mbs_solvekin_struct.h

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#ifndef MBS_SOLVEKIN_STRUCT_h
#define MBS_SOLVEKIN_STRUCT_h
 
#include "lut.h"
#include "mbs_aux.h"
#include "mbs_buffer.h"
 
enum { oneshot, closeloop, trajectory};
 
typedef struct MbsInvOptions
{
    int motion;
    char* trajectoryqname;
    char* trajectoryqdname;
    char* trajectoryqddname;
    double t0;
    double tf;
    double dt;
    int save2file;
    char* resfilename;
    const char* respath;
    const char* animpath;
    int save_anim;
    int framerate;
    int saveperiod;
    int max_save_user;
    int buffersize;
 
    char* buffer_format; 
 
    int verbose;
} MbsInvOptions;
 
typedef struct MbsSolvekin
{
    MbsInvOptions* options;
    MbsAux* mbs_aux;
 
    double tsim;
    int tindex;
 
    MbsBuffer **buffers;
 
    MbsGrowingBuffer *user_buffer;
    int bufferNb;
    double** savedArrays;
    int savePeriodCounter;
 
    int trajectorytype;
 
    MbsLutRes *q, *qd, *qdd;
}MbsSolvekin;
 
 
#endif