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Robotran C Documentation
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int * qrot
Array with the indices of the rotational articulations (incremental values)
Definition: mbs_data.h:184
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...
Definition: mbs_trigo.c:80
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.
Definition: mbs_trigo.c:94
int nqrot
Number of rotational joint (R1, R2 or R3)
Definition: mbs_data.h:172
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.
Definition: mbs_trigo.c:94
int nqv
Number of dependent articulations.
Definition: mbs_data.h:170
int * qc
Array with the indices of driven (locked and driven) articulations.
Definition: mbs_data.h:175
int nqu
Number of independent articulations.
Definition: mbs_data.h:165
int njoint
Number of joints in the system.
Definition: mbs_data.h:162
double * q_cos
Array with the cosine values of the generalized coordinates, if rotational (if translational,...
Definition: mbs_data.h:197
void mbs_msg(char *msg,...)
Send a message.
Definition: mbs_message.c:76
int * qu
Array with the indices of the independent articulations (free)
Definition: mbs_data.h:174
int * qv
Array with the indices of the dependent articulations .
Definition: mbs_data.h:182
double * q
Array with the current values of the generalized coordinates.
Definition: mbs_data.h:187
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)
Definition: mbs_trigo.c:23
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...
Definition: mbs_trigo.c:80
int nqc
Number of driven articulations, it includes qlocked and qdriven.
Definition: mbs_data.h:166
Definition: mbs_data.h:149
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 independe...
Definition: mbs_trigo.c:65
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)
Definition: mbs_trigo.c:23
int find_ivec_1(int *vec, int l_v, int f)
return the index of the value f in the (x sized) vector vec of integers, starting with index 1....
Definition: mbs_1D_array.c:832
double * q_sin
Array with the sine values of the generalized coordinates, if rotational (if translational,...
Definition: mbs_data.h:196
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 independe...
Definition: mbs_trigo.c:65
1.8.17