mbs_sensor.c File Reference

Define functions associated to MbsSensor allocation and reset. More...

#include <stdlib.h>
#include "mbs_data.h"
#include "mbs_matrix.h"
#include "mbs_define.h"
#include "mbs_sensor_utilities.h"

Functions
int	allocate_sensor (MbsSensor *psens, int njoint)
	Allocate the Jacobian matrix of the MbsSensor. More...
int	init_sensor (MbsSensor *psens, int njoint)
	Initialize all fields of MbsSensor structure to 0 and identity rotation matrix. More...
void	free_sensor (MbsSensor *psens)
	Deprecated: Free the memory INSIDE MbsSensor structure. More...
MbsSensor *	mbs_new_sensor (MbsData *mbs_data)
	Create (allocate and initialize) a new MbsSensor structure. More...
void	mbs_delete_sensor (MbsSensor *psens)
	Free the memory of MbsSensor structure and its contents. More...

Detailed Description

Define functions associated to MbsSensor allocation and reset.

Author

Robotran team

(c) Universite catholique de Louvain

Function Documentation

allocate_sensor()

int allocate_sensor	(	MbsSensor *	psens,
		int	njoint
	)

Allocate the Jacobian matrix of the MbsSensor.

User shoudl call direclty the function mbs_new_sensor().

The size of the matrix depends on the number of joints in the multibody system.

Parameters

[in,out]	psens	Pointer to the MbsSensor structure to modify.
[in]	njoint	Number of joint in the MBS, see MbsData::njoint.

Returns

MBS_INFO_SUCCESS or MBS_INFO_FAILURES (macro in mbs_define.h)

free_sensor()

void free_sensor

(

MbsSensor *

psens

)

Deprecated: Free the memory INSIDE MbsSensor structure.

The function mbs_delete_sensor() must be used.

It frees the space allocated for the jacobian matrix and the rotation matrix of the sensor.

It does not free the MbsSensor memory itself.

Parameters

[in,out]

psens

Pointer to the MbsSensor structure to be freed.

init_sensor()

int init_sensor	(	MbsSensor *	psens,
		int	njoint
	)

Initialize all fields of MbsSensor structure to 0 and identity rotation matrix.

Parameters

[in,out]	psens	Pointer to the MbsSensor structure to initialize.
[in]	njoint	Number of joint in the MBS, see MbsData::njoint.

Returns

MBS_INFO_SUCCESS or MBS_INFO_FAILURES (macro in mbs_define.h)

mbs_delete_sensor()

void mbs_delete_sensor

(

MbsSensor *

psens

)

Free the memory of MbsSensor structure and its contents.

Parameters

[in,out]

psens

Pointer to the MbsSensor structure to be freed.

mbs_new_sensor()

MbsSensor* mbs_new_sensor

(

struct MbsData *

mbs_data

)

Create (allocate and initialize) a new MbsSensor structure.

This function calls allocate_sensor and init_sensor.

Parameters

[in]

mbs_data

The MbsData structure, used to get the number of joints.

Returns

The adress of the allocated and initialized sensor.