mbs_trigo.c File Reference

This file declares the functions for trigonometric handling in MBsysC integrator in C. More...

#include "math.h"
#include "mbs_data.h"
#include "mbs_1D_array.h"
#include "mbs_message.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 non-dependant rotational joints. More...
void	mbs_compute_sin_cos_qv (MbsData *s, int *qrot_qv_indvec)
	Compute the sine and cosine of dependant rotational joints. 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...

Detailed Description

This file declares the functions for trigonometric handling in MBsysC integrator in C.

Creation date: April 2022

Author

Sebastien Timmermans, Robotran Team

(c) Universite catholique de Louvain

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,out]

MbsData

The MBS structure in which the vector MbsData::q_sin and MbsData::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 non-dependant rotational joints.

Used as designed, it only set the values in MbsData::q_sin and MbsData::q_cos for the rotational joints that are either:

• independent (qu), in qrot_qu_indvec;
• driven (qc), in qrot_qc_indvec;

The function mbs_init_sin_cos_q_vecs() must having been called during the module initialization in order to fill qrot_qu_indvec and qrot_qc_indvec with the correct values.

Parameters

[in,out]	MbsData	The computed MBS structure, MbsData::q_sin and q_cos will be updated.
[in]	qrot_qu_indvec	The vector (ivec_1, size 1xnjoint) containing 1 if the joint is both rotationnal and qu, otherwhise 0.
[in]	qrot_qc_indvec	The vector (ivec_1, size 1xnjoint) containing 1 if the joint is both rotationnal and qc, otherwhise 0.

mbs_compute_sin_cos_qv()

void mbs_compute_sin_cos_qv	(	MbsData *	mbs_data,
		int *	qrot_qv_indvec
	)

Compute the sine and cosine of dependant rotational joints.

Used as designed, it only set the values in MbsData::q_sin and MbsData::q_cos for the rotational joints that are dependent (qv), in qrot_qv_indvec;

The function mbs_init_sin_cos_q_vecs() must having been called during the module initialization in order to fill qrot_qv_indvec with the correct values.

Parameters

[in,out]	MbsData	The computed MBS structure, MbsData::q_sin and q_cos will be updated.
[in]	qrot_qv_indvec
[in]	qrot_qc_indvec	The vector (ivec_1, size 1xnjoint) containing 1 if the joint is both rotationnal and qv, otherwhise 0.

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

Returns

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