mbs_set.c File Reference

#include "mbs_set.h"
#include <stdio.h>
#include <stdlib.h>
#include "useful_functions.h"
#include "mbs_message.h"
#include "mbs_errors_names.h"

Functions
void	mbs_set_nb_userc (MbsData *mbs_data, int Nuserc)
	Set the number of user constraints and update the related structures. More...
void	mbs_set_qu (MbsData *mbs_data, int qu)
	set a variable to independent partition More...
void	mbs_set_qv (MbsData *mbs_data, int qv)
	set a variable to dependent partition More...
void	mbs_set_qdriven (MbsData *mbs_data, int qdriven)
	set a variable to driven partition More...
void	mbs_set_qlocked (MbsData *mbs_data, int qlocked)
	set a variable to locked partition More...
void	mbs_set_qa (MbsData *mbs_data, int qa)
	set a variable to actuated partition More...
void	mbs_unset_qa (MbsData *mbs_data, int qa)
	unset a variable from the actuated partition More...
void	mbs_empty_qa (MbsData *mbs_data)
	Remove all joints from the actuated partition. More...
void	udpate_nq (MbsData *mbs_data, int new_nqu, int new_nqv, int new_nqc, int new_nqdriven, int new_nqlocked)
	DEPRECATED; do not use: update the nq variables, SHOULD not be used The function still works, however the number of joint of a specific nature should have been updated at the same time as the nature of the joint was changed. More...
int	add_mbs_q_elem (int *q_vec, int nq, int new_q)
	add a new index in a q vector It does not modify the vector and vector size if the index is already in the q vector. More...
int	remove_mbs_q_elem (int *q_vec, int nq, int old_q)
	remove an old index in a q vector It does not modify the vector and vector size if the index is not in the q vector. More...
void	print_mbs_q_all (MbsData *mbs_data)
	print the vectors qu, qv, qc, qdriven and qlocked More...
void	print_mbs_q_vec (int *q_vec, int nq)
	print a vector of indexes with first elem in brackets More...

Detailed Description

Creation date: 11/06/2015

Author

Olivier Lantsoght (based on the work of other from CEREM)

(c) Universite catholique de Louvain

Function Documentation

add_mbs_q_elem()

int add_mbs_q_elem	(	int *	q_vec,
		int	nq,
		int	new_q
	)

add a new index in a q vector It does not modify the vector and vector size if the index is already in the q vector.

Parameters

[in,out]	q_vec	original q vector, have to be initialized at size njoint
[in]	nq	number of elements in the original vector
[in]	new_q	new index to add

Returns

the number of elements in the updated vector, negative in case of failure (error)

mbs_empty_qa()

void mbs_empty_qa

(

MbsData *

mbs_data

)

Remove all joints from the actuated partition.

Parameters

[in,out]

mbs_data

MbsData structure to modify

This function must be called after mbs_load()

mbs_set_nb_userc()

void mbs_set_nb_userc	(	MbsData *	mbs_data,
		int	Nuserc
	)

Set the number of user constraints and update the related structures.

Parameters

[in,out]	mbs_data	MbsData structure to modify
[in]	Nuserc	number of user constraints

This function must be called between mbs_load() and mbs_new_part() in 'main.c'

mbs_set_qa()

void mbs_set_qa	(	MbsData *	mbs_data,
		int	qa
	)

set a variable to actuated partition

Parameters

[in,out]	mbs_data	MbsData structure to modify
[in]	qa	variable to set to actuated

This function must be called after mbs_load()

mbs_set_qdriven()

void mbs_set_qdriven	(	MbsData *	mbs_data,
		int	qdriven
	)

set a variable to driven partition

Parameters

[in,out]	mbs_data	MbsData structure to modify
[in]	qdriven	variable to set to driven

This function must be called between mbs_load() and mbs_new_part() in 'main.c'

mbs_set_qlocked()

void mbs_set_qlocked	(	MbsData *	mbs_data,
		int	qlocked
	)

set a variable to locked partition

Parameters

[in,out]	mbs_data	MbsData structure to modify
[in]	qlocked	variable to set to locked

This function must be called between mbs_load() and mbs_new_part() in 'main.c'

mbs_set_qu()

void mbs_set_qu	(	MbsData *	mbs_data,
		int	qu
	)

set a variable to independent partition

Parameters

[in,out]	mbs_data	MbsData structure to modify
[in]	qu	variable to set to independent

This function must be called between mbs_load() and mbs_new_part() in 'main.c'

mbs_set_qv()

void mbs_set_qv	(	MbsData *	mbs_data,
		int	qv
	)

set a variable to dependent partition

Parameters

[in,out]	mbs_data	MbsData structure to modify
[in]	qv	variable to set to dependent

This function must be called between mbs_load() and mbs_new_part() in 'main.c'

mbs_unset_qa()

void mbs_unset_qa	(	MbsData *	mbs_data,
		int	qa
	)

unset a variable from the actuated partition

Parameters

[in,out]	mbs_data	MbsData structure to modify
[in]	qa	variable to unset form the actuated partition

This function must be called after mbs_load()

print_mbs_q_all()

void print_mbs_q_all

(

MbsData *

mbs_data

)

print the vectors qu, qv, qc, qdriven and qlocked

Parameters

[in]

mbs_data

MbsData structure to modify

print_mbs_q_vec()

void print_mbs_q_vec	(	int *	q_vec,
		int	nq
	)

print a vector of indexes with first elem in brackets

Parameters

[in]	q_vec	vector to print
[in]	nq	size of the vector - 1

remove_mbs_q_elem()

int remove_mbs_q_elem	(	int *	q_vec,
		int	nq,
		int	old_q
	)

remove an old index in a q vector It does not modify the vector and vector size if the index is not in the q vector.

Parameters

[in,out]	q_vec	original q vector, have to be initialized at size njoint
[in]	nq	number of elements in the original vector
[in]	old_q	old index to remove

Returns

the number of elements in the updated vector, negative in case of failure (error)

udpate_nq()

void udpate_nq	(	MbsData *	mbs_data,
		int	new_nqu,
		int	new_nqv,
		int	new_nqc,
		int	new_nqdriven,
		int	new_nqlocked
	)

DEPRECATED; do not use: update the nq variables, SHOULD not be used The function still works, however the number of joint of a specific nature should have been updated at the same time as the nature of the joint was changed.

Parameters

[in,out]	mbs_data	MbsData structure to modify
[in]	new_nqu	the new number of independent joints
[in]	new_nqv	the new number of dependent joints
[in]	new_nqc	the new number of driven and locked joints
[in]	new_nqdriven	the new number of driven joint
[in]	new_nqlocked	the new number of locked joint