mbs_statespace.c File Reference

#include "mbs_errors_names.h"
#include "mbs_statespace.h"
#include "mbs_message.h"
#include "nrfct.h"

Functions
MbsSS *	mbs_new_statespace (MbsData *s, int nu, int ny, int compute_uxd, int compute_JS)
	Create a new structure state-space that contains the matrices (A,B,C,D). More...
MbsSS *	blank_new_statespace (int nx, int nu, int ny)
	Allocate and intialize a statespace with almost fields to NULL. More...
int	mbs_compute_linearMatrices (MbsSS *ss, MbsData *mbs_data, MbsLpk *lpk, MbsAux *aux)
	Compute the linearized matrices necessary to obtain the (A,B,C) state-space representation. More...
int	mbs_compute_statespace (MbsSS *ss, MbsData *mbs_data)
	Compute the matrices (A,B,C,D) for a mbs configuration (q,qd,qdd). More...
void	mbs_delete_statespace (MbsSS *ss)
	Free memory of the state-space structure. More...
void	mbs_print_statespace (MbsSS *ss)
	Print the state-space structure. More...

Function Documentation

blank_new_statespace()

MbsSS* blank_new_statespace	(	int	nx,
		int	nu,
		int	ny
	)

Allocate and intialize a statespace with almost fields to NULL.

According to the values of nx, nu and ny, the following field may points to allocated memory instead of NULL:

• MbsSS::A;
• MbsSS::B;
• MbsSS::C;
• MbsSS::D;
• MbsSS::iu;
• MbsSS::iy;

Parameters

[in]	nx	number of state.
[in]	nu	number of input.
[in]	ny	number of output.

Returns

A pointer to the allocated structure.

mbs_compute_linearMatrices()

int mbs_compute_linearMatrices	(	MbsSS *	ss,
		MbsData *	mbs_data,
		MbsLpk *	lpk,
		MbsAux *	aux
	)

Compute the linearized matrices necessary to obtain the (A,B,C) state-space representation.

Parameters

[in,out]	ss	contains the index vectors with info for B and C. the computed A,B,C,D are stored in ss.
[in]	mbs_data	data structure containing the mbs configuration (q,qd,qdd).
[in]	lpk	computation structure used for the linearization.
[in]	aux	auxilary structure necessary for the computation of the reduced residual.

Returns

Error status, <0 in case of failure.

mbs_compute_statespace()

int mbs_compute_statespace	(	MbsSS *	ss,
		MbsData *	mbs_data
	)

Compute the matrices (A,B,C,D) for a mbs configuration (q,qd,qdd).

Parameters

[in,out]	ss	contains the index vectors with info for B and C. the computed A,B,C,D are stored in ss.
[in]	mbs_data	data structure containing the mbs configuration (q,qd,qdd).

Returns

Error status, <0 in case of failure.

mbs_delete_statespace()

void mbs_delete_statespace

(

MbsSS *

ss

)

Free memory of the state-space structure.

Parameters

[in]

ss

state-space structure to delete.

mbs_new_statespace()

MbsSS* mbs_new_statespace	(	MbsData *	s,
		int	nu,
		int	ny,
		int	compute_uxd,
		int	compute_JS
	)

Create a new structure state-space that contains the matrices (A,B,C,D).

Note that the user as to specifiy in index vectors:

• which state are part of C
• which jointForce is used as an input.

Parameters

[in]	s	data structure containing the mbs configuration (q,qd,qdd).
[in]	nu	number of input, based on this, a vector of index is created and must be filled by the user.
[in]	ny	number of output, based on this, a vector of index is created and must be filled by the user.
[in]	compute_uxd	flag to compute the modes associated with the extra constitutive differential equations
[in]	compute_JS	flag to compute the non diagonal terms

Returns

A pointer to the allocated structure.

mbs_print_statespace()

void mbs_print_statespace

(

MbsSS *

ss

)

Print the state-space structure.

Parameters

[in]

ss

state-space structure to print.