#include "mbs_data.h"
#include "mbs_define.h"
#include "mbs_message.h"
#include "mbs_errors_names.h"
#include "mbs_sensor_struct.h"
#include "mbs_project_interface.h"
#include "realtime.h"
#include <math.h>

Functions
int	mbs_call_link (double frc, double trq, double Flnk, double Z, double Zd, MbsData s, double tsim)
	Symbolic link forces function declaration. More...

int	mbs_call_link3D (double frc, double trq, MbsData *s, double tsim)
	Symbolic link 3D forces function declaration. More...

int	mbs_call_extforces (double frc, double trq, MbsData *s, double tsim)
	Symbolic external forces function declaration. More...

int	mbs_call_accelred (MbsData *s, double tsim)
	Symbolic reduced acceleration function declaration. More...

int	mbs_call_dirdyna (double *M, double c, MbsData *s, double tsim)
	Symbolic direct dynamic function declaration. More...

int	mbs_call_invdyna (double Q, MbsData s, double tsim)
	Symbolic inverse dynamic function declaration. More...

int	mbs_call_cons_hJ (double h, double Jac, MbsData s, double tsim)
	Symbolic constraints function declaration. More...

int	mbs_call_cons_jdqd (double Jdqd, MbsData s, double tsim)
	Symbolic jdqd function declaration. More...

int	mbs_call_sensor (MbsSensor sens, MbsData s, int isens)
	Declaration of the symbolic function computing all fields of a sensor. More...

int	mbs_call_gensensor (MbsSensor sens, MbsData s, int isens)
	Declaration of the symbolic function computing all fields of a sensor located at a body origin. More...

int	mbs_call_check_symbolic (MbsData *s)
	Call the symbolic checking function, see mbs_check_symbolic(). More...

int	mbs_call_invdynared_dq (MbsData *s, double tsim)
	Compute the stiffness matrix of the system. More...

int	mbs_call_invdynared_dqd (MbsData *s, double tsim)
	Compute the damping matrix of the system. More...

int	mbs_call_invdynared_dqdd (MbsData *s, double tsim)
	Compute the reduced mass matrix of the system. More...

int	mbs_call_invdynared_dp (MbsData *s, double tsim)

double *	user_call_JointForces (MbsData *s, double tsim)
	Module redirection for user joint force function, see user_JointForces(). More...

double *	user_call_Link3DForces (double PxF[4], double RxF[4][4], double VxF[4], double OMxF[4], double AxF[4], double OMPxF[4], MbsData *s, double tsim, int ixF)
	Module redirection for user link 3D function, see user_Link3DForces(). More...

double	user_call_LinkForces (double Z, double Zd, MbsData *s, double tsim, int ilnk)
	Module redirection for user link force function, see user_LinkForces(). More...

double *	user_call_ExtForces (double PxF[4], double RxF[4][4], double VxF[4], double OMxF[4], double AxF[4], double OMPxF[4], MbsData *s, double tsim, int ixF)
	Module redirection for the computation of external forces, see user_DrivenJoints(). More...

int	user_call_Derivative (MbsData *s)
	Module redirection for the time derivative of the user state variables, see user_Derivative() however the return differs. More...

int	user_call_DrivenJoints (MbsData *s, double tsim)
	Module redirection for the computation of driven joints, see user_DrivenJoints() however the return differs. More...

int	user_call_cons_hJ (double h, double Jac, MbsData s, double tsim)
	Module redirection for user joint force function, see user_cons_hJ() however the return differs. More...

int	user_call_cons_jdqd (double jdqd, MbsData s, double tsim)
	Module redirection for jdqd term of the user-specified constraints, see user_cons_jdqd() however the return differs. More...

int	user_call_cons_J_accelred (MbsData *s, double tsim)
	Module redirection for accelred user-specified constraints function, see user_cons_J_accelred(). More...

double *	user_call_JointForces_dq (MbsData *s, double tsim, int ixJ)
	Module redirection for user function, see user_JointForces_dq(). More...

double *	user_call_JointForces_dqd (MbsData *s, double tsim, int ixJ)
	Module redirection for user function, see user_JointForces_dqd(). More...

double *	user_call_JointForces_dqdd (MbsData *s, double tsim, int ixJ)
	Module redirection for user function, see user_call_JointForces_dqdd(). More...

double *	user_call_JointForces_dp (MbsData *s, double tsim)
	Module redirection for user function, see user_JointForces_dp(). More...

double	user_call_LinkForces_dq (double Z, double d_Z, double Zd, double d_Zd, MbsData *s, double tsim, int i_link, int index)
	Module redirection for user function, see user_LinkForces_dq(). More...

double	user_call_LinkForces_dqd (double Z, double d_Z, double Zd, double d_Zd, MbsData *s, double tsim, int i_link, int index)
	Module redirection for user function, see user_LinkForces_dqd(). More...

double	user_call_LinkForces_dqdd (double Z, double d_Z, double Zd, double d_Zd, MbsData *s, double tsim, int i_link, int index)
	Module redirection for user function, see user_LinkForces_dqdd(). More...

double	user_call_LinkForces_dp (double Z, double d_Z, double Zd, double d_Zd, MbsData *s, double tsim, int i_link)
	Module redirection for user function, see user_LinkForces_dp(). More...

double *	user_call_ExtForces_dq (double PxF[4], double d_PxF[4], double RxF[4][4], double d_RxF[4][4], double VxF[4], double d_VxF[4], double OMxF[4], double d_OMxF[4], double AxF[4], double d_AxF[4], double OMPxF[4], double d_OMPxF[4], MbsData *s, double tsim, int i_force, int i_joint)
	Module redirection for user function, see user_call_ExtForces_dq(). More...

double *	user_call_ExtForces_dqd (double PxF[4], double d_PxF[4], double RxF[4][4], double d_RxF[4][4], double VxF[4], double d_VxF[4], double OMxF[4], double d_OMxF[4], double AxF[4], double d_AxF[4], double OMPxF[4], double d_OMPxF[4], MbsData *s, double tsim, int i_force, int i_joint)
	Module redirection for user function, see user_ExtForces_dqd(). More...

double *	user_call_ExtForces_dqdd (double PxF[4], double d_PxF[4], double RxF[4][4], double d_RxF[4][4], double VxF[4], double d_VxF[4], double OMxF[4], double d_OMxF[4], double AxF[4], double d_AxF[4], double OMPxF[4], double d_OMPxF[4], MbsData *s, double tsim, int i_force, int i_joint)
	Module redirection for user function, see user_ExtForces_dqdd(). More...

double *	user_call_ExtForces_dp (double PxF[4], double d_PxF[4], double RxF[4][4], double d_RxF[4][4], double VxF[4], double d_VxF[4], double OMxF[4], double d_OMxF[4], double AxF[4], double d_AxF[4], double OMPxF[4], double d_OMPxF[4], MbsData *s, double tsim, int i_force)
	Module redirection for user function, see user_ExtForces_dp(). More...

double *	user_call_Link3DForces_dq (double PxF[4], double d_PxF[4], double RxF[4][4], double d_RxF[4][4], double VxF[4], double d_VxF[4], double OMxF[4], double d_OMxF[4], double AxF[4], double d_AxF[4], double OMPxF[4], double d_OMPxF[4], MbsData *s, double tsim, int i_link3d, int i_param)
	Module redirection for user function, see user_Link3DForces_dq(). More...

double *	user_call_Link3DForces_dqd (double PxF[4], double d_PxF[4], double RxF[4][4], double d_RxF[4][4], double VxF[4], double d_VxF[4], double OMxF[4], double d_OMxF[4], double AxF[4], double d_AxF[4], double OMPxF[4], double d_OMPxF[4], MbsData *s, double tsim, int i_link3d, int i_param)
	Module redirection for user function, see user_Link3DForces_dqd(). More...

double *	user_call_Link3DForces_dqdd (double PxF[4], double d_PxF[4], double RxF[4][4], double d_RxF[4][4], double VxF[4], double d_VxF[4], double OMxF[4], double d_OMxF[4], double AxF[4], double d_AxF[4], double OMPxF[4], double d_OMPxF[4], MbsData *s, double tsim, int i_link3d, int i_param)
	Module redirection for user function, see user_Link3DForces_dqdd(). More...

double *	user_call_Link3DForces_dp (double PxF[4], double d_PxF[4], double RxF[4][4], double d_RxF[4][4], double VxF[4], double d_VxF[4], double OMxF[4], double d_OMxF[4], double AxF[4], double d_AxF[4], double OMPxF[4], double d_OMPxF[4], MbsData *s, double tsim, int i_link3d)
	Module redirection for user function, see user_Link3DForces_dp(). More...

void	user_call_dirdyn_init (MbsData mbs_data, MbsDirdyn mbs_dd)
	Module redirection for user own dirdyn initialization function, see user_dirdyn_init(). More...

void	user_call_dirdyn_loop (MbsData mbs_data, MbsDirdyn mbs_dd)
	Module redirection for user own dirdyn loop function, see user_dirdyn_loop(). More...

void	user_call_dirdyn_finish (MbsData mbs_data, MbsDirdyn mbs_dd)
	Module redirection for user own dirdyn finish function, see user_dirdyn_finish(). More...

void	user_call_invdyn_init (MbsData mbs_data, MbsInvdyn mbs_invd)
	Module redirection for user own dirdyn initialization function, see user_dirdyn_init(). More...

void	user_call_invdyn_loop (MbsData mbs_data, MbsInvdyn mbs_invd)
	Module redirection for user own dirdyn loop function, see user_dirdyn_loop(). More...

void	user_call_invdyn_finish (MbsData mbs_data, MbsInvdyn mbs_invd)
	Module redirection for user own dirdyn finish function, see user_dirdyn_finish(). More...

void	user_call_equil_init (MbsData mbs_data, MbsEquil mbs_equil)
	Module redirection for user own equilibrium initialization function, see user_equil_init(). More...

void	user_call_equil_loop (MbsData mbs_data, MbsEquil mbs_equil)
	Module redirection for user own equil loop function, see user_equil_loop(). More...

void	user_call_equil_finish (MbsData mbs_data, MbsEquil mbs_equil)
	Module redirection for user own equil finish function, see user_equil_finish(). More...

void	user_call_equil_fxe (MbsData mbs_data, double f)
	Module redirection for user own equilibrium equations function, see user_equil_fxe(). More...

void	user_call_realtime_options (MbsData mbs_data, Realtime_option options)

void	user_call_keyboard (MbsData mbs_data, Simu_realtime realtime, int cur_t_usec, const Uint8 *keystates)

void	user_call_realtime_plot (MbsData *mbs_data)

void	user_call_joystick_axes (MbsData mbs_data, Simu_realtime realtime, int nb_joysticks)

void	user_call_joystick_buttons (MbsData *mbs_data, int buttonID)

void	user_call_realtime_visu (MbsData mbs_data, int nb_models, int nb_q, double **q_vec)
	Redirection to the user-specified user function of realtime visualization. More...

void	user_call_synch_outputs (MbsData *mbs_data)

Detailed Description

Define template functions that call the user and symbolic function stored via pointers in the MbsData structure

Date: 23/06/2016

Author: Nicolas Docquier

Function Documentation

◆ mbs_call_accelred()

int mbs_call_accelred	(	MbsData *	s,
		double	tsim
	)

Symbolic reduced acceleration function declaration.

The arguments are the same for the module redirection function mbs_call_accelred() and the generated symbolic function mbs_accelred().

Parameters

[in,out]	s	The MbsData structure of the model.
[in]	tsim	The current time.

Returns: Positive or null for success, negative in case of error.

◆ mbs_call_check_symbolic()

int mbs_call_check_symbolic ( MbsData * s )

Call the symbolic checking function, see mbs_check_symbolic().

Only the number of elements are checked, if topology has changed (at constant number of elements) no error is detected.

Parameters

[in,out] s The MbsData structure of the model, MbsData::flag_stop is raised in case of error.

Returns

Status code (macro):

MBS_INFO_SUCCESS: No fatal error detected;
MBS_INFO_WARNING: Symbolic function does not exists;
MBS_INFO_ERROR: Symbolic files are not compatible;

◆ mbs_call_cons_hJ()

int mbs_call_cons_hJ	(	double *	h,
		double **	Jac,
		MbsData *	s,
		double	tsim
	)

Symbolic constraints function declaration.

The arguments are the same for the module redirection function mbs_call_cons_hJ() and the generated symbolic function mbs_cons_hJ().

Parameters

[out]	h	The loops constraint vector, see MbsAux::h.
[out]	Jac	The Jacobian of loops constraint vector, see MbsAux::Jac.
[in]	s	The MbsData structure of the model.
[in]	tsim	The current time.

Returns: 0 for success, negative in case of error.

◆ mbs_call_cons_jdqd()

int mbs_call_cons_jdqd	(	double *	Jdqd,
		MbsData *	s,
		double	tsim
	)

Symbolic jdqd function declaration.

The arguments are the same for the module redirection function mbs_call_cons_jdqd() and the generated symbolic function mbs_cons_jdqd(). However the return differs.

Parameters

[out]	Jdqd	The jdqd term of loops constraint, see MbsAux::jdqd.
[in]	s	The MbsData structure of the model.
[in]	tsim	The current time.

Returns: 0 for success, negative in case of error.

◆ mbs_call_dirdyna()

int mbs_call_dirdyna	(	double **	M,
		double *	c,
		MbsData *	s,
		double	tsim
	)

Symbolic direct dynamic function declaration.

The arguments are the same for the module redirection function mbs_call_dirdyna() and the generated symbolic function mbs_dirdyna(). However the return differs.

Parameters

[out]	M	The mass matrix of the model, see MbsAux::M.
[out]	c	The non-linear components of the equation of the model, see MbsAux::c.
[in,out]	s	The MbsData structure of the model.
[in]	tsim	The current time.

Returns: 0 if success, -1 in case of error.

◆ mbs_call_extforces()

int mbs_call_extforces	(	double **	frc,
		double **	trq,
		MbsData *	s,
		double	tsim
	)

Symbolic external forces function declaration.

The arguments are the same for the module redirection function mbs_call_extforces() and the generated symbolic function mbs_extforces(). However the return differs.

Parameters

[out]	frc	Components of the resultant external forces, see MbsData::frc.
[out]	trq	Components of the resultant external torquess, see MbsData::trc.
[in]	s	The MbsData structure of the model.
[in]	tsim	The current time.

Returns: 0 for success, negative in case of error.

◆ mbs_call_gensensor()

int mbs_call_gensensor	(	MbsSensor *	sens,
		MbsData *	s,
		int	isens
	)

Declaration of the symbolic function computing all fields of a sensor located at a body origin.

The arguments are the same for the module redirection function mbs_call_gensensor() and the generated symbolic function mbs_gensensor(). However the return differs.

Parameters

[in,out]	sens	Pointer to the MbsSensor structure to compute.
[in]	s	pointer to the MbsData structure of the model related to the sensor.
[in]	isens	the ID of the sensor, for Force sensor the id has to be incremented by MbsData::Nsensor.

Returns: 0 for success, negative in case of error.

◆ mbs_call_invdyna()

int mbs_call_invdyna	(	double *	Qq,
		MbsData *	s,
		double	tsim
	)

Symbolic inverse dynamic function declaration.

The arguments are the same for the module redirection function mbs_call_invdyna() and the generated symbolic function mbs_invdyna(). However the return differs.

Parameters

[out]	Qq	The dynamic vector of the model, see MbsAux::phi.
[in,out]	s	The MbsData structure of the model.
[in]	tsim	The current time.

Returns: 0 if success, -1 in case of error.

◆ mbs_call_invdynared_dp()

int mbs_call_invdynared_dp	(	MbsData *	s,
		double	tsim
	)

◆ mbs_call_invdynared_dq()

int mbs_call_invdynared_dq	(	MbsData *	s,
		double	tsim
	)

Compute the stiffness matrix of the system.

The stiffness matrix is stored in MbsData::mbs_dp->K.

Parameters

[in,out]	s	pointer to the MbsData structure of the model
[in]	tsim	the current time of the simulation.

Returns: The status, <0 in case of failure.

◆ mbs_call_invdynared_dqd()

int mbs_call_invdynared_dqd	(	MbsData *	s,
		double	tsim
	)

Compute the damping matrix of the system.

The damping matrix is stored in MbsData::mbs_dp->G.

Parameters

[in,out]	s	pointer to the MbsData structure of the model
[in]	tsim	the current time of the simulation.

Returns: The status, <0 in case of failure.

◆ mbs_call_invdynared_dqdd()

int mbs_call_invdynared_dqdd	(	MbsData *	s,
		double	tsim
	)

Compute the reduced mass matrix of the system.

The mass matrix is stored in MbsData::mbs_dp->M.

Parameters

[in,out]	s	pointer to the MbsData structure of the model
[in]	tsim	the current time of the simulation.

Returns: The status, <0 in case of failure.

◆ mbs_call_link()

int mbs_call_link	(	double **	frc,
		double **	trq,
		double *	Flnk,
		double *	Z,
		double *	Zd,
		MbsData *	s,
		double	tsim
	)

Symbolic link forces function declaration.

The arguments are the same for the module redirection function mbs_call_link() and the generated symbolic function mbs_link(). However the return differs.

Parameters

[out]	frc	Components of the resultant external forces, see MbsData::frc.
[out]	trq	Components of the resultant external torquess, see MbsData::trc.
[out]	Flnk	The forces in the links, see MbsData::Fl
[out]	Z	The distances between of the points the links, see MbsData::Z
[out]	Zd	The velocities between of the points the links, see MbsData::Zd
[in]	s	The MbsData structure of the model.
[in]	tsim	The current time.

Returns: 0 for success, negative in case of error.

◆ mbs_call_link3D()

int mbs_call_link3D	(	double **	frc,
		double **	trq,
		MbsData *	s,
		double	tsim
	)

Symbolic link 3D forces function declaration.

The arguments are the same for the module redirection function mbs_call_link3D() and the generated symbolic function mbs_link3D(). However the return differs.

Parameters

[out]	frc	Components of the resultant external forces, see MbsData::frc.
[out]	trq	Components of the resultant external torquess, see MbsData::trc.
[in]	s	The MbsData structure of the model.
[in]	tsim	The current time.

Returns: 0 for success, negative in case of error.

◆ mbs_call_sensor()

int mbs_call_sensor	(	MbsSensor *	sens,
		MbsData *	s,
		int	isens
	)

Declaration of the symbolic function computing all fields of a sensor.

The function can be called for both "classical" and "external force" sensors.

The arguments are the same for the module redirection function mbs_call_sensor() and the generated symbolic function mbs_sensor(). However the return differs.

Parameters

[in,out]	sens	Pointer to the MbsSensor structure to compute.
[in]	s	pointer to the MbsData structure of the model related to the sensor.
[in]	isens	the ID of the sensor, for Force sensor the id has to be incremented by MbsData::Nsensor.

Returns: 0 for success, negative in case of error.

◆ user_call_cons_hJ()

int user_call_cons_hJ	(	double *	h,
		double **	Jac,
		MbsData *	s,
		double	tsim
	)

Module redirection for user joint force function, see user_cons_hJ() however the return differs.

Returns: 0 for success, negative in case of error.

◆ user_call_cons_J_accelred()

int user_call_cons_J_accelred	(	MbsData *	s,
		double	tsim
	)

Module redirection for accelred user-specified constraints function, see user_cons_J_accelred().

◆ user_call_cons_jdqd()

int user_call_cons_jdqd	(	double *	jdqd,
		MbsData *	s,
		double	tsim
	)

Module redirection for jdqd term of the user-specified constraints, see user_cons_jdqd() however the return differs.

Returns: 0 for success, negative in case of error.

◆ user_call_Derivative()

int user_call_Derivative ( MbsData * s )

Module redirection for the time derivative of the user state variables, see user_Derivative() however the return differs.

Returns: 0 for success, negative in case of error.

◆ user_call_dirdyn_finish()

void user_call_dirdyn_finish	(	MbsData *	mbs_data,
		MbsDirdyn *	mbs_dd
	)

Module redirection for user own dirdyn finish function, see user_dirdyn_finish().

◆ user_call_dirdyn_init()

void user_call_dirdyn_init	(	MbsData *	mbs_data,
		MbsDirdyn *	mbs_dd
	)

Module redirection for user own dirdyn initialization function, see user_dirdyn_init().

◆ user_call_dirdyn_loop()

void user_call_dirdyn_loop	(	MbsData *	mbs_data,
		MbsDirdyn *	mbs_dd
	)

Module redirection for user own dirdyn loop function, see user_dirdyn_loop().

◆ user_call_DrivenJoints()

int user_call_DrivenJoints	(	MbsData *	s,
		double	tsim
	)

Module redirection for the computation of driven joints, see user_DrivenJoints() however the return differs.

Returns: 0 for success, negative in case of error.

◆ user_call_equil_finish()

void user_call_equil_finish	(	MbsData *	mbs_data,
		MbsEquil *	mbs_equil
	)

Module redirection for user own equil finish function, see user_equil_finish().

◆ user_call_equil_fxe()

void user_call_equil_fxe	(	MbsData *	mbs_data,
		double *	f
	)

Module redirection for user own equilibrium equations function, see user_equil_fxe().

◆ user_call_equil_init()

void user_call_equil_init	(	MbsData *	mbs_data,
		MbsEquil *	mbs_equil
	)

Module redirection for user own equilibrium initialization function, see user_equil_init().

◆ user_call_equil_loop()

void user_call_equil_loop	(	MbsData *	mbs_data,
		MbsEquil *	mbs_equil
	)

Module redirection for user own equil loop function, see user_equil_loop().

◆ user_call_ExtForces()

double* user_call_ExtForces	(	double	PxF[4],
		double	RxF[4][4],
		double	VxF[4],
		double	OMxF[4],
		double	AxF[4],
		double	OMPxF[4],
		MbsData *	s,
		double	tsim,
		int	ixF
	)

Module redirection for the computation of external forces, see user_DrivenJoints().

◆ user_call_ExtForces_dp()

double* user_call_ExtForces_dp	(	double	PxF[4],
		double	d_PxF[4],
		double	RxF[4][4],
		double	d_RxF[4][4],
		double	VxF[4],
		double	d_VxF[4],
		double	OMxF[4],
		double	d_OMxF[4],
		double	AxF[4],
		double	d_AxF[4],
		double	OMPxF[4],
		double	d_OMPxF[4],
		MbsData *	s,
		double	tsim,
		int	i_force
	)

Module redirection for user function, see user_ExtForces_dp().

◆ user_call_ExtForces_dq()

double* user_call_ExtForces_dq	(	double	PxF[4],
		double	d_PxF[4],
		double	RxF[4][4],
		double	d_RxF[4][4],
		double	VxF[4],
		double	d_VxF[4],
		double	OMxF[4],
		double	d_OMxF[4],
		double	AxF[4],
		double	d_AxF[4],
		double	OMPxF[4],
		double	d_OMPxF[4],
		MbsData *	s,
		double	tsim,
		int	i_force,
		int	i_joint
	)

Module redirection for user function, see user_call_ExtForces_dq().

◆ user_call_ExtForces_dqd()

double* user_call_ExtForces_dqd	(	double	PxF[4],
		double	d_PxF[4],
		double	RxF[4][4],
		double	d_RxF[4][4],
		double	VxF[4],
		double	d_VxF[4],
		double	OMxF[4],
		double	d_OMxF[4],
		double	AxF[4],
		double	d_AxF[4],
		double	OMPxF[4],
		double	d_OMPxF[4],
		MbsData *	s,
		double	tsim,
		int	i_force,
		int	i_joint
	)

Module redirection for user function, see user_ExtForces_dqd().

◆ user_call_ExtForces_dqdd()

double* user_call_ExtForces_dqdd	(	double	PxF[4],
		double	d_PxF[4],
		double	RxF[4][4],
		double	d_RxF[4][4],
		double	VxF[4],
		double	d_VxF[4],
		double	OMxF[4],
		double	d_OMxF[4],
		double	AxF[4],
		double	d_AxF[4],
		double	OMPxF[4],
		double	d_OMPxF[4],
		MbsData *	s,
		double	tsim,
		int	i_force,
		int	i_joint
	)

Module redirection for user function, see user_ExtForces_dqdd().

◆ user_call_invdyn_finish()

void user_call_invdyn_finish	(	MbsData *	mbs_data,
		MbsInvdyn *	mbs_invd
	)

Module redirection for user own dirdyn finish function, see user_dirdyn_finish().

◆ user_call_invdyn_init()

void user_call_invdyn_init	(	MbsData *	mbs_data,
		MbsInvdyn *	mbs_invd
	)

Module redirection for user own dirdyn initialization function, see user_dirdyn_init().

◆ user_call_invdyn_loop()

void user_call_invdyn_loop	(	MbsData *	mbs_data,
		MbsInvdyn *	mbs_invd
	)

Module redirection for user own dirdyn loop function, see user_dirdyn_loop().

◆ user_call_JointForces()

double* user_call_JointForces	(	MbsData *	s,
		double	tsim
	)

Module redirection for user joint force function, see user_JointForces().

◆ user_call_JointForces_dp()

double* user_call_JointForces_dp	(	MbsData *	s,
		double	tsim
	)

Module redirection for user function, see user_JointForces_dp().

◆ user_call_JointForces_dq()

double* user_call_JointForces_dq	(	MbsData *	s,
		double	tsim,
		int	ixJ
	)

Module redirection for user function, see user_JointForces_dq().

◆ user_call_JointForces_dqd()

double* user_call_JointForces_dqd	(	MbsData *	s,
		double	tsim,
		int	ixJ
	)

Module redirection for user function, see user_JointForces_dqd().

◆ user_call_JointForces_dqdd()

double* user_call_JointForces_dqdd	(	MbsData *	s,
		double	tsim,
		int	ixJ
	)

Module redirection for user function, see user_call_JointForces_dqdd().

◆ user_call_joystick_axes()

void user_call_joystick_axes	(	MbsData *	mbs_data,
		Simu_realtime *	realtime,
		int	nb_joysticks
	)

◆ user_call_joystick_buttons()

void user_call_joystick_buttons	(	MbsData *	mbs_data,
		int	buttonID
	)

◆ user_call_keyboard()

void user_call_keyboard	(	MbsData *	mbs_data,
		Simu_realtime *	realtime,
		int	cur_t_usec,
		const Uint8 *	keystates
	)

◆ user_call_Link3DForces()

double* user_call_Link3DForces	(	double	PxF[4],
		double	RxF[4][4],
		double	VxF[4],
		double	OMxF[4],
		double	AxF[4],
		double	OMPxF[4],
		MbsData *	s,
		double	tsim,
		int	ixF
	)

Module redirection for user link 3D function, see user_Link3DForces().

◆ user_call_Link3DForces_dp()

double* user_call_Link3DForces_dp	(	double	PxF[4],
		double	d_PxF[4],
		double	RxF[4][4],
		double	d_RxF[4][4],
		double	VxF[4],
		double	d_VxF[4],
		double	OMxF[4],
		double	d_OMxF[4],
		double	AxF[4],
		double	d_AxF[4],
		double	OMPxF[4],
		double	d_OMPxF[4],
		MbsData *	s,
		double	tsim,
		int	i_link3d
	)

Module redirection for user function, see user_Link3DForces_dp().

◆ user_call_Link3DForces_dq()

double* user_call_Link3DForces_dq	(	double	PxF[4],
		double	d_PxF[4],
		double	RxF[4][4],
		double	d_RxF[4][4],
		double	VxF[4],
		double	d_VxF[4],
		double	OMxF[4],
		double	d_OMxF[4],
		double	AxF[4],
		double	d_AxF[4],
		double	OMPxF[4],
		double	d_OMPxF[4],
		MbsData *	s,
		double	tsim,
		int	i_link3d,
		int	i_param
	)

Module redirection for user function, see user_Link3DForces_dq().

◆ user_call_Link3DForces_dqd()

double* user_call_Link3DForces_dqd	(	double	PxF[4],
		double	d_PxF[4],
		double	RxF[4][4],
		double	d_RxF[4][4],
		double	VxF[4],
		double	d_VxF[4],
		double	OMxF[4],
		double	d_OMxF[4],
		double	AxF[4],
		double	d_AxF[4],
		double	OMPxF[4],
		double	d_OMPxF[4],
		MbsData *	s,
		double	tsim,
		int	i_link3d,
		int	i_param
	)

Module redirection for user function, see user_Link3DForces_dqd().

◆ user_call_Link3DForces_dqdd()

double* user_call_Link3DForces_dqdd	(	double	PxF[4],
		double	d_PxF[4],
		double	RxF[4][4],
		double	d_RxF[4][4],
		double	VxF[4],
		double	d_VxF[4],
		double	OMxF[4],
		double	d_OMxF[4],
		double	AxF[4],
		double	d_AxF[4],
		double	OMPxF[4],
		double	d_OMPxF[4],
		MbsData *	s,
		double	tsim,
		int	i_link3d,
		int	i_param
	)

Module redirection for user function, see user_Link3DForces_dqdd().

◆ user_call_LinkForces()

double user_call_LinkForces	(	double	Z,
		double	Zd,
		MbsData *	s,
		double	tsim,
		int	ilnk
	)

Module redirection for user link force function, see user_LinkForces().

Returns: The force in the current link force or NAN if the user linkforce function is missing.

◆ user_call_LinkForces_dp()

double user_call_LinkForces_dp	(	double	Z,
		double	d_Z,
		double	Zd,
		double	d_Zd,
		MbsData *	s,
		double	tsim,
		int	i_link
	)

Module redirection for user function, see user_LinkForces_dp().

◆ user_call_LinkForces_dq()

double user_call_LinkForces_dq	(	double	Z,
		double	d_Z,
		double	Zd,
		double	d_Zd,
		MbsData *	s,
		double	tsim,
		int	i_link,
		int	index
	)

Module redirection for user function, see user_LinkForces_dq().

◆ user_call_LinkForces_dqd()

double user_call_LinkForces_dqd	(	double	Z,
		double	d_Z,
		double	Zd,
		double	d_Zd,
		MbsData *	s,
		double	tsim,
		int	i_link,
		int	index
	)

Module redirection for user function, see user_LinkForces_dqd().

◆ user_call_LinkForces_dqdd()

double user_call_LinkForces_dqdd	(	double	Z,
		double	d_Z,
		double	Zd,
		double	d_Zd,
		MbsData *	s,
		double	tsim,
		int	i_link,
		int	index
	)

Module redirection for user function, see user_LinkForces_dqdd().

◆ user_call_realtime_options()

void user_call_realtime_options	(	MbsData *	mbs_data,
		Realtime_option *	options
	)

◆ user_call_realtime_plot()

void user_call_realtime_plot ( MbsData * mbs_data )

◆ user_call_realtime_visu()

void user_call_realtime_visu	(	MbsData *	mbs_data,
		int	nb_models,
		int *	nb_q,
		double **	q_vec
	)

Redirection to the user-specified user function of realtime visualization.

If the user function is not defined (NULL function pointer) the default behaviour is to set the current joint coordinates to the visualisation pipe. The default behaviour is only called if a single animated model is loaded.

Parameters

[in]	mbs_data	The multibody system related to the visualisation.
[in]	nb_models	The number of the system in the visualusation.
[in]	nb_q	Number of element to be provided for each system.
[in]	nb_q	vec The pipe containing the value provided to each system.

◆ user_call_synch_outputs()

void user_call_synch_outputs ( MbsData * mbs_data )

Functions

Detailed Description

Function Documentation

◆ mbs_call_accelred()

◆ mbs_call_check_symbolic()

◆ mbs_call_cons_hJ()

◆ mbs_call_cons_jdqd()

◆ mbs_call_dirdyna()

◆ mbs_call_extforces()

◆ mbs_call_gensensor()

◆ mbs_call_invdyna()

◆ mbs_call_invdynared_dp()

◆ mbs_call_invdynared_dq()

◆ mbs_call_invdynared_dqd()

◆ mbs_call_invdynared_dqdd()

◆ mbs_call_link()

◆ mbs_call_link3D()

◆ mbs_call_sensor()

◆ user_call_cons_hJ()

◆ user_call_cons_J_accelred()

◆ user_call_cons_jdqd()

◆ user_call_Derivative()

◆ user_call_dirdyn_finish()

◆ user_call_dirdyn_init()

◆ user_call_dirdyn_loop()

◆ user_call_DrivenJoints()

◆ user_call_equil_finish()

◆ user_call_equil_fxe()

◆ user_call_equil_init()

◆ user_call_equil_loop()

◆ user_call_ExtForces()

◆ user_call_ExtForces_dp()

◆ user_call_ExtForces_dq()

◆ user_call_ExtForces_dqd()

◆ user_call_ExtForces_dqdd()

◆ user_call_invdyn_finish()

◆ user_call_invdyn_init()

◆ user_call_invdyn_loop()

◆ user_call_JointForces()

◆ user_call_JointForces_dp()

◆ user_call_JointForces_dq()

◆ user_call_JointForces_dqd()

◆ user_call_JointForces_dqdd()

◆ user_call_joystick_axes()

◆ user_call_joystick_buttons()

◆ user_call_keyboard()

◆ user_call_Link3DForces()

◆ user_call_Link3DForces_dp()

◆ user_call_Link3DForces_dq()

◆ user_call_Link3DForces_dqd()

◆ user_call_Link3DForces_dqdd()

◆ user_call_LinkForces()

◆ user_call_LinkForces_dp()

◆ user_call_LinkForces_dq()

◆ user_call_LinkForces_dqd()

◆ user_call_LinkForces_dqdd()

◆ user_call_realtime_options()

◆ user_call_realtime_plot()

◆ user_call_realtime_visu()

◆ user_call_synch_outputs()