Robotran C Documentation
Functions
mbs_part.c File Reference
#include "mbs_part.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"

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)
 
void 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...
 
MbsPartOptionsmbs_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...
 
MbsPartmbs_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...
 

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_partthe 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_strctthe 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_datathe 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_partthe coord. part. structure
mbs_datathe structure of the mbs for which the coord. part. must be performed
Returns
error status, < 0 in case of failure.

◆ PART_calc_hJ()

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

Compute the current constraint error vector and its Jacobian.

Parameters
[in]mbs_datathe data structure.
[out]hthe array to store the error, index starting at 0.
[out]Jthe matrix to store the Jacobian, index starting at 0.

◆ 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 
)