mbs_project_interface.h

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#include "mbs_data.h"
#include "mbs_aux.h"
#include "mbs_dirdyn_struct.h"
#include "mbs_equil_struct.h"
 
void mbs_get_project_functions(MbsData *mbs_data);
 
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * */
/*                    User functions                     */
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * */
void user_load_post(MbsData *MBSdata);
void user_free(MbsData *MBSdata);
 
void user_dirdyn_init(MbsData *MBSdata, MbsDirdyn *mbs_dd);
void user_dirdyn_loop(MbsData *MBSdata, MbsDirdyn *mbs_dd);
void user_dirdyn_finish(MbsData *MBSdata, MbsDirdyn *mbs_dd);
 
void user_invdyn_init(MbsData *MBSdata, MbsInvdyn *mbs_invd);
void user_invdyn_loop(MbsData *MBSdata, MbsInvdyn *mbs_invd);
void user_invdyn_finish(MbsData *MBSdata, MbsInvdyn *mbs_invd);
 
void user_equil_init(MbsData *MBSdata, MbsEquil *mbs_equil);
void user_equil_loop(MbsData *MBSdata, MbsEquil *mbs_equil);
void user_equil_finish(MbsData *MBSdata, MbsEquil *mbs_equil);
void user_equil_fxe(MbsData *mbs_data, double* f);
 
void user_cons_hJ(double *h, double **Jac, MbsData *s, double tsim);
 
void user_cons_jdqd(double *jdqd, MbsData *s, double tsim);
 
void user_Derivative(MbsData *s);
 
void user_DrivenJoints(MbsData *s, double tsim);
 
double* user_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);
 
double* user_GenExtForces(double PxF[4], double RxF[4][4],
                       double VxF[4], double OMxF[4],
                       double AxF[4], double OMPxF[4],
                       MbsData *s, double tsim,int iBody);
 
double* user_JointForces(MbsData *s, double tsim);
 
double user_LinkForces(double Z, double Zd, MbsData *s, double tsim, int ilnk);
 
double* user_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);
 
int user_cons_J_accelred(MbsData* s, double tsim);
 
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * */
/*                  Symbolic functions                   */
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * */
 
void mbs_cons_hJ(double *h,double **Jac,MbsData *s, double tsim);
 
void mbs_cons_jdqd(double *Jdqd,MbsData *s, double tsim);
 
void mbs_link(double **frc,double **trq,double *Flnk,double *Z,double *Zd,MbsData *s, double tsim);
 
void mbs_link3D(double **frc,double **trq, MbsData *s, double tsim);
 
void mbs_extforces(double **frc, double **trq, MbsData *s, double tsim);
 
int mbs_accelred(MbsData *s, double tsim);
 
void  mbs_gensensor(MbsSensor *sens, MbsData *s, int isens);
 
void  mbs_sensor(MbsSensor *sens, MbsData *s, int isens);
 
void mbs_invdyna(double *Qq, MbsData *s, double tsim);
 
void mbs_dirdyna(double **M,double *c, MbsData *s, double tsim);