mbs_part.c File Reference

#include <math.h>
#include "mbs_part.h"
#include "mbs_define.h"
#include "mbs_project_interface.h"
#include "mbs_linalg.h"
#include "mbs_check.h"
#include "mbs_message.h"
#include "mbs_errors_names.h"
#include "mbs_trigo.h"
#include "mbs_1D_array.h"
#include "mbs_matrix.h"

Macros
#define	MSG_ERR   ">> Coord.Part.>> "
#define	MSG_PRE   " >> "

Functions
void	PART_vec_perm (int *a, int *ipm, int irk)
void	PART_lutot (double **a, int nl, int nc, int rowperm, int *irk, int *ierr, int *row_perm, int *col_perm)
double	frand (void)
int	PART_calc_hJ (MbsData *mbs_data, double *h, double **J)
	Compute the current constraint error vector and its Jacobian. More...
int	PART_coord_part (MbsData *mbs_data, MbsPart *mbs_part, int *ind_u_des, int n_u_des, int *ind_c, int n_c, int first_partitioning)
int	mbs_run_part (MbsPart *mbs_part, MbsData *mbs_data)
	Main function of the coordinate partitioning module. More...
MbsPartOptions *	mbs_new_part_options (void)
	Allocate a new MbsPartOptions structure and intialize options with default values. More...
void	mbs_delete_part_options (MbsPartOptions *opt)
	Free the memory of the given MbsPartOptions structure. More...
MbsPart *	mbs_new_part (MbsData *mbs_data)
	Allocate a new MbsPart structure for the given MbsData structure. More...
void	mbs_delete_part (MbsPart *mbs_part)
	Free the memory of the given MbsPart structure. More...

Detailed Description

Implementation of the coordinate partitioning module.

Author

Robotran team

(c) Universite catholique de Louvain

Macro Definition Documentation

MSG_ERR

#define MSG_ERR   ">> Coord.Part.>> "

MSG_PRE

#define MSG_PRE   " >> "

Function Documentation

frand()

double frand

(

void

)

mbs_delete_part()

void mbs_delete_part

(

MbsPart *

mbs_part

)

Free the memory of the given MbsPart structure.

The memory of the associated options (mbs_part->options) is also freed.

Parameters

mbs_part

the structure to be freed.

mbs_delete_part_options()

void mbs_delete_part_options

(

MbsPartOptions *

part_option_strct

)

Free the memory of the given MbsPartOptions structure.

This function will be called by mbs_delete_part() and should never be called by the user.

Parameters

part_option_strct

the structure to be freed.

mbs_new_part()

MbsPart* mbs_new_part

(

MbsData *

mbs_data

)

Allocate a new MbsPart structure for the given MbsData structure.

A new MbsPartOptions is also allocated and a pointer to this structure is kept from the new MbsPart.

Parameters

mbs_data

the structure of the mbs for which the coordinate part. will be performed.

mbs_new_part_options()

MbsPartOptions* mbs_new_part_options

(

void

)

Allocate a new MbsPartOptions structure and intialize options with default values.

mbs_run_part()

int mbs_run_part	(	MbsPart *	mbs_part,
		MbsData *	mbs_data
	)

Main function of the coordinate partitioning module.

It compute the coordinate partitioning for the given MbsData structure.

Parameters

mbs_part	the coord. part. structure
mbs_data	the structure of the mbs for which the coord. part. must be performed

Returns

error status, < 0 in case of failure.

PART_calc_hJ()

int PART_calc_hJ	(	MbsData *	mbs_data,
		double *	h,
		double **	J
	)

Compute the current constraint error vector and its Jacobian.

Parameters

[in]	mbs_data	the data structure.
[out]	h	the array to store the error, index starting at 0.
[out]	J	the matrix to store the Jacobian, index starting at 0.

Returns

MBS_INFO_SUCCESS in case of success.

PART_coord_part()

int PART_coord_part	(	MbsData *	mbs_data,
		MbsPart *	mbs_part,
		int *	ind_u_des,
		int	n_u_des,
		int *	ind_c,
		int	n_c,
		int	first_partitioning
	)

PART_lutot()

void PART_lutot	(	double **	a,
		int	nl,
		int	nc,
		int	rowperm,
		int *	irk,
		int *	ierr,
		int *	row_perm,
		int *	col_perm
	)

PART_vec_perm()

void PART_vec_perm	(	int *	a,
		int *	ipm,
		int	irk
	)