Robotran C Documentation
mbs_sensor_utilities.h
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1 
10 #ifndef _SENSOR_UTILITIES_H
11 #define _SENSOR_UTILITIES_H
12 
13 #include "mbs_sensor_struct.h"
14 
15 #ifdef __cplusplus
16 extern "C" {
17 #endif
18 
19 // forward declaration
20 struct MbsData;
21 
34 int allocate_sensor(MbsSensor *psens, int njoint);
35 
44 int init_sensor(MbsSensor *psens, int njoint);
45 
58 void free_sensor(MbsSensor *psens);
59 
60 
70 MbsSensor* mbs_new_sensor(struct MbsData* mbs_data);
71 
77 void mbs_delete_sensor(MbsSensor *psens);
78 
79 #ifdef __cplusplus
80 }
81 #endif
82 
83 #endif
MbsData::njoint
int njoint
Number of joints in the system.
Definition: mbs_data.h:320
allocate_sensor
int allocate_sensor(MbsSensor *psens, int njoint)
Allocate the Jacobian matrix of the MbsSensor.
Definition: mbs_sensor.c:17
mbs_sensor_struct.h
init_sensor
int init_sensor(MbsSensor *psens, int njoint)
Initialize all fields of MbsSensor structure to 0 and identity rotation matrix.
Definition: mbs_sensor.c:29
mbs_new_sensor
MbsSensor * mbs_new_sensor(struct MbsData *mbs_data)
Create (allocate and initialize) a new MbsSensor structure.
Definition: mbs_sensor.c:79
MbsData
Definition: mbs_data.h:307
MbsSensor
Definition: mbs_sensor_struct.h:18
mbs_delete_sensor
void mbs_delete_sensor(MbsSensor *psens)
Free the memory of MbsSensor structure and its contents.
Definition: mbs_sensor.c:86
free_sensor
void free_sensor(MbsSensor *psens)
Deprecated: Free the memory INSIDE MbsSensor structure.
Definition: mbs_sensor.c:69
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