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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:724
int Ncons
Number of algebraic constraints.
Definition: mbs_data.h:218
int * qa
Array with the indices of actuated articulations (only for inverse dynamic).
Definition: mbs_data.h:180
void mbs_set_qlocked(MbsData *mbs_data, int qlocked)
set a variable to locked partition
Definition: mbs_set.c:108
void mbs_error_msg(char *msg,...)
Send an error message.
Definition: mbs_message.c:102
int nqv
Number of dependent articulations.
Definition: mbs_data.h:170
int * qc
Array with the indices of driven (locked and driven) articulations.
Definition: mbs_data.h:175
int nqu
Number of independent articulations.
Definition: mbs_data.h:165
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
#define _MBS_ERR_LOW_FILES
Low Level error number Error during opening/writing files = -9.
Definition: mbs_errors_names.h:147
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:162
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:183
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
void mbs_msg(char *msg,...)
Send a message.
Definition: mbs_message.c:76
int Nuserc
Number of user constraints.
Definition: mbs_data.h:219
int * qu
Array with the indices of the independent articulations (free)
Definition: mbs_data.h:174
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:182
int Nloopc
Number of loop constraints.
Definition: mbs_data.h:217
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:168
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:166
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:149
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:176
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:178
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:832
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:169
int nqlocked
Number of locked articulations.
Definition: mbs_data.h:167
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
void mbs_warning_msg(char *msg,...)
Send a warning message.
Definition: mbs_message.c:89
int nhu
Number of independent constraints.
Definition: mbs_data.h:171
1.8.17