mbs_sensor_utilities.c File Reference

#include <stdlib.h>
#include "mbs_sensor.h"
#include "mbs_data.h"
#include "mbs_project_interface.h"

Functions
void	allocate_sensor (MbsSensor *psens, int njoint)
	Allocate the Jacobian matrix of the MbsSensor according to the number of joints in the multibody system. More...
void	init_sensor (MbsSensor *psens, int njoint)
	Initialize all fields of MbsSensor structure to 0. More...
void	free_sensor (MbsSensor *psens)
	Deprecated: Free the memory inside MbsSensor structure. i.e. free the space allocated for the jacobian matrix and the rotation matrix of the sensor. More...
MbsSensor *	mbs_new_sensor (MbsData *mbs_data)
	Create a new MbsSensor structure, allocate and initialize the memory for all fields. More...
void	mbs_delete_sensor (MbsSensor *psens)
	Free the memory of MbsSensor structure. and its contents. More...
void	mbs_comp_S_sensor (MbsSensor *psens, MbsData *mbs_data, int isens)
	Compute all fields of the specified sensor. More...
void	mbs_comp_F_sensor (MbsSensor *psens, MbsData *mbs_data, int isens)
	Compute all fields of the specified force sensor. More...
void	mbs_comp_gen_sensor (MbsSensor *psens, MbsData *mbs_data, int joint_id)
	Compute all fields of a sensor located on the specified joint. More...

Function Documentation

allocate_sensor()

void allocate_sensor	(	MbsSensor *	psens,
		int	njoint
	)

Allocate the Jacobian matrix of the MbsSensor according to the number of joints in the multibody system.

Parameters

[in,out]	psens	Pointer to the MbsSensor structure to modify.
[in]	njoint	Number of joint in the MBS, see MbsData::njoint.

free_sensor()

void free_sensor

(

MbsSensor *

psens

)

Deprecated: Free the memory inside MbsSensor structure. i.e. free the space allocated for the jacobian matrix and the rotation matrix of the sensor.

Parameters

[in,out]

psens

Pointer to the MbsSensor structure to be freed.

init_sensor()

void init_sensor	(	MbsSensor *	psens,
		int	njoint
	)

Initialize all fields of MbsSensor structure to 0.

Parameters

[in,out]	psens	Pointer to the MbsSensor structure to initialize.
[in]	njoint	Number of joint in the MBS, see MbsData::njoint.

mbs_comp_F_sensor()

void mbs_comp_F_sensor	(	MbsSensor *	psens,
		struct MbsData *	mbs_data,
		int	isens
	)

Compute all fields of the specified force sensor.

Parameters

[in,out]	psens	Pointer to the MbsSensor structure to compute.
[in]	mbs_data	pointer to the MbsData structure of the model related to the sensor.
[in]	isens	the ID of the force sensor.

mbs_comp_gen_sensor()

void mbs_comp_gen_sensor	(	MbsSensor *	psens,
		struct MbsData *	mbs_data,
		int	joint_id
	)

Compute all fields of a sensor located on the specified joint.

Parameters

[in,out]	psens	Pointer to the MbsSensor structure to compute.
[in]	mbs_data	pointer to the MbsData structure of the model related to the sensor.
[in]	joint_id	the ID of the joint.

mbs_comp_S_sensor()

void mbs_comp_S_sensor	(	MbsSensor *	psens,
		struct MbsData *	mbs_data,
		int	isens
	)

Compute all fields of the specified sensor.

Parameters

[in,out]	psens	Pointer to the MbsSensor structure to compute.
[in]	mbs_data	pointer to the MbsData structure of the model related to the sensor.
[in]	isens	the ID of the sensor.

mbs_delete_sensor()

void mbs_delete_sensor

(

MbsSensor *

psens

)

Free the memory of MbsSensor structure. and its contents.

It frees the MbsSensor structure itself and all its fields.

Parameters

[in,out]

psens

Pointer to the MbsSensor structure to be freed.

mbs_new_sensor()

MbsSensor* mbs_new_sensor

(

struct MbsData *

mbs_data

)

Create a new MbsSensor structure, allocate and initialize the memory for all fields.

This function calls allocate_sensor and init_sensor.