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Robotran C Documentation
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Go to the documentation of this file. 1 #ifndef _SENSOR_UTILITIES_H
2 #define _SENSOR_UTILITIES_H
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().
Definition: mbs_project_fct_ptr.c:481
user_LinkForces_d_ptr user_LinkForces_dq
Definition: mbs_data.h:167
int mbs_Rred(MbsAux *mbs_aux, MbsData *s)
compute Rred, the reduced equations of motions on a residual form [nqu x 1] obtained after the 2 cons...
Definition: mbs_Rred.c:23
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().
Definition: mbs_project_fct_ptr.c:449
void user_call_invdyn_init(MbsData *mbs_data, MbsInvdyn *mbs_invd)
Module redirection for user own dirdyn initialization function, see user_dirdyn_init().
Definition: mbs_project_fct_ptr.c:534
mbs_checksymb_ptr mbs_check_symbolic
Definition: mbs_data.h:79
int mbs_call_link3D(double **frc, double **trq, MbsData *s, double tsim)
Symbolic link 3D forces function declaration.
Definition: mbs_project_fct_ptr.c:40
#define MBS_INFO_FAILURE
Definition: mbs_define.h:31
void mbs_msg(const char *msg,...)
Send a message.
Definition: mbs_message.c:87
user real-time option
Definition: realtime.h:42
mbs_invdynared_d_ptr mbs_invdynared_dqdd
Definition: mbs_data.h:82
int Ncons
Number of algebraic constraints.
Definition: mbs_data.h:317
mbs_invdynared_d_ptr mbs_invdynared_dqd
Definition: mbs_data.h:81
user_realtime_visu_ptr user_realtime_visu
Definition: mbs_data.h:188
struct Functions::@5 user
General structure of the inverse dynamics module.
Definition: mbs_invdyn_struct.h:27
void user_call_invdyn_loop(MbsData *mbs_data, MbsInvdyn *mbs_invd)
Module redirection for user own dirdyn loop function, see user_dirdyn_loop().
Definition: mbs_project_fct_ptr.c:540
mbs_cons_hJ_ptr mbs_cons_hJ
Definition: mbs_data.h:75
void user_call_equil_fxe(MbsData *mbs_data, double *f)
Module redirection for user own equilibrium equations function, see user_equil_fxe().
Definition: mbs_project_fct_ptr.c:572
user_equil_finish_ptr user_equil_finish
Definition: mbs_data.h:103
double tsim
The time value.
Definition: mbs_data.h:305
int nqrot
Number of rotational joint (R1, R2 or R3)
Definition: mbs_data.h:269
int mbs_comp_S_sensor(MbsSensor *psens, struct MbsData *mbs_data, int isens)
Compute all fields of the specified sensor.
Definition: mbs_sensor_utilities.c:73
void user_call_dirdyn_finish(MbsData *mbs_data, MbsDirdyn *mbs_dd)
Module redirection for user own dirdyn finish function, see user_dirdyn_finish().
Definition: mbs_project_fct_ptr.c:526
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.
Definition: mbs_project_fct_ptr.c:620
double * user_call_JointForces_dp(MbsData *s, double tsim)
Module redirection for user function, see user_JointForces_dp().
Definition: mbs_project_fct_ptr.c:334
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().
Definition: mbs_project_fct_ptr.c:497
mbs_invdynared_d_ptr mbs_invdynared_dp
Definition: mbs_data.h:83
int nqv
Number of dependent articulations.
Definition: mbs_data.h:267
mbs_link_ptr mbs_link
Definition: mbs_data.h:69
int * qc
Array with the indices of driven (locked and driven) articulations.
Definition: mbs_data.h:272
mbs_invdyna_ptr mbs_invdyna
Definition: mbs_data.h:74
void user_call_dirdyn_loop(MbsData *mbs_data, MbsDirdyn *mbs_dd)
Module redirection for user own dirdyn loop function, see user_dirdyn_loop().
Definition: mbs_project_fct_ptr.c:520
int mbs_comp_F_sensor(MbsSensor *psens, struct MbsData *mbs_data, int isens)
Compute all fields of the specified force sensor.
Definition: mbs_sensor_utilities.c:78
int nqu
Number of independent articulations.
Definition: mbs_data.h:262
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().
Definition: mbs_project_fct_ptr.c:354
void lubksb(double **a, int n, int *indx, double b[])
Definition: lubksb.c:10
MbsSensor * mbs_new_sensor(struct MbsData *mbs_data)
Create a new MbsSensor structure, allocate and initialize the memory for all fields.
Definition: mbs_sensor_utilities.c:57
int njoint
Number of joints in the system.
Definition: mbs_data.h:259
Declaration of functions that are project dependent.
int mbs_call_cons_jdqd(double *Jdqd, MbsData *s, double tsim)
Symbolic jdqd function declaration.
Definition: mbs_project_fct_ptr.c:105
user_equil_init_ptr user_equil_init
Definition: mbs_data.h:101
user_dirdyn_init_ptr user_dirdyn_init
Definition: mbs_data.h:93
user_equil_loop_ptr user_equil_loop
Definition: mbs_data.h:102
set_mbs_to_output_ptr user_synch_outputs
Definition: mbs_data.h:191
double * user_call_JointForces(MbsData *s, double tsim)
Module redirection for user joint force function, see user_JointForces().
Definition: mbs_project_fct_ptr.c:202
user_dirdyn_loop_ptr user_dirdyn_loop
Definition: mbs_data.h:94
void user_call_keyboard(MbsData *mbs_data, Simu_realtime *realtime, int cur_t_usec, const Uint8 *keystates)
Definition: mbs_project_fct_ptr.c:587
user_invdyn_finish_ptr user_invdyn_finish
Definition: mbs_data.h:99
int mbs_call_link(double **frc, double **trq, double *Flnk, double *Z, double *Zd, MbsData *s, double tsim)
Symbolic link forces function declaration.
Definition: mbs_project_fct_ptr.c:29
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().
Definition: mbs_project_fct_ptr.c:374
int ludcmp(double **a, int n, int *indx, double *d)
LU decomposition of a matrix with index starting at 1.
Definition: ludcmp.c:19
user_JointForces_d_ptr user_JointForces_dqdd
Definition: mbs_data.h:164
user_ExtForces_ptr user_ExtForces
Definition: mbs_data.h:115
int mbs_call_invdynared_dqd(MbsData *s, double tsim)
Compute the damping matrix of the system.
Definition: mbs_project_fct_ptr.c:165
mbs_dirdyna_ptr mbs_dirdyna
Definition: mbs_data.h:73
double * user_call_JointForces_dqdd(MbsData *s, double tsim, int ixJ)
Module redirection for user function, see user_call_JointForces_dqdd().
Definition: mbs_project_fct_ptr.c:324
user_joystick_axes_ptr user_joystick_axes
Definition: mbs_data.h:186
#define _MBS_ERR_LOW_NAN
Low Level error number Number is NaN (not a number) = -7.
Definition: mbs_errors_names.h:147
void user_call_equil_loop(MbsData *mbs_data, MbsEquil *mbs_equil)
Module redirection for user own equil loop function, see user_equil_loop().
Definition: mbs_project_fct_ptr.c:560
int flag_optim_symb_sin_cos
allow the "optimisation" of the computation of the sine/cosine in the symbolic files....
Definition: mbs_data.h:295
double ** SWr
Array of Swr vector for each external forces.
Definition: mbs_data.h:364
void user_call_invdyn_finish(MbsData *mbs_data, MbsInvdyn *mbs_invd)
Module redirection for user own dirdyn finish function, see user_dirdyn_finish().
Definition: mbs_project_fct_ptr.c:546
void mbs_close_kin(MbsData *s, MbsAux *mbs_aux)
compute the dependent velocities that solves the constraints.
Definition: mbs_close_loops.c:146
mbs_link3D_ptr mbs_link3D
Definition: mbs_data.h:70
user_Link3DForces_ptr user_Link3DForces
Definition: mbs_data.h:114
void user_call_joystick_buttons(MbsData *mbs_data, int buttonID)
Definition: mbs_project_fct_ptr.c:612
int * hu
Array with the indices of independent constraints.
Definition: mbs_data.h:280
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().
Definition: mbs_project_fct_ptr.c:235
void user_call_realtime_plot(MbsData *mbs_data)
Definition: mbs_project_fct_ptr.c:596
void user_call_synch_outputs(MbsData *mbs_data)
Definition: mbs_project_fct_ptr.c:636
user_joystick_buttons_ptr user_joystick_buttons
Definition: mbs_data.h:187
Definition: mbs_equil_struct.h:79
user_Link3DForces_d_ptr user_Link3DForces_dqd
Definition: mbs_data.h:173
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().
Definition: mbs_project_fct_ptr.c:364
user_keyboard_ptr user_keyboard
Definition: mbs_data.h:184
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 ...
Definition: mbs_project_fct_ptr.c:280
int flag_safety_checks
Flag to activate safety checks everywhere in mbsysc core. Faster computation if this flag is put to 0...
Definition: mbs_data.h:406
void user_call_dirdyn_init(MbsData *mbs_data, MbsDirdyn *mbs_dd)
Module redirection for user own dirdyn initialization function, see user_dirdyn_init().
Definition: mbs_project_fct_ptr.c:514
mbs_sensor_ptr mbs_sensor
Definition: mbs_data.h:77
user_equil_fxe_ptr user_equil_fxe
Definition: mbs_data.h:104
#define _MBS_ERR_MID_RRED
Mid Level error number Related to the computation of the Rred matrix.
Definition: mbs_errors_names.h:102
int * qu
Array with the indices of the independent articulations (free)
Definition: mbs_data.h:271
uint8_t Uint8
Definition: mbs_project_fct_ptr.h:98
int * qv
Array with the indices of the dependent articulations .
Definition: mbs_data.h:279
user_Link3DForces_d_ptr user_Link3DForces_dq
Definition: mbs_data.h:172
double * Qc
Array with the value of joint force introduced in driven joint to respect the user function.
Definition: mbs_data.h:332
mbs_extforces_ptr mbs_extforces
Definition: mbs_data.h:71
user_cons_hJ_ptr user_cons_hJ
Definition: mbs_data.h:109
#define _MBS_ERR_LOW_NULL_PTR
Low Level error number A called symbolic or user function is set to NULL;.
Definition: mbs_errors_names.h:142
user_LinkForces_ptr user_LinkForces
Definition: mbs_data.h:113
int mbs_call_cons_hJ(double *h, double **Jac, MbsData *s, double tsim)
Symbolic constraints function declaration.
Definition: mbs_project_fct_ptr.c:94
double * Qq
Array with the values of the joint forces.
Definition: mbs_data.h:301
int mbs_call_sensor(MbsSensor *sens, MbsData *s, int isens)
Declaration of the symbolic function computing all fields of a sensor.
Definition: mbs_project_fct_ptr.c:116
double * q
Array with the current values of the generalized coordinates.
Definition: mbs_data.h:284
user_ExtForces_dp_ptr user_ExtForces_dp
Definition: mbs_data.h:180
user_Link3DForces_dp_ptr user_Link3DForces_dp
Definition: mbs_data.h:175
int mbs_call_accelred(MbsData *s, double tsim)
Symbolic reduced acceleration function declaration.
Definition: mbs_project_fct_ptr.c:62
user_realtime_plot_ptr user_realtime_plot
Definition: mbs_data.h:185
user_JointForces_d_ptr user_JointForces_dqd
Definition: mbs_data.h:163
int mbs_calc_jdqd(MbsData *s, MbsAux *mbs_aux)
compute the quadratic term of the constraints at acceleration level:
Definition: mbs_close_loops.c:236
This header defines the functions for trigonometric handling in MBsysC integrator in C.
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().
Definition: mbs_project_fct_ptr.c:384
user_realtime_options_ptr user_realtime_options
Definition: mbs_data.h:183
Functions fct
Structure to store the pointer to the project-specific functions.
Definition: mbs_data.h:414
user_Derivative_ptr user_Derivative
Definition: mbs_data.h:106
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().
Definition: mbs_project_fct_ptr.c:212
int mbs_call_invdynared_dq(MbsData *s, double tsim)
Compute the stiffness matrix of the system.
Definition: mbs_project_fct_ptr.c:154
int mbs_call_extforces(double **frc, double **trq, MbsData *s, double tsim)
Symbolic external forces function declaration.
Definition: mbs_project_fct_ptr.c:51
user_invdyn_loop_ptr user_invdyn_loop
Definition: mbs_data.h:98
void init_sensor(MbsSensor *psens, int njoint)
Initialize all fields of MbsSensor structure to 0.
Definition: mbs_sensor_utilities.c:25
int mbs_calc_force(MbsData *s)
compute the force and torques applied on the multibody system.
Definition: mbs_calc_force.c:16
int nqc
Number of driven articulations, it includes qlocked and qdriven.
Definition: mbs_data.h:263
double ** l3DWr
Definition: mbs_data.h:342
user_LinkForces_dp_ptr user_LinkForces_dp
Definition: mbs_data.h:170
int mbs_close_geo(MbsData *s, MbsAux *mbs_aux)
compute a position of the multibody system which solves the constraints
Definition: mbs_close_loops.c:43
mbs_accelred_ptr mbs_accelred
Definition: mbs_data.h:72
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().
Definition: mbs_project_fct_ptr.c:465
int mbs_call_invdyna(double *Q, MbsData *s, double tsim)
Symbolic inverse dynamic function declaration.
Definition: mbs_project_fct_ptr.c:83
int mbs_call_invdynared_dp(MbsData *s, double tsim)
Definition: mbs_project_fct_ptr.c:187
Definition: mbs_data.h:246
int user_call_Derivative(MbsData *s)
Module redirection for the time derivative of the user state variables, see user_Derivative() however...
Definition: mbs_project_fct_ptr.c:248
Real-time constraints main header.
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.
Definition: mbs_project_fct_ptr.c:269
mbs_gensensor_ptr mbs_gensensor
Definition: mbs_data.h:78
real-time structure
Definition: realtime.h:99
user_cons_J_accelred_ptr user_cons_J_accelred
Definition: mbs_data.h:111
user_ExtForces_d_ptr user_ExtForces_dqd
Definition: mbs_data.h:178
user_Link3DForces_d_ptr user_Link3DForces_dqdd
Definition: mbs_data.h:174
int mbs_call_check_symbolic(MbsData *s)
Call the symbolic checking function, see mbs_check_symbolic().
Definition: mbs_project_fct_ptr.c:138
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().
Definition: mbs_project_fct_ptr.c:416
void mbs_compute_sin_cos_quc(MbsData *s, int *qrot_qu_indvec, int *qrot_qc_indvec)
Compute the sine and cosine of the q_sin and q_cos, only for the rotational joints that are independe...
Definition: mbs_trigo.c:65
Definition: mbs_sensor_struct.h:18
void user_call_equil_finish(MbsData *mbs_data, MbsEquil *mbs_equil)
Module redirection for user own equil finish function, see user_equil_finish().
Definition: mbs_project_fct_ptr.c:566
void user_call_equil_init(MbsData *mbs_data, MbsEquil *mbs_equil)
Module redirection for user own equilibrium initialization function, see user_equil_init().
Definition: mbs_project_fct_ptr.c:554
user_JointForces_d_ptr user_JointForces_dq
Definition: mbs_data.h:162
void user_call_realtime_options(MbsData *mbs_data, Realtime_option *options)
Definition: mbs_project_fct_ptr.c:579
double * user_call_JointForces_dq(MbsData *s, double tsim, int ixJ)
Module redirection for user function, see user_JointForces_dq().
Definition: mbs_project_fct_ptr.c:304
user_cons_jdqd_ptr user_cons_jdqd
Definition: mbs_data.h:110
user_DrivenJoints_ptr user_DrivenJoints
Definition: mbs_data.h:107
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().
Definition: mbs_project_fct_ptr.c:432
user_invdyn_init_ptr user_invdyn_init
Definition: mbs_data.h:97
double user_call_LinkForces(double Z, double Zd, MbsData *s, double tsim, int ilnk)
Module redirection for user link force function, see user_LinkForces().
Definition: mbs_project_fct_ptr.c:225
int mbs_comp_gen_sensor(MbsSensor *psens, struct MbsData *mbs_data, int joint_id)
Compute all fields of a sensor located on the specified joint.
Definition: mbs_sensor_utilities.c:83
int flag_stop
stop the simulation. For dirdyn, equil, invdyn and solvekin only.
Definition: mbs_data.h:397
void allocate_sensor(MbsSensor *psens, int njoint)
Allocate the Jacobian matrix of the MbsSensor according to the number of joints in the multibody syst...
Definition: mbs_sensor_utilities.c:20
user_JointForces_dp_ptr user_JointForces_dp
Definition: mbs_data.h:165
void free_sensor(MbsSensor *psens)
Deprecated: Free the memory inside MbsSensor structure. i.e. free the space allocated for the jacobia...
Definition: mbs_sensor_utilities.c:51
void copy_dvec_0(double *vec_src, double *vec_dest, int l_v)
Copy the content of a vector (of sizel_v) of doubles to a second vector, starting with index 0.
Definition: mbs_1D_array.c:981
int mbs_call_dirdyna(double **M, double *c, MbsData *s, double tsim)
Symbolic direct dynamic function declaration.
Definition: mbs_project_fct_ptr.c:72
#define MBS_INFO_SUCCESS
Definition: mbs_define.h:29
void slct_dvec_1(double *vec_src, int *vec_ind_src, int l_v, double *vec_dest)
fill the third vector by slicing the first vector of doubles at the indexes specified in the second (...
Definition: mbs_1D_array.c:1323
void pick_and_place_dvec_1(double *src, int *index, int n, double *dest)
Pick the values from an array and set them in the destination array at the specified index.
Definition: mbs_1D_array.c:1305
double * lambda
Array with the values of the Lagrange Multipliers related to the constraints.
Definition: mbs_data.h:321
struct Functions::@4 symb
General structure of the direct dynamic module.
Definition: mbs_dirdyn_struct.h:166
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.
Definition: mbs_project_fct_ptr.c:127
user_ExtForces_d_ptr user_ExtForces_dqdd
Definition: mbs_data.h:179
user_LinkForces_d_ptr user_LinkForces_dqd
Definition: mbs_data.h:168
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().
Definition: mbs_project_fct_ptr.c:400
double * qdd
Array with the current values of the generalized acceleration.
Definition: mbs_data.h:286
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().
Definition: mbs_project_fct_ptr.c:344
mbs_cons_jdqd_ptr mbs_cons_jdqd
Definition: mbs_data.h:76
#define MBS_INFO_WARNING
Definition: mbs_define.h:30
int user_call_DrivenJoints(MbsData *s, double tsim)
Module redirection for the computation of driven joints, see user_DrivenJoints() however the return d...
Definition: mbs_project_fct_ptr.c:258
int mbs_Rred_core(MbsAux *mbs_aux, MbsData *s)
Compute the residual force on independant joints and required force in driven joints.
Definition: mbs_Rred.c:41
double * user_call_JointForces_dqd(MbsData *s, double tsim, int ixJ)
Module redirection for user function, see user_JointForces_dqd().
Definition: mbs_project_fct_ptr.c:314
int user_call_cons_J_accelred(MbsData *s, double tsim)
Module redirection for accelred user-specified constraints function, see user_cons_J_accelred().
Definition: mbs_project_fct_ptr.c:291
user_LinkForces_d_ptr user_LinkForces_dqdd
Definition: mbs_data.h:169
void mbs_delete_sensor(MbsSensor *psens)
Free the memory of MbsSensor structure. and its contents.
Definition: mbs_sensor_utilities.c:64
void user_call_joystick_axes(MbsData *mbs_data, Simu_realtime *realtime, int nb_joysticks)
Definition: mbs_project_fct_ptr.c:604
mbs_invdynared_d_ptr mbs_invdynared_dq
Definition: mbs_data.h:80
int mbs_call_invdynared_dqdd(MbsData *s, double tsim)
Compute the reduced mass matrix of the system.
Definition: mbs_project_fct_ptr.c:176
user_JointForces_ptr user_JointForces
Definition: mbs_data.h:88
int nhu
Number of independent constraints.
Definition: mbs_data.h:268
user_dirdyn_finish_ptr user_dirdyn_finish
Definition: mbs_data.h:95
user_ExtForces_d_ptr user_ExtForces_dq
Definition: mbs_data.h:177
1.8.17