mbs_loader_public.c File Reference

#include "mbs_binder_private.h"
#include "mbs_infos_helper.h"
#include "mbs_loader.h"
#include "mbs_path.h"
#include "mbs_xml_binder_private.h"
#include "mbs_load_json.h"
#include "mbs_json.h"
#include "useful_functions.h"
#include "mbs_message.h"
#include "mbs_errors_names.h"
#include "mbs_define.h"
#include <string.h>

Functions
MbsInfos *	mbs_info_reader (const char *mbs_filename, int verbose)
	Read the mbs file to retrieve size informations (number of joints...). More...
int	mbs_info_loader (MbsLoader *mbs_loader, const char *mbs_filename, int verbose)
	Read the mbs file and store all used file description. More...
int	mbs_info_updater (MbsInfos *mbs_infos, const char *mbs_filename)
int	mbs_info_structurer (MbsInfos *mbs_infos)
	mbs_info_structurer More...
MbsInfoDData *	mbs_new_info_d_data (void)
void	mbs_delete_info_d_data (MbsInfoDData *mbs_info_d_data)
MbsInfoRefPoint *	mbs_new_info_ref_point (void)
void *	mbs_delete_info_ref_point (MbsInfoRefPoint *mbs_info_ref_point)
MbsInfoSensor *	mbs_new_info_sensor (void)
void	mbs_delete_info_sensor (MbsInfoSensor *mbs_info_sensor)
MbsInfoExtforce *	mbs_new_info_extforce (void)
void	mbs_delete_info_extforce (MbsInfoExtforce *mbs_info_extforce)
MbsInfoPoint *	mbs_new_info_point (void)
void *	mbs_delete_info_point (MbsInfoPoint *mbs_info_point)
MbsInfoBase *	mbs_new_info_base (void)
void	mbs_delete_info_base (MbsInfoBase *mbs_info_base)
MbsInfoJoint *	mbs_new_info_joint (void)
void *	mbs_delete_info_joint (MbsInfoJoint *mbs_info_joint)
MbsInfoBody *	mbs_new_info_body (void)
void	mbs_delete_info_body (MbsInfoBody *mbs_info_body, void *all_joints_lists)
MbsInfoBodytree *	mbs_new_info_bodytree (void)
void	mbs_delete_info_bodytree (MbsInfoBodytree *mbs_info_bodytree, void *all_joints_lists)
MbsInfoBall *	mbs_new_info_ball (void)
void	mbs_delete_info_ball (MbsInfoBall *mbs_info_ball)
MbsInfoRod *	mbs_new_info_rod (void)
void	mbs_delete_info_rod (MbsInfoRod *mbs_info_rod)
MbsInfoSolid *	mbs_new_info_solid (void)
void	mbs_delete_info_solid (MbsInfoSolid *mbs_info_solid)
MbsInfoCuts *	mbs_new_info_cuts (void)
void	mbs_delete_info_cuts (MbsInfoCuts *mbs_info_cuts)
MbsInfoLink *	mbs_new_info_link (void)
void	mbs_delete_info_link (MbsInfoLink *mbs_info_link)
MbsInfoLinks *	mbs_new_info_links (void)
void	mbs_delete_info_links (MbsInfoLinks *mbs_info_links)
MbsInfoParameter *	mbs_new_info_parameter (void)
void	mbs_delete_info_parameter (MbsInfoParameter *mbs_info_parameter)
MbsInfoUserModel *	mbs_new_info_user_model (void)
void	mbs_delete_info_user_model (MbsInfoUserModel *mbs_info_user_model)
MbsInfoUserModels *	mbs_new_info_user_models (void)
void	mbs_delete_info_user_models (MbsInfoUserModels *mbs_info_user_models)
MbsInfoUserIO *	mbs_new_info_user_IO (void)
void	mbs_delete_info_user_IO (MbsInfoUserIO *mbs_info_user_IO)
MbsInfoUserIOs *	mbs_new_info_user_IOs (void)
MbsInfoUserCstr *	mbs_new_info_user_cstr (void)
void	mbs_delete_info_user_IOs (MbsInfoUserIOs *mbs_info_user_IOs)
void	mbs_delete_info_user_cstr (MbsInfoUserCstr *mbs_info_user_cstr)
MbsInfoOpti *	mbs_new_info_opti (void)
void	mbs_delete_info_opti (MbsInfoOpti *mbs_info_opti)
MbsInfos *	mbs_new_infos (void)
void	mbs_delete_infos (MbsInfos *mbs_infos)
MbsInfoBody *	find_body_in_bodytree (MbsInfos *mbs_infos, char *bodyname)
MbsInfoJoint *	find_joint_in_bodytree (MbsInfos *mbs_infos, char *jointname)
MbsInfoJoint *	find_joint_in_joint_list (MbsInfos *mbs_infos, char *jointname)
int	fill_all_joint_list (MbsInfos *mbs_infos)
	Fill the joints list with children parent... More...
MbsInfoJoint *	find_joint_with_parent_in_joint_list (MbsInfos *mbs_infos, char *jointname)
int	mbs_copy_info_joint (MbsInfoJoint *mbs_info_joint_src, MbsInfoJoint *mbs_info_joint_dest)
int	mbs_copy_info_body (MbsInfoBody *mbs_info_body_src, MbsInfoBody *mbs_info_body_dest)
int	mbs_adapt_joint_nature (MbsInfoJoint *joint_info, int verbose)
	Check the symbols definition and changes the nature to locked if compatible. More...
JsonNode *	mbs_info_configuration (MbsInfos *mbs_infos, const char *config_file, int *err)
	Modify the MbsInfo contents according to the configuration file. More...

Function Documentation

fill_all_joint_list()

int fill_all_joint_list

(

MbsInfos *

mbs_infos

)

Fill the joints list with children parent...

Parameters

[in,out]

mbs_infos

The system description

Returns

MBS_INFO_SUCCESS, MBS_INFO_WARNING if no joints in the system or MBS_INFO_FAILURE for invalid system (ie: body without parent joint).

find_body_in_bodytree()

MbsInfoBody* find_body_in_bodytree	(	MbsInfos *	mbs_infos,
		char *	bodyname
	)

find_joint_in_bodytree()

MbsInfoJoint* find_joint_in_bodytree	(	MbsInfos *	mbs_infos,
		char *	jointname
	)

find_joint_in_joint_list()

MbsInfoJoint* find_joint_in_joint_list	(	MbsInfos *	mbs_infos,
		char *	jointname
	)

find_joint_with_parent_in_joint_list()

MbsInfoJoint* find_joint_with_parent_in_joint_list	(	MbsInfos *	mbs_infos,
		char *	jointname
	)

mbs_adapt_joint_nature()

int mbs_adapt_joint_nature	(	MbsInfoJoint *	joint_info,
		int	verbose
	)

Check the symbols definition and changes the nature to locked if compatible.

Parameters

[in,out]	joint_info	The joint to be checked.
[in]	verbose	Verbosity level, from only errors (0) to full verbose (2), debug verbose is 3.

Returns

MBS_INFO_SUCCESS if nature is correct, MBS_INFO_WARNING if the joint nature has changed.

mbs_copy_info_body()

int mbs_copy_info_body	(	MbsInfoBody *	mbs_info_body_src,
		MbsInfoBody *	mbs_info_body_dest
	)

mbs_copy_info_joint()

int mbs_copy_info_joint	(	MbsInfoJoint *	mbs_info_joint_src,
		MbsInfoJoint *	mbs_info_joint_dest
	)

mbs_delete_info_ball()

void mbs_delete_info_ball

(

MbsInfoBall *

mbs_info_ball

)

mbs_delete_info_base()

void mbs_delete_info_base

(

MbsInfoBase *

mbs_info_base

)

mbs_delete_info_body()

void mbs_delete_info_body	(	MbsInfoBody *	mbs_info_body,
		void *	all_joints_lists
	)

mbs_delete_info_bodytree()

void mbs_delete_info_bodytree	(	MbsInfoBodytree *	mbs_info_bodytree,
		void *	all_joints_lists
	)

mbs_delete_info_cuts()

void mbs_delete_info_cuts

(

MbsInfoCuts *

mbs_info_cuts

)

mbs_delete_info_d_data()

void mbs_delete_info_d_data

(

MbsInfoDData *

mbs_info_d_data

)

mbs_delete_info_extforce()

void mbs_delete_info_extforce

(

MbsInfoExtforce *

mbs_info_extforce

)

mbs_delete_info_joint()

void* mbs_delete_info_joint

(

MbsInfoJoint *

mbs_info_joint

)

mbs_delete_info_link()

void mbs_delete_info_link

(

MbsInfoLink *

mbs_info_link

)

mbs_delete_info_links()

void mbs_delete_info_links

(

MbsInfoLinks *

mbs_info_links

)

mbs_delete_info_opti()

void mbs_delete_info_opti

(

MbsInfoOpti *

mbs_info_opti

)

mbs_delete_info_parameter()

void mbs_delete_info_parameter

(

MbsInfoParameter *

mbs_info_parameter

)

mbs_delete_info_point()

void* mbs_delete_info_point

(

MbsInfoPoint *

mbs_info_point

)

mbs_delete_info_ref_point()

void* mbs_delete_info_ref_point

(

MbsInfoRefPoint *

mbs_info_ref_point

)

mbs_delete_info_rod()

void mbs_delete_info_rod

(

MbsInfoRod *

mbs_info_rod

)

mbs_delete_info_sensor()

void mbs_delete_info_sensor

(

MbsInfoSensor *

mbs_info_sensor

)

mbs_delete_info_solid()

void mbs_delete_info_solid

(

MbsInfoSolid *

mbs_info_solid

)

mbs_delete_info_user_cstr()

void mbs_delete_info_user_cstr

(

MbsInfoUserCstr *

mbs_info_user_cstr

)

mbs_delete_info_user_IO()

void mbs_delete_info_user_IO

(

MbsInfoUserIO *

mbs_info_user_IO

)

mbs_delete_info_user_IOs()

void mbs_delete_info_user_IOs

(

MbsInfoUserIOs *

mbs_info_user_IOs

)

mbs_delete_info_user_model()

void mbs_delete_info_user_model

(

MbsInfoUserModel *

mbs_info_user_model

)

mbs_delete_info_user_models()

void mbs_delete_info_user_models

(

MbsInfoUserModels *

mbs_info_user_models

)

mbs_delete_infos()

void mbs_delete_infos

(

MbsInfos *

mbs_infos

)

< Pointer to a list of sensor

< Pointer to a list of external force sensor

mbs_info_configuration()

JsonNode* mbs_info_configuration	(	MbsInfos *	mbs_infos,
		const char *	config_file,
		int *	err
	)

Modify the MbsInfo contents according to the configuration file.

The json file must have the following structure:

{
"user_model": {
  "model_1_name": {
    "param_1_name": value,
    "param_2_name": value,
    },
  "model_3_name": {
    "param_7_name": value
    },
  },
"mass":
  {
    "body_3_name": value,
    "body_1_name": value
  },
 "inertia":
  {
    "body_3_name": [valueIxx, valueIyy, valueIzz],
    "body_1_name":
    {
         "Ixx": valueIxx,
         "Iyy": valueIyy,
         "Izz": valueIzz,
         "Ixz": valueIxy
     },
    "body_2_name": [valueIxx, valueIxy, valueIxz, valueIyy, valueIyz, valueIzz]
  },
  "com":
  {
    "body_3_name": [valueCoMx, valueCoMy, valueCoMz],
    "body_1_name":
    {
         "x": valueCoMx,
         "y": valueCoMy,
         "z": valueCoMz
     }
  },
 "q": [q0[1], q0[2]... q0[njoint]],
 "qd": [qd0[1], qd0[2]... qd0[njoint]],
 "qdd": [qdd0[1], qdd0[2]... qdd0[njoint]],
 "joints":
  {
    "joint7_name": q0_value,
    "joint2_name":
    {
      "q": q0_value,
      "qd": qd0_value,
      "qdd": qdd0_value,
    },
    "joint1_name":
    {
      "qd": qd0_value
    }
  },
 "points":
  {
    "body7_name":
    {
      "point2_name": [x_value, y_value, z_value],
      "point7_name": [x_value, y_value, z_value]
    },
    "body3_name":
    {
      "point1_name": [x_value, y_value, z_value]
    }
  }
}

Joints initial value are first set by the "q", "qd", "qdd" list, then by the joints list. This allows to save MbsData::q as it, and then modify a specific joint.

The "mass" field can be an array, in such a case it contains the mass of all bodies of the system.

The "inertia" field can be: a JSON_OBJECT: Considered keys are: {"Ixx", "Ixy", "Ixz", "Iyy", "Iyz", "Izz"}; Additional keys are disregarded without raising any warning. a JSON_ARRAY of : 3 elements: [Ixx, Iyy, Izz] 6 elements: [Ixx, Ixy, Ixz, Iyy, Iyz, Izz]

• The "com" (center of mass) field can be: a JSON_OBJECT: Considered keys are: {"x", "y", "z"}; Additional keys are disregarded without raising any warning. a JSON_ARRAY of : 3 elements: [x, y, z]

The points are defined in an object of objects. The key of each object is the bodyname. Each object on the body is an array whose key is the bodyname and the array containing the 3 coordinates (X, Y, Z, in body local frame).

If the default file does not exists, or is not loadable, the function exits normally. If a file is specified and does not exists, or was not loadable, an error is raised.

In both cases if the file encounter errors during setting the configuration, an error is raised.

Parameters

[in,out]	mbs_infos	The Info structure of the multibody file.
[in]	config_file	A json-formatted file containing the configuration to be assigned. If NULL is provided an optional file with ".conf" extension and the same path and name as the loaded file will attempt to be loaded.
[out]	err	Pointer to store the status code. MBS_INFO_SUCCESS in case of success.

Returns

The loaded configuration file JsonNode, or NULL if no file to be loaded or if an error is encountered..

< If a file is specified optional configuration is FALSE. Otherwhise missing file does not generate an error, failing to parse it generate a warning.

< Internal pointer to file path to keep the "const" in the argument.

< Root Json node of the configuration file.

mbs_info_loader()

int mbs_info_loader	(	MbsLoader *	mbs_loader,
		const char *	mbs_filename,
		int	verbose
	)

Read the mbs file and store all used file description.

Parameters

[in,out]	mbs_loader
[in]	mbs_filename
[in]	verbose	Verbosity level, from only errors (0) to full verbose (2) (debug verbose = 3).

Returns

MBS_INFO_SUCCESS for succes, other is error code.

mbs_info_reader()

MbsInfos* mbs_info_reader	(	const char *	mbs_filename,
		int	verbose
	)

Read the mbs file to retrieve size informations (number of joints...).

Parameters

	mbs_filename	Path and name of the file (with extension).
[in]	verbose	Verbosity level, from only errors (0) to full verbose (2), debug verbose is 3.

Returns

An allocated MbsInfos structure or NULL ptr in case of failure.

mbs_info_structurer()

int mbs_info_structurer

(

MbsInfos *

mbs_infos

)

mbs_info_structurer

Parameters

[in,out]

mbs_infos

Returns

MBS_INFO_FAILURE in case of error; MBS_INFO_SUCCESS for success.

mbs_info_updater()

int mbs_info_updater	(	MbsInfos *	mbs_infos,
		const char *	mbs_filename
	)

mbs_new_info_ball()

MbsInfoBall* mbs_new_info_ball

(

void

)

mbs_new_info_base()

MbsInfoBase* mbs_new_info_base

(

void

)

mbs_new_info_body()

MbsInfoBody* mbs_new_info_body

(

void

)

mbs_new_info_bodytree()

MbsInfoBodytree* mbs_new_info_bodytree

(

void

)

mbs_new_info_cuts()

MbsInfoCuts* mbs_new_info_cuts

(

void

)

mbs_new_info_d_data()

MbsInfoDData* mbs_new_info_d_data

(

void

)

mbs_new_info_extforce()

MbsInfoExtforce* mbs_new_info_extforce

(

void

)

mbs_new_info_joint()

MbsInfoJoint* mbs_new_info_joint

(

void

)

mbs_new_info_link()

MbsInfoLink* mbs_new_info_link

(

void

)

mbs_new_info_links()

MbsInfoLinks* mbs_new_info_links

(

void

)

mbs_new_info_opti()

MbsInfoOpti* mbs_new_info_opti

(

void

)

mbs_new_info_parameter()

MbsInfoParameter* mbs_new_info_parameter

(

void

)

mbs_new_info_point()

MbsInfoPoint* mbs_new_info_point

(

void

)

mbs_new_info_ref_point()

MbsInfoRefPoint* mbs_new_info_ref_point

(

void

)

mbs_new_info_rod()

MbsInfoRod* mbs_new_info_rod

(

void

)

mbs_new_info_sensor()

MbsInfoSensor* mbs_new_info_sensor

(

void

)

mbs_new_info_solid()

MbsInfoSolid* mbs_new_info_solid

(

void

)

mbs_new_info_user_cstr()

MbsInfoUserCstr* mbs_new_info_user_cstr

(

void

)

mbs_new_info_user_IO()

MbsInfoUserIO* mbs_new_info_user_IO

(

void

)

mbs_new_info_user_IOs()

MbsInfoUserIOs* mbs_new_info_user_IOs

(

void

)

mbs_new_info_user_model()

MbsInfoUserModel* mbs_new_info_user_model

(

void

)

mbs_new_info_user_models()

MbsInfoUserModels* mbs_new_info_user_models

(

void

)

mbs_new_infos()

MbsInfos* mbs_new_infos

(

void

)