mbs_trigo.c File Reference

#include "math.h"
#include "mbs_data.h"
#include "useful_functions.h"
#include "mbs_message.h"

Macros
#define	_MBS_TRIGO_H_

Functions
int	mbs_init_sin_cos_q_vecs (MbsData *s, int *qrot_qu_indvec, int *qrot_qc_indvec, int *qrot_qv_indvec)
	Initialize the three vectors of indices (they are usually contained in the mbs_aux structure) More...
void	mbs_compute_sin_cos_quc (MbsData *s, int *qrot_qu_indvec, int *qrot_qc_indvec)
	Compute the sine and cosine of the q_sin and q_cos, only for the rotational joints that are independent qu or driven qc mbs_init_sin_cos_q_vecs must having been called during the module init, to fill qrot_qu_indvec and qrot_qc_indvec. More...
void	mbs_compute_sin_cos_qv (MbsData *s, int *qrot_qv_indvec)
	Compute the sine and cosine of the q_sin and q_cos, only for the rotational joints that are dependent qv mbs_init_sin_cos_q_vecs must having been called during the module init, to fill qrot_qv_indvec. More...
void	mbs_compute_sin_cos_q_all (MbsData *s)
	Compute the sine and cosine of the q_sin and q_cos, for all the rotational joints. More...

Macro Definition Documentation

_MBS_TRIGO_H_

#define _MBS_TRIGO_H_

Function Documentation

mbs_compute_sin_cos_q_all()

void mbs_compute_sin_cos_q_all

(

MbsData *

mbs_data

)

Compute the sine and cosine of the q_sin and q_cos, for all the rotational joints.

Parameters

[in]

MbsData

The MBS structure in which the vector q_sin and q_cos are updated after calling this function.

mbs_compute_sin_cos_quc()

void mbs_compute_sin_cos_quc	(	MbsData *	mbs_data,
		int *	qrot_qu_indvec,
		int *	qrot_qc_indvec
	)

Compute the sine and cosine of the q_sin and q_cos, only for the rotational joints that are independent qu or driven qc mbs_init_sin_cos_q_vecs must having been called during the module init, to fill qrot_qu_indvec and qrot_qc_indvec.

Parameters

[in]	MbsData	The computed MBS structure
[in]	qrot_qu_indvec	(ivec_1, size 1xnjoint) the vector containing 0 or 1,depending if the joint is rotationnal and qu
[in]	qrot_qc_indvec	(ivec_1, size 1xnjoint) the vector containing 0 or 1,depending if the joint is rotationnal and qc

mbs_compute_sin_cos_qv()

void mbs_compute_sin_cos_qv	(	MbsData *	mbs_data,
		int *	qrot_qv_indvec
	)

Compute the sine and cosine of the q_sin and q_cos, only for the rotational joints that are dependent qv mbs_init_sin_cos_q_vecs must having been called during the module init, to fill qrot_qv_indvec.

Parameters

[in]	MbsData	The computed MBS structure
[in]	qrot_qv_indvec	(ivec_1, size 1xnjoint) the vector containing 0 or 1,depending if the joint is rotationnal and qv

mbs_init_sin_cos_q_vecs()

int mbs_init_sin_cos_q_vecs	(	MbsData *	s,
		int *	qrot_qu_indvec,
		int *	qrot_qc_indvec,
		int *	qrot_qv_indvec
	)

Initialize the three vectors of indices (they are usually contained in the mbs_aux structure)

Parameters

[in]	MbsData	The MBS structure giving the nature of joint (rot, qu, qv, qc)
[out]	qrot_qu_indvec	(ivec_1, size 1xnjoint) the vector containing 0 or 1,depending if the joint is rotationnal and qu
[out]	qrot_qc_indvec	(ivec_1, size 1xnjoint) the vector containing 0 or 1,depending if the joint is rotationnal and qc
[out]	qrot_qv_indvec	(ivec_1, size 1xnjoint) the vector containing 0 or 1,depending if the joint is rotationnal and qv

return error, negative in case of failure, 0 in case all went well