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Robotran C Documentation
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140 void udpate_nq(
MbsData *mbs_data,
int new_nqu,
int new_nqv,
int new_nqc,
int new_nqdriven,
int new_nqlocked);
void sort_inplace_ivec_1(int *vec, int l_v)
sort and modify the (x sized) vector of integers, starting with index 1 The "Bubble sort" is used,...
Definition: mbs_1D_array.c:799
void mbs_msg(const char *msg,...)
Send a message.
Definition: mbs_message.c:87
int Ncons
Number of algebraic constraints.
Definition: mbs_data.h:317
int * qa
Array with the indices of actuated articulations (only for inverse dynamic).
Definition: mbs_data.h:277
void mbs_set_qlocked(MbsData *mbs_data, int qlocked)
set a variable to locked partition
Definition: mbs_set.c:108
int nqv
Number of dependent articulations.
Definition: mbs_data.h:267
int * qc
Array with the indices of driven (locked and driven) articulations.
Definition: mbs_data.h:272
int nqu
Number of independent articulations.
Definition: mbs_data.h:262
void print_mbs_q_vec(int *q_vec, int nq)
print a vector of indexes with first elem in brackets
Definition: mbs_set.c:257
void mbs_error_msg(int err, const char *msg,...)
Send an error message.
Definition: mbs_message.c:131
#define _MBS_ERR_LOW_FILES
Low Level error number Error during opening/writing files = -9.
Definition: mbs_errors_names.h:157
void mbs_set_qu(MbsData *mbs_data, int qu)
set a variable to independent partition
Definition: mbs_set.c:40
void mbs_set_qlocked(MbsData *mbs_data, int qlocked)
set a variable to locked partition
Definition: mbs_set.c:108
void mbs_empty_qa(MbsData *mbs_data)
Remove all joints from the actuated partition.
Definition: mbs_set.c:152
int njoint
Number of joints in the system.
Definition: mbs_data.h:259
void mbs_warning_msg(const char *msg,...)
Send a warning message.
Definition: mbs_message.c:100
void print_mbs_q_vec(int *q_vec, int nq)
print a vector of indexes with first elem in brackets
Definition: mbs_set.c:257
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 i...
Definition: mbs_set.c:213
void mbs_set_nb_userc(MbsData *mbs_data, int Nuserc)
Set the number of user constraints and update the related structures.
Definition: mbs_set.c:19
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 i...
Definition: mbs_set.c:185
int * hu
Array with the indices of independent constraints.
Definition: mbs_data.h:280
void mbs_set_qa(MbsData *mbs_data, int qa)
set a variable to actuated partition
Definition: mbs_set.c:131
void mbs_set_qv(MbsData *mbs_data, int qv)
set a variable to dependent partition
Definition: mbs_set.c:62
void mbs_set_qu(MbsData *mbs_data, int qu)
set a variable to independent partition
Definition: mbs_set.c:40
int Nuserc
Number of user constraints.
Definition: mbs_data.h:318
int * qu
Array with the indices of the independent articulations (free)
Definition: mbs_data.h:271
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,...
Definition: mbs_set.c:163
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 i...
Definition: mbs_set.c:185
int * qv
Array with the indices of the dependent articulations .
Definition: mbs_data.h:279
int Nloopc
Number of loop constraints.
Definition: mbs_data.h:316
void mbs_set_qa(MbsData *mbs_data, int qa)
set a variable to actuated partition
Definition: mbs_set.c:131
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,...
Definition: mbs_set.c:163
void print_mbs_q_all(MbsData *mbs_data)
print the vectors qu, qv, qc, qdriven and qlocked
Definition: mbs_set.c:243
int nqdriven
Number of driven articulations.
Definition: mbs_data.h:265
void mbs_empty_qa(MbsData *mbs_data)
Remove all joints from the actuated partition.
Definition: mbs_set.c:152
int nqc
Number of driven articulations, it includes qlocked and qdriven.
Definition: mbs_data.h:263
void mbs_unset_qa(MbsData *mbs_data, int qa)
unset a variable from the actuated partition
Definition: mbs_set.c:147
Definition: mbs_data.h:246
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 i...
Definition: mbs_set.c:213
int * qlocked
Array with the indices of locked articulations.
Definition: mbs_data.h:273
void mbs_unset_qa(MbsData *mbs_data, int qa)
unset a variable from the actuated partition
Definition: mbs_set.c:147
void mbs_set_qv(MbsData *mbs_data, int qv)
set a variable to dependent partition
Definition: mbs_set.c:62
void print_mbs_q_all(MbsData *mbs_data)
print the vectors qu, qv, qc, qdriven and qlocked
Definition: mbs_set.c:243
void mbs_set_qdriven(MbsData *mbs_data, int qdriven)
set a variable to driven partition
Definition: mbs_set.c:85
int * qdriven
Array with the indices of driven articulations.
Definition: mbs_data.h:275
int find_ivec_1(int *vec, int l_v, int f)
return the index of the value f in the (x sized) vector vec of integers, starting with index 1....
Definition: mbs_1D_array.c:907
void mbs_set_qdriven(MbsData *mbs_data, int qdriven)
set a variable to driven partition
Definition: mbs_set.c:85
int nqa
Number of actuated articulations.
Definition: mbs_data.h:266
int nqlocked
Number of locked articulations.
Definition: mbs_data.h:264
void mbs_set_nb_userc(MbsData *mbs_data, int Nuserc)
Set the number of user constraints and update the related structures.
Definition: mbs_set.c:19
int nhu
Number of independent constraints.
Definition: mbs_data.h:268
1.8.17