mbs_solvekin.c File Reference

#include <stdio.h>
#include <stdlib.h>
#include "string.h"
#include "lut.h"
#include "MBSfun.h"
#include "mbs_check.h"
#include "set_output.h"
#include "mbs_message.h"
#include "mbs_solvekin.h"
#include "mbs_solvekin_struct.h"
#include "mbs_project_interface.h"
#include "mbs_errors_names.h"
#include "mbs_trigo.h"

Functions
MbsSolvekin *	mbs_new_solvekin (MbsData *mbs_data)
	Create a new inverse kinematic structure. More...
MbsSolvekin *	mbs_new_solvekin_aux (MbsAux *mbs_aux)
	Fills a new inverse kinematic structure. More...
void	mbs_delete_solvekin (MbsSolvekin *solvekin, MbsData *mbs_data)
	Free memory of the inverse kinematic structure The options (MbsInvOptions) and MbsAux structures are also freed. More...
int	mbs_run_solvekin (MbsSolvekin *sk, MbsData *mbs_data)
	Run the inverse kinematic analysis. More...
int	mbs_solvekin_save (MbsSolvekin *sk, double t)
	Save the values of solvekin analysis in the buffers. More...
int	mbs_solvekin_init (MbsSolvekin *sk, MbsData *mbs_data)
	Run the startup operations of the run_solvekin function. More...
int	mbs_solvekin_loop (MbsSolvekin *sk, MbsData *mbs_data)
	Time loop of the run_solvekin function: More...
int	mbs_solvekin_finish (MbsSolvekin *sk)
	Run the finalization operations of the run_solvekin function. More...
int	mbs_solvekin_write_buffers (MbsSolvekin *sk)
	Write the content of buffer associated to the given MbsSolvekin to disk. More...
int	mbs_fct_solvekin (MbsData *s, MbsSolvekin *sk)
	inverse kinematics computation of q, qd and qdd More...

Detailed Description

This file implements the functions of the solvekin module in C.

Creation date: 15/12/2018

Author

Olivier Lantsoght

(c) Universite catholique de Louvain

Function Documentation

mbs_delete_solvekin()

void mbs_delete_solvekin	(	MbsSolvekin *	solvekin,
		MbsData *	mbs_data
	)

Free memory of the inverse kinematic structure The options (MbsInvOptions) and MbsAux structures are also freed.

mbs_fct_solvekin()

int mbs_fct_solvekin	(	MbsData *	s,
		MbsSolvekin *	sk
	)

inverse kinematics computation of q, qd and qdd

Parameters

[in,out]	s	Robotran main structure
[in,out]	sk	inverse kinematic main module structure

Returns

the number of iterations needed to close the system (>0), or an error value (<0)

mbs_new_solvekin()

MbsSolvekin* mbs_new_solvekin

(

MbsData *

mbs_data

)

Create a new inverse kinematic structure.

This function also initialize the options structures and the MbsAux for storing computational info during computation.

Parameters

[in]

mbs_data

the data structure of the model for which the kinematic will be computed.

mbs_new_solvekin_aux()

MbsSolvekin* mbs_new_solvekin_aux

(

MbsAux *

mbs_aux

)

Fills a new inverse kinematic structure.

This function also initialize the options structures. A pointer to the given MbsAux structure is kept by the returned structure.

Parameters

[in]

mbs_aux

the auxilliary structure of the model for which the kinematic will be computed.

Returns

An allocated MbsSolvekin structure with default options

mbs_run_solvekin()

int mbs_run_solvekin	(	MbsSolvekin *	solvekin,
		MbsData *	mbs_data
	)

Run the inverse kinematic analysis.

The MbsData structure associated to solvekin is modified

Parameters

[in,out]	solvekin	the MbsSolvekin to be run
[in,out]	mbs_data	the MbsData structure of the model for which the inverse kinematic is computed

Returns

Error status, <0 in case of failure.

mbs_solvekin_finish()

int mbs_solvekin_finish

(

MbsSolvekin *

solvekin

)

Run the finalization operations of the run_solvekin function.

Parameters

[in,out]	solvekin	the MbsSolvekin to be finalized
[in]	mbs_data	the MbsData structure of the model for which the inverse kinematic is computed

Returns

Error status, <0 in case of failure.

mbs_solvekin_init()

int mbs_solvekin_init	(	MbsSolvekin *	solvekin,
		MbsData *	mbs_data
	)

Run the startup operations of the run_solvekin function.

Parameters

[in,out]	solvekin	the MbsSolvekin to be run
[in]	mbs_data	the MbsData structure of the model for which the inverse kinematic is computed

Returns

Error status, <0 in case of failure.

mbs_solvekin_loop()

int mbs_solvekin_loop	(	MbsSolvekin *	solvekin,
		MbsData *	mbs_data
	)

Time loop of the run_solvekin function:

• call the time integrator
• call the discrete state functions
• call the storing function

Parameters

[in,out]	solvekin	the MbsSolvekin to be run
[in,out]	mbs_data	the MbsData structure of the model for which the inverse kinematic is computed

Returns

Error status, <0 in case of failure.

mbs_solvekin_save()

int mbs_solvekin_save	(	MbsSolvekin *	sk,
		double	t
	)

Save the values of solvekin analysis in the buffers.

Parameters

sk	the MbsSolvekin to be stored in the buffers.
t	the current time.

Returns

Error status, <0 in case of failure.

mbs_solvekin_write_buffers()

int mbs_solvekin_write_buffers

(

MbsSolvekin *

sk

)

Write the content of buffer associated to the given MbsSolvekin to disk.

This is usefull for writing simulation results at the end of the simulation. This sepcific function is written to be able to ask for writing buffer from python.

sk the MbsSolvekin struct for which the buffers must be written

Returns

error (0 if no error)