mbs_project_fct_ptr.h

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#ifndef _MBS_PROJECT_FCT_PTR_H_
#define _MBS_PROJECT_FCT_PTR_H_
 
#include <stdint.h>  // necessary for uint8_t for user_keyboard_ptr
#include <stdio.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct MbsData MbsData;
typedef struct MbsSensor MbsSensor;
typedef struct MbsDirdyn MbsDirdyn;
typedef struct MbsInvdyn MbsInvdyn;
typedef struct MbsEquil MbsEquil;
typedef struct MbsLoader MbsLoader;
 
typedef double* (*user_JointForces_ptr)(MbsData*, double);
typedef void    (*user_load_post_ptr)(MbsData *MBSdata, MbsLoader *mbs_loader);
typedef void    (*user_free_ptr)(MbsData *MBSdata);
typedef void    (*user_dirdyn_init_ptr)(MbsData *MBSdata, MbsDirdyn *mbs_dd);
typedef void    (*user_dirdyn_loop_ptr)(MbsData *MBSdata, MbsDirdyn *mbs_dd);
typedef void    (*user_dirdyn_finish_ptr)(MbsData*, MbsDirdyn*);
typedef void    (*user_invdyn_init_ptr)(MbsData *MBSdata, MbsInvdyn *mbs_invd);
typedef void    (*user_invdyn_loop_ptr)(MbsData *MBSdata, MbsInvdyn *mbs_invd);
typedef void    (*user_invdyn_finish_ptr)(MbsData*MBSdata, MbsInvdyn* mbs_invd);
typedef void    (*user_equil_init_ptr)(MbsData *MBSdata, MbsEquil *mbs_equil);
typedef void    (*user_equil_loop_ptr)(MbsData *MBSdata, MbsEquil *mbs_equil);
typedef void    (*user_equil_finish_ptr)(MbsData*, MbsEquil*);
typedef void    (*user_equil_fxe_ptr)(MbsData*, double* f);
typedef void    (*user_Derivative_ptr)(MbsData *s);
typedef void    (*user_DrivenJoints_ptr)(MbsData *s, double tsim);
typedef void    (*user_cons_hJ_ptr)(double *h, double **Jac, MbsData *s, double tsim);
typedef void    (*user_cons_jdqd_ptr)(double *jdqd, MbsData *s, double tsim);
typedef void    (*user_cons_J_accelred_ptr)(MbsData* s, double tsim);
typedef double  (*user_LinkForces_ptr)(double Z, double Zd, MbsData *mbs_data, double tsim, int ilnk);
typedef double* (*user_Link3DForces_ptr)(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);
typedef double* (*user_ExtForces_ptr)(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);
 
typedef double  (*user_LinkForces_ptr)(double Z, double Zd, MbsData *mbs_data, double tsim, int ilnk);
 
typedef int(*set_mbs_to_output_ptr)(MbsData *mbs_data);
 
typedef double* (*user_JointForces_d_ptr)(MbsData *mbs_data, double tsim, int index);
typedef double* (*user_JointForces_dp_ptr)(MbsData* mbs_data, double tsim);
typedef double  (*user_LinkForces_d_ptr)(double Z, double d_Z, double Zd, double d_Zd,
                                         MbsData *mbs_data, double tsim, int i_link, int index);
typedef double  (*user_LinkForces_dp_ptr)(double Z, double d_Z, double Zd, double d_Zd,
                                         MbsData* mbs_data, double tsim, int i_link);
typedef double*  (*user_Link3DForces_d_ptr)(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 index);
typedef double* (*user_Link3DForces_dp_ptr)(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);
 
typedef double* (*user_ExtForces_d_ptr)(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 index);
 
typedef double* (*user_ExtForces_dp_ptr)(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);
 
typedef struct MbsInfos  MbsInfos;
 
typedef UserIO*     (*mbs_new_user_IO_ptr)(UserIoInfo* ioInfo);
typedef UserModel*  (*mbs_new_user_model_ptr)();
typedef void (*mbs_delete_user_model_ptr)(UserModel* ums);
typedef void (*mbs_delete_user_IO_ptr)(UserIO *uvs);
typedef void (*mbs_get_user_IO_size_ptr)(int *n_in, int *n_out, int *n_user_IO);
typedef void (*mbs_get_user_model_size_ptr)(int *n_usr_model);
typedef void (*mbs_get_user_model_list_ptr)(int *user_model_list);
typedef void (*mbs_load_user_model_ptr)(MbsInfos* mbs_infos, UserModel* ums);
typedef void (*mbs_bind_user_model_ptr)(MbsInfos* mbs_infos, UserModel* ums);
typedef void (*mbs_print_user_model_ptr)(UserModel* ums, FILE *fs);
typedef void (*mbs_save_um_ptr)(FILE* stream, UserModel* ums);
typedef void (*mbs_print_user_IO_ptr)(UserIO *uio);
typedef void (*mbs_save_user_IO_ptr)(FILE* stream, UserIO *uio);
 
 
typedef struct Realtime_option Realtime_option;
typedef void (*user_realtime_options_ptr)(MbsData* mbs_data, Realtime_option *options);
typedef struct Simu_realtime Simu_realtime;
typedef uint8_t Uint8;  // copied from sdl header
typedef void (*user_keyboard_ptr)(MbsData* mbs_data, Simu_realtime *realtime, int cur_t_usec, const Uint8 *keystates);
typedef void (*user_realtime_plot_ptr)(MbsData* mbs_data);
typedef void (*user_joystick_axes_ptr)(MbsData* mbs_data, Simu_realtime *realtime, int nb_joysticks);
typedef void (*user_joystick_buttons_ptr)(MbsData* mbs_data, int buttonID);
typedef void    (*user_realtime_visu_ptr)(MbsData* mbs_data, int nb_models, int *nb_q, double **q_vec);
 
typedef void    (*mbs_link_ptr)(double **frc,double **trq,double *Flnk,double *Z,double *Zd,MbsData *s, double tsim);
typedef void    (*mbs_link3D_ptr)(double **frc,double **trq, MbsData *s, double tsim);
typedef void    (*mbs_extforces_ptr)(double **frc, double **trq, MbsData *s, double tsim);
typedef int     (*mbs_accelred_ptr)(MbsData *s, double tsim);
typedef void    (*mbs_dirdyna_ptr)(double **M,double *c, MbsData *s, double tsim);
typedef void    (*mbs_invdyna_ptr)(double *Q, MbsData *s, double tsim);
typedef void    (*mbs_cons_hJ_ptr)(double *h,double **Jac,MbsData *s, double tsim);
typedef void    (*mbs_cons_jdqd_ptr)(double *Jdqd,MbsData *s, double tsim);
typedef void    (*mbs_sensor_ptr)(MbsSensor *sens, MbsData *s, int isens);
typedef void    (*mbs_gensensor_ptr)(MbsSensor *sens, MbsData *s, int isens);
typedef int     (*mbs_checksymb_ptr)(MbsData *s);
typedef void    (*mbs_invdynared_d_ptr)(MbsData *s, double tsim);
 
#ifdef __cplusplus
}
#endif
 
#endif