point_strct describing each point of the MBS.
Definition: mbs_binder_public.h:116
char * name
Name of the joint.
Definition: mbs_binder_public.h:124
double ** get_dmat_0(int nb_r, int nb_c)
create (with memory allocation) a [nb_r times nb_c] matrix of doubles, starting at index 0
Definition: mbs_matrix.c:238
#define _MBS_ERR_MOD_SPEC_19
Generic error number Module specific errors range from -11 to -19 please read the error message a...
Definition: mbs_errors_names.h:210
Definition: mbs_binder_public.h:227
MbsInfoUserIO * mbs_new_info_user_IO(void)
Definition: mbs_loader_public.c:1037
MbsInfoJoint * mbs_new_info_joint(void)
Definition: mbs_loader_public.c:522
#define MBS_INFO_READER
Definition: mbs_binder_public.h:14
MbsInfoRod ** rod_list
Definition: mbs_binder_public.h:245
int mbs_info_body_json_binder(MbsInfoBody *mbs_info_body, JsonNode *bdy_node, int mission)
Read or update the information from body node to its MbsInfo.
Definition: mbs_load_json.c:470
Definition: mbs_binder_public.h:334
int mbs_info_ref_point_json_binder(MbsInfoRefPoint *mbs_info_ref_point, JsonNode *node, int mission)
Definition: mbs_load_json.c:755
MbsInfoParameter ** parameter_list
Definition: mbs_binder_public.h:338
MbsInfoPoint ** point_list
Array of pointers to the MDS_point_strct describing each point of current body.
Definition: mbs_binder_public.h:165
bool json_validate(const char *json)
Definition: json.cc:432
MbsInfoRefPoint * endpoint1
Definition: mbs_binder_public.h:254
int mbs_info_links3d_json_binder(MbsInfoLinks *mbs_info_links, JsonNode *node, int mission)
Definition: mbs_load_json.c:1898
MbsInfoUserIOs * mbs_new_info_user_IOs(void)
Definition: mbs_loader_public.c:1055
MbsInfoBall * mbs_new_info_ball(void)
Definition: mbs_loader_public.c:684
double * inertia
Array with the inertia tensor (Ixx, Ixy, Ixz, Iyy, Iyz, Izz) of the body relative to the center of ma...
Definition: mbs_binder_public.h:162
int mbs_info_extforce_json_binder(MbsInfoExtforce *force_info, JsonNode *force_node, int mission)
Read or update a external force json node with the infos.
Definition: mbs_load_json.c:2107
void mbs_msg(char *msg,...)
Send a message.
Definition: mbs_message.c:76
int actuated
For inverse dynamic only: 1 if actuated, 0 otherwise.
Definition: mbs_binder_public.h:132
int Pos
1 if the computation of the sensor position has been asked, 0 otherwise.
Definition: mbs_binder_public.h:82
int mbs_json_array(JsonNode *node, double **tab_ptr, int *size, const char *key, int mission)
Link between array (1D) value and the specific key of a Json node or the current node.
Definition: mbs_load_json.c:3354
char * name
Definition: mbs_binder_public.h:202
int mbs_json_double(JsonNode *node, double *val_ptr, char *key, int mission)
Link between double value and the specific key of a Json node or the current node.
Definition: mbs_load_json.c:3103
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.
Definition: mbs_load_json.c:965
MbsInfoJoint * find_joint_with_parent_in_joint_list(MbsInfos *mbs_infos, char *jointname)
Definition: mbs_loader_public.c:1273
MbsInfoSensor ** sensor_list
Pointer to a list of sensor.
Definition: mbs_binder_public.h:418
int type
Type of the parameter between 1 and 7.
Definition: mbs_binder_public.h:276
double qd0
Initial velocity of the joint.
Definition: mbs_binder_public.h:129
char * joint_parent
parent joint of the current body (NULL if it is a parent point)
Definition: mbs_binder_public.h:61
MbsInfoUserIOs * user_IOs
Definition: mbs_binder_public.h:391
Description of a user model parameter loaded from the mbs file.
Definition: mbs_binder_public.h:272
MbsInfoLinks * mbs_new_info_links(void)
Definition: mbs_loader_public.c:870
@ JSON_NUMBER
Definition: json.h:34
char * structure_header
Header name with path (relative or absolute) of header describing a structure parameter.
Definition: mbs_binder_public.h:321
int n_parameter
Definition: mbs_binder_public.h:337
int Acc
1 if the computation of the sensor linear acceleration has been asked, 0 otherwise.
Definition: mbs_binder_public.h:86
MbsInfoRefPoint * endpoint2
Definition: mbs_binder_public.h:232
int mbs_info_tree_json_binder(MbsInfos *mbs_infos, JsonNode *node, int mission)
Read or update the information from tree node to all MbsInfos.
Definition: mbs_load_json.c:635
int mbs_json_get_double(JsonNode *node, double *val_ptr)
Get the node value content a double.
Definition: mbs_load_json.c:3152
char * key
Definition: json.h:48
int type
Joint type: T1=1, T2=2, T3=3, R1=4, R2=5, R3=6.
Definition: mbs_binder_public.h:125
int mbs_json_bool(JsonNode *node, int *val_ptr, char *key, int mission)
Link between bool value (int) and the specific key of a Json node or the current node.
Definition: mbs_load_json.c:3574
MbsInfoExtforce * mbs_new_info_extforce(void)
Definition: mbs_loader_public.c:404
int mbs_json_parent(JsonNode *node, MbsInfoRefPoint **point_parent, char **joint_parent, int mission, const char *key)
Definition: mbs_load_json.c:342
int mbs_json_set_double(JsonNode *node, double value)
Set a double into a node.
Definition: mbs_load_json.c:3193
int mbs_info_ball_json_binder(MbsInfoBall *ball_info, JsonNode *ball_node, int mission)
Read or update a ball json node with the infos.
Definition: mbs_load_json.c:816
Definition: mbs_binder_public.h:357
double * convert_dvec_1_to_0(double *src, int size, int free_src)
Copy a dvec1 into a new allocated dvec0.
Definition: mbs_1D_array.c:950
int mbs_info_parameter_json_binder(MbsInfoParameter *param_info, JsonNode *param_node, int mission)
Read or update a user model parameter json node with the infos.
Definition: mbs_load_json.c:1279
char * name
Definition: mbs_binder_public.h:351
int n_user_IO
Definition: mbs_binder_public.h:359
MbsInfoLink ** link_list
Definition: mbs_binder_public.h:262
char * name
Definition: mbs_binder_public.h:229
Definition: mbs_binder_public.h:259
MbsInfoBase * mbs_new_info_base(void)
Definition: mbs_loader_public.c:491
int mbs_info_json_linker(MbsInfos *mbs_info, int mission)
Definition: mbs_load_json.c:2683
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.
Definition: mbs_load_json.c:1118
MbsInfoRefPoint * parent
Definition: mbs_binder_public.h:142
JsonNode * json_find_element(JsonNode *array, int index)
Definition: json.cc:447
int mbs_json_string(JsonNode *node, char **str_ptr, const char *key, int mission, int allow_missing)
Link between string value and the specific key of a Json node.
Definition: mbs_load_json.c:3231
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.
Definition: mbs_load_json.c:470
int count_json_elements(JsonNode *node)
Counts the number of element in the Json array.
Definition: mbs_load_json.c:13
int n_sensor
Definition: mbs_binder_public.h:403
int mbs_info_json_binder(MbsInfos *mbs_infos, JsonNode *root_node, int mission)
Read or update the information from root node to all MbsInfo.
Definition: mbs_load_json.c:178
MbsInfoBody ** body_list
Definition: mbs_binder_public.h:172
int n_point
Number of point defined on the body.
Definition: mbs_binder_public.h:164
int Pos
1 if the computation of the sensor position has been asked, 0 otherwise.
Definition: mbs_binder_public.h:63
This structure contains all informations about a body.
Definition: mbs_binder_public.h:150
MbsInfoRefPoint * mbs_new_info_ref_point(void)
Definition: mbs_loader_public.c:345
@ JSON_STRING
Definition: json.h:33
Definition: mbs_binder_public.h:250
int mbs_info_sensor_json_binder(MbsInfoSensor *sensor_info, JsonNode *sensor_node, int mission)
Read or update a sensor json node with the infos.
Definition: mbs_load_json.c:1946
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.
Definition: mbs_load_json.c:3032
int mbs_info_point_json_binder(MbsInfoPoint *mbs_info_point, JsonNode *node, int mission)
Definition: mbs_load_json.c:1234
double * convert_dvec_0_to_1(double *src, int size, int free_src)
Copy a dvec0 into a new allocated dvec1.
Definition: mbs_1D_array.c:934
MbsInfoExtforce * extforce
Pointer to an external force sensor structure if it is defined on the point.
Definition: mbs_binder_public.h:101
int mbs_json_get_string(JsonNode *node, char **str_ptr)
Get the node value content a double.
Definition: mbs_load_json.c:3276
JsonNode * load_and_create_json(const char *mbs_json_filename, int *err)
Definition: mbs_load_json.c:34
MbsInfoLinks * links
Definition: mbs_binder_public.h:389
int mbs_json_tab(JsonNode *node, double ***tab_ptr, int size_1, int size_2, const char *key, int mission)
Link between array (2D) value and the specific key of a Json node or the current node.
Definition: mbs_load_json.c:3435
int mbs_info_cuts_json_binder(MbsInfoCuts *cuts_info, JsonNode *cuts_node, int mission)
Read or update the cuts list json node with the infos.
Definition: mbs_load_json.c:965
char * name
Name of the sensor.
Definition: mbs_binder_public.h:59
int mbs_info_user_IOs_json_binder(MbsInfoUserIOs *mbs_info_user_IOs, JsonNode *node, int mission)
Definition: mbs_load_json.c:1666
int mbs_info_joint_json_binder(MbsInfoJoint *joint_info, JsonNode *joint_node, int mission)
Read or update the information in joints node to MbsInfoBase, MbsInfoJoints.
Definition: mbs_load_json.c:2267
int n_solid
Definition: mbs_binder_public.h:242
int * get_ivec_0(int l_v)
create (with memory allocation) a vector (length l_v) of integers, starting at index 0
Definition: mbs_1D_array.c:399
Definition: mbs_binder_public.h:349
char * joint_parent
parent joint of the current body (NULL if it is a parent point)
Definition: mbs_binder_public.h:155
int mbs_json_get_bool(JsonNode *node, int *val_ptr)
Get the node value content a bool as int.
Definition: mbs_load_json.c:3623
Definition: mbs_binder_public.h:211
int n_value
Number of values in the parameter.
Definition: mbs_binder_public.h:287
int n_user_model
Definition: mbs_binder_public.h:344
double * com
Array with the coordinate (x, y, z) of the center of mass of the body relative to the origin of the b...
Definition: mbs_binder_public.h:161
This structure contains all information about a sensor defined on the MBS structure.
Definition: mbs_binder_public.h:57
int symb_q
Flag to generate symbol for position.
Definition: mbs_binder_public.h:138
char * structure_lutfile
File and path (relative or absolute) to the file containing the Look-up-Table dats.
Definition: mbs_binder_public.h:328
#define _MBS_ERR_MOD_SPEC_18
Genericerror number Module specific errors range from -11 to -19 please read the error message an...
Definition: mbs_errors_names.h:204
int mbs_info_coordinates_json_binder(double *coordinates_pointer, JsonNode *node, int mission)
Definition: mbs_load_json.c:775
int nature
Nature of the joint: independent=1, dependent=2, driven=3, locked=4.
Definition: mbs_binder_public.h:126
Structure handling the informations defined on the base of the MBS.
Definition: mbs_binder_public.h:112
int Rot
1 if the computation of the sensor rotation matrix has been asked, 0 otherwise.
Definition: mbs_binder_public.h:64
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.
Definition: mbs_load_json.c:3513
MbsInfoPoint * mbs_new_info_point(void)
Definition: mbs_loader_public.c:431
int mbs_json_bool(JsonNode *node, int *val_ptr, char *key, int mission)
Link between bool value (int) and the specific key of a Json node or the current node.
Definition: mbs_load_json.c:3574
This structure handle everything that a point on a MBS structure can handle (sensor,...
Definition: mbs_binder_public.h:94
int n_joint
Definition: mbs_binder_public.h:417
JsonTag tag
Definition: json.h:50
char * pointname
Name of the reference point on the previous body.
Definition: mbs_binder_public.h:50
MbsInfoRefPoint * endpoint1
Definition: mbs_binder_public.h:215
int mbs_tree_cleaner(MbsInfos *mbs_info, int mission)
Correct the parents of joints.
Definition: mbs_load_json.c:2513
void * mbs_free(void *__ptr)
Free the pointor ptr and set it to NULL.
Definition: useful_functions.c:17
MbsInfoBody * children_body
Body direct children of the joint.
Definition: mbs_binder_public.h:144
MbsInfoSolid ** solid_list
Definition: mbs_binder_public.h:246
int mbs_info_extforces_json_binder(MbsInfos *mbs_info, JsonNode *forces_node, int mission)
Read or update a external forces list json node with the infos.
Definition: mbs_load_json.c:2182
MbsInfoRefPoint * endpoint1
Definition: mbs_binder_public.h:231
MbsInfoBodytree * bodytree
Definition: mbs_binder_public.h:387
int mbs_info_ref_point_json_binder(MbsInfoRefPoint *mbs_info_ref_point, JsonNode *node, int mission)
Definition: mbs_load_json.c:755
int mbs_info_user_model_json_binder(MbsInfoUserModel *mbs_info_user_model, JsonNode *node, int mission)
Read or update a user model json node with the infos.
Definition: mbs_load_json.c:1422
int mbs_json_set_string(JsonNode *node, const char *string)
Set a double into a node.
Definition: mbs_load_json.c:3318
double length
Definition: mbs_binder_public.h:218
@ JSON_NULL
Definition: json.h:31
MbsInfoUserModel ** user_model_list
Definition: mbs_binder_public.h:345
int mbs_info_links3d_json_binder(MbsInfoLinks *mbs_info_links, JsonNode *node, int mission)
Definition: mbs_load_json.c:1898
MbsInfoUserModel * mbs_new_info_user_model(void)
Definition: mbs_loader_public.c:974
void json_delete(JsonNode *node)
Definition: json.cc:406
MbsInfoBall ** ball_list
Definition: mbs_binder_public.h:244
MbsInfoCuts * mbs_new_info_cuts(void)
Definition: mbs_loader_public.c:787
Definition: mbs_binder_public.h:200
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.
Definition: mbs_load_json.c:2107
int mbs_json_string(JsonNode *node, char **str_ptr, const char *key, int mission, int allow_missing)
Link between string value and the specific key of a Json node.
Definition: mbs_load_json.c:3231
MbsInfoJoint ** joint_list
Array of pointers to the MDS_joint_strct describing each joint leaving the body.
Definition: mbs_binder_public.h:158
MbsInfoRefPoint * parent_point
parent point of the sensor (only for JSON loading ST 12072022) (NULL if it is a parent joint)
Definition: mbs_binder_public.h:60
int mbs_info_user_IO_json_binder(MbsInfoUserIO *mbs_info_user_IO, JsonNode *node, int mission)
Definition: mbs_load_json.c:1621
int Rot
1 if the computation of the sensor rotation matrix has been asked, 0 otherwise.
Definition: mbs_binder_public.h:83
double * get_dvec_1(int l_v)
create (with memory allocation) a vector (length l_v) of doubles, starting at index 1
Definition: mbs_1D_array.c:885
MbsInfoUserModels * mbs_new_info_user_models(void)
Definition: mbs_loader_public.c:1004
int n_body
Definition: mbs_binder_public.h:171
MbsInfoRefPoint * endpoint2
Definition: mbs_binder_public.h:216
MbsInfoUserModels * user_models
Definition: mbs_binder_public.h:390
double q0
Initial position of the joint.
Definition: mbs_binder_public.h:128
JsonNode * json_first_child(const JsonNode *node)
Definition: json.cc:478
int mbs_info_point_json_binder(MbsInfoPoint *mbs_info_point, JsonNode *node, int mission)
Definition: mbs_load_json.c:1234
int mbs_json_get_string(JsonNode *node, char **str_ptr)
Get the node value content a double.
Definition: mbs_load_json.c:3276
char * string_
Definition: json.h:56
int mbs_body_joint_recursive_linker(MbsInfos *mbs_info, int *ind_body_joint, int mission, int body_index)
Definition: mbs_load_json.c:2476
int symb_qdd
Flag to generate symbol for acceleration.
Definition: mbs_binder_public.h:140
@ JSON_ARRAY
Definition: json.h:35
MbsInfoExtforce ** extforce_list
Pointer to a list of external force sensor.
Definition: mbs_binder_public.h:419
JsonNode * parent
Definition: json.h:44
@ JSON_BOOL
Definition: json.h:32
char * name
Definition: mbs_binder_public.h:336
char * joint_parent
Definition: mbs_binder_public.h:143
int mbs_json_get_double(JsonNode *node, double *val_ptr)
Get the node value content a double.
Definition: mbs_load_json.c:3152
MbsInfoLink ** link3D_list
Definition: mbs_binder_public.h:265
char * name
Name of the body.
Definition: mbs_binder_public.h:152
int mbs_info_ball_json_binder(MbsInfoBall *mbs_info_ball, JsonNode *node, int mission)
Read or update a ball json node with the infos.
Definition: mbs_load_json.c:816
int flag_PRJPATH
Flag to indicate that the path to the data file start from the project path (stored as "PRJPATH" in m...
Definition: mbs_binder_public.h:326
int mbs_info_joints_list_json_binder(MbsInfos *mbs_infos, JsonNode *joints_node, int mission)
Definition: mbs_load_json.c:2414
#define MBS_INFO_UPDATER
Definition: mbs_binder_public.h:15
int mbs_info_user_models_json_binder(MbsInfoUserModels *ums_info, JsonNode *ums_node, int mission)
Read or update the user models list json node with the infos.
Definition: mbs_load_json.c:1529
int n_link
Definition: mbs_binder_public.h:261
double number_
Definition: json.h:59
char * mbsname
Definition: mbs_binder_public.h:394
char * padversion
Definition: mbs_binder_public.h:395
int n_extforce
Definition: mbs_binder_public.h:406
MbsInfoLink * mbs_new_info_link(void)
Definition: mbs_loader_public.c:840
MbsInfoRefPoint * point_parent
Description of the parent point of the current body. (NULL if it is a parent joint)
Definition: mbs_binder_public.h:154
int mbs_info_coordinates_json_binder(double *coordinates_pointer, JsonNode *node, int mission)
Definition: mbs_load_json.c:775
int n_in
Definition: mbs_binder_public.h:360
int mbs_info_solid_json_binder(MbsInfoSolid *solid_info, JsonNode *solid_node, int mission)
Read or update a solid cut json node with the infos.
Definition: mbs_load_json.c:918
MbsInfoRod * mbs_new_info_rod(void)
Definition: mbs_loader_public.c:716
void mbs_warning_msg(char *msg,...)
Send a warning message.
Definition: mbs_message.c:89
#define MBS_INFO_WARNING
Definition: mbs_binder_public.h:21
int mbs_info_user_model_json_binder(MbsInfoUserModel *um_info, JsonNode *um_node, int mission)
Read or update a user model json node with the infos.
Definition: mbs_load_json.c:1422
Definition: mbs_binder_public.h:342
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.
Definition: mbs_load_json.c:1118
int mbs_info_rod_json_binder(MbsInfoRod *rod_info, JsonNode *rod_node, int mission)
Read or update a rod json node with the infos.
Definition: mbs_load_json.c:863
int mbs_info_tree_json_binder(MbsInfos *mbs_infos, JsonNode *tree_node, int mission)
Read or update the information from tree node to all MbsInfos.
Definition: mbs_load_json.c:635
int n_link3D
Definition: mbs_binder_public.h:264
int symb_qd
Flag to generate symbol for velocity.
Definition: mbs_binder_public.h:139
MbsInfoRefPoint * endpoint2
Definition: mbs_binder_public.h:255
int Vit
1 if the computation of the sensor linear velocity has been asked, 0 otherwise.
Definition: mbs_binder_public.h:65
MbsInfoJoint ** all_joint_list
Definition: mbs_binder_public.h:416
This structure contains all information about an external force sensor defined on the MBS structure.
Definition: mbs_binder_public.h:76
bool json_check(const JsonNode *node, char errmsg[256])
Definition: json.cc:1315
int count_json_elements(JsonNode *node)
Counts the number of element in the Json array.
Definition: mbs_load_json.c:13
int Jac
1 if the computation of the sensor Jacobian ( ) has been asked, 0 otherwise.
Definition: mbs_binder_public.h:69
int n_joint
Number of joints leaving the body.
Definition: mbs_binder_public.h:157
JsonNode * json_find_member(JsonNode *object, const char *name)
Definition: json.cc:464
1.8.17