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7 #ifndef MBS_INFO_XML_BINDER_PRIVATE_h
8 #define MBS_INFO_XML_BINDER_PRIVATE_h
10 #include <libxml/tree.h>
11 #include <libxml/parser.h>
int * qdriven
Definition: mbs_binder_public.h:190
int n_d_related
Definition: mbs_binder_public.h:379
int n_d_simplified
Definition: mbs_binder_public.h:367
int n_rod
Definition: mbs_binder_public.h:241
MbsInfoRefPoint * endpoint1
Definition: mbs_binder_public.h:204
MbsInfoCuts * cuts
Definition: mbs_binder_public.h:388
int mbs_info_init_and_binderJSON(MbsInfos *mbs_infos, const char *mbs_json_name, int mission)
Definition: mbs_load_json.c:128
double * pt
Array with the coordinates (x, y, z) of the point relative to the origin of the body expressed in the...
Definition: mbs_binder_public.h:98
char * name
Definition: mbs_binder_public.h:78
MbsInfoBody * mbs_new_info_body(void)
Definition: mbs_loader_public.c:567
void mbs_delete_infos(MbsInfos *mbs_infos)
Definition: mbs_loader_public.c:1163
char * structure_name
Name of the structure, filled if the parameter is a structure.
Definition: mbs_binder_public.h:319
int Vit
1 if the computation of the sensor linear velocity has been asked, 0 otherwise.
Definition: mbs_binder_public.h:84
MbsInfoRefPoint * endpoint2
Definition: mbs_binder_public.h:205
MbsInfoJoint * find_joint_in_bodytree(MbsInfos *mbs_infos, char *jointname)
Definition: mbs_loader_public.c:1243
int n_state
Definition: mbs_binder_public.h:409
Definition: mbs_binder_public.h:169
int set_double_xlm_node(xmlNodePtr in_node, double value)
SET functions ///////////////////////.
Definition: mbs_xml_binder.c:92
char * bodyname
Name of the body that bear the reference point (origin of the joint chain until first body encounter)...
Definition: mbs_binder_public.h:49
int mbs_info_user_IOs_xml_binder(MbsInfoUserIOs *mbs_info_user_IOs, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:1389
double d_opti
result value of optimization
Definition: mbs_binder_public.h:32
char * name
Definition: mbs_binder_public.h:213
char * get_char_cpy(const char *fmt,...)
Copy the provided formatted string into a newly allocated memory.
Definition: useful_functions.c:191
int n_qv
Definition: mbs_binder_public.h:180
#define MBS_INFO_INIT
Definition: mbs_binder_public.h:18
double * value_list
Vector (index starting at 1) containing the values retrieved from the multibody file.
Definition: mbs_binder_public.h:289
MbsInfoJoint * mbs_new_info_joint(void)
Definition: mbs_loader_public.c:522
char * name
Name of the parameter in the user model.
Definition: mbs_binder_public.h:274
char * get_string_xml_attr(xmlAttrPtr in_node)
Definition: mbs_xml_binder.c:67
MbsInfoParameter ** state_list
Definition: mbs_binder_public.h:411
int n_out
Definition: mbs_binder_public.h:360
MbsInfoBodytree * mbs_new_info_bodytree(void)
Definition: mbs_loader_public.c:623
void mbs_delete_info_body(MbsInfoBody *mbs_info_body, void *all_joints_lists)
Definition: mbs_loader_public.c:590
void mbs_delete_info_parameter(MbsInfoParameter *mbs_info_parameter)
Definition: mbs_loader_public.c:941
Structure defining the parent point of a body.
Definition: mbs_binder_public.h:47
double qdd0
Initial acceleration of the joint.
Definition: mbs_binder_public.h:130
MbsInfoDData ** d_forced_list
Definition: mbs_binder_public.h:371
int mbs_info_user_model_xml_binder(MbsInfoUserModel *mbs_info_user_model, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:1258
void * mbs_delete_info_ref_point(MbsInfoRefPoint *mbs_info_ref_point)
Definition: mbs_loader_public.c:356
int mbs_info_ref_point_xml_binder(MbsInfoRefPoint *mbs_info_ref_point, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:565
char * joint_parent
parent joint of the current body (NULL if it is a parent point)
Definition: mbs_binder_public.h:80
MbsInfoBase * base
Definition: mbs_binder_public.h:386
int n_d_optimized
Definition: mbs_binder_public.h:373
int mbs_info_sensor_xml_binder(MbsInfoSensor *mbs_info_sensor, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:193
void mbs_error_msg(char *msg,...)
Send an error message.
Definition: mbs_message.c:102
int n_base_point
Number of point of interest (extremities of joint bearing a sensor plus anchor point) defined on the ...
Definition: mbs_binder_public.h:115
void mbs_delete_info_ball(MbsInfoBall *mbs_info_ball)
Definition: mbs_loader_public.c:699
void mbs_delete_info_solid(MbsInfoSolid *mbs_info_solid)
Definition: mbs_loader_public.c:769
char * body_name
Name of the body holding the point.
Definition: mbs_binder_public.h:97
MbsInfoSolid * mbs_new_info_solid(void)
Definition: mbs_loader_public.c:754
char * mbsfile
Definition: mbs_binder_public.h:393
double * get_dvec_0(int l_v)
create (with memory allocation) a vector (length l_v) of doubles, starting at index 0
Definition: mbs_1D_array.c:880
#define _MBS_ERR_LOW_FILES
Low Level error number Error during opening/writing files = -9.
Definition: mbs_errors_names.h:147
MbsInfoUserIO ** user_IO_list
Definition: mbs_binder_public.h:361
int mbs_info_cuts_xml_binder(MbsInfoCuts *mbs_info_cuts, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:923
This structure contains all informations about a joint.
Definition: mbs_binder_public.h:122
double * MBSdata_d_ptr
link in the creation of mbs_data
Definition: mbs_binder_public.h:40
int is_related
unrelated = 0, master = 1, equal salve = 2, opposite slave = 3
Definition: mbs_binder_public.h:35
Definition: mbs_binder_public.h:238
void free_ivec_0(int *vec)
release memory for a vector of integers, starting with index 0
Definition: mbs_1D_array.c:415
int mbs_info_mbsDescR7_binder(MbsInfos *mbs_infos, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:1442
#define MBS_INFO_FAILURE
Definition: mbs_binder_public.h:22
MbsInfoLinks * mbs_new_info_links(void)
Definition: mbs_loader_public.c:870
int Omp
1 if the computation of the sensor angular acceleration has been asked, 0 otherwise.
Definition: mbs_binder_public.h:87
int mbs_info_rod_xml_binder(MbsInfoRod *mbs_info_rod, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:820
int Om
1 if the computation of the sensor angular velocity has been asked, 0 otherwise.
Definition: mbs_binder_public.h:85
int n_qrot
Definition: mbs_binder_public.h:195
int mbs_strcmp(const char *__s1, const char *__s2)
Compare two char with strcmp.
Definition: useful_functions.c:261
double d_max
bounds values for optimization
Definition: mbs_binder_public.h:31
#define MBS_INFO_SUCCESS
Definition: mbs_binder_public.h:20
MbsInfoRefPoint * parent_point
parent point of the sensor (only for JSON loading ST 12072022) (NULL if it is a parent joint)
Definition: mbs_binder_public.h:79
MbsInfoDData ** d_value
d_data for the value.
Definition: mbs_binder_public.h:308
double * gravity
Array with the component (x, y, z) of the gravity vector expressed in the inertial frame.
Definition: mbs_binder_public.h:114
int n_ball
Definition: mbs_binder_public.h:240
double mass
Mass of the body.
Definition: mbs_binder_public.h:160
int * qu
Definition: mbs_binder_public.h:178
int cmp_string_xml_attr(xmlAttrPtr in_node, const char *string)
other functions /////////////////////
Definition: mbs_xml_binder.c:110
char * symmetric_rod_name
Definition: mbs_binder_public.h:222
MbsInfoParameter * mbs_new_info_parameter(void)
Definition: mbs_loader_public.c:914
int n_joint
Definition: mbs_binder_public.h:174
MbsInfoSensor * mbs_new_info_sensor(void)
Definition: mbs_loader_public.c:376
void * mbs_delete_info_joint(MbsInfoJoint *mbs_info_joint)
Definition: mbs_loader_public.c:550
int size
type=1: in ; type=2
Definition: mbs_binder_public.h:353
int Acc
1 if the computation of the sensor linear acceleration has been asked, 0 otherwise.
Definition: mbs_binder_public.h:67
int mbs_info_parameter_xml_binder(MbsInfoParameter *mbs_info_parameter, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:1080
Definition: mbs_binder_public.h:384
MbsInfoLink * mbs_new_info_link(void)
Definition: mbs_loader_public.c:840
int mbs_info_bodytree_xml_binder(MbsInfoBodytree *mbs_info_bodytree, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:722
This header includes the functions to bind the JSON information to the MbsInfos structure.
int mbs_info_user_IOs_xml_binder(MbsInfoUserIOs *mbs_info_user_IOs, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:1389
int type
Definition: mbs_binder_public.h:352
MbsInfoBase * mbs_new_info_base(void)
Definition: mbs_loader_public.c:491
int mbs_info_base_xml_binder(MbsInfoBase *mbs_info_base, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:587
char * name
Name of the point.
Definition: mbs_binder_public.h:96
MbsInfoSensor * mbs_new_info_sensor(void)
Definition: mbs_loader_public.c:376
char * name
Definition: mbs_binder_public.h:252
int mbs_info_user_IO_xml_binder(MbsInfoUserIO *mbs_info_user_IO, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:1341
MbsInfoJoint * find_joint_with_parent_in_joint_list(MbsInfos *mbs_infos, char *jointname)
Definition: mbs_loader_public.c:1273
MbsInfoSensor * sensor
Pointer to a sensor structure if a sensor is defined on the point.
Definition: mbs_binder_public.h:100
MbsInfoBodytree * mbs_new_info_bodytree(void)
Definition: mbs_loader_public.c:623
int mbs_info_joint_xml_binder(MbsInfoJoint *mbs_info_joint, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:281
int mbs_info_ball_xml_binder(MbsInfoBall *mbs_info_ball, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:762
int mbs_info_extforce_xml_binder(MbsInfoExtforce *mbs_info_extforce, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:239
MbsInfos * mbs_new_infos(void)
Definition: mbs_loader_public.c:1124
#define MBS_INFO_COUNTER
Definition: mbs_binder_public.h:17
MbsInfoPoint ** base_point_list
Array of pointers to the MDS_point_strct describing each point of the MBS.
Definition: mbs_binder_public.h:116
char * name
Name of the joint.
Definition: mbs_binder_public.h:124
int mbs_info_rod_xml_binder(MbsInfoRod *mbs_info_rod, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:820
int * qv
Definition: mbs_binder_public.h:181
int mbs_info_user_models_xml_binder(MbsInfoUserModels *mbs_info_user_models, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:1301
Definition: mbs_binder_public.h:227
MbsInfoUserIO * mbs_new_info_user_IO(void)
Definition: mbs_loader_public.c:1037
MbsInfoJoint * mbs_new_info_joint(void)
Definition: mbs_loader_public.c:522
#define MBS_INFO_READER
Definition: mbs_binder_public.h:14
MbsInfoRod ** rod_list
Definition: mbs_binder_public.h:245
Definition: mbs_binder_public.h:334
char * symmetric_point_name
Definition: mbs_binder_public.h:105
MbsInfoRod * mbs_new_info_rod(void)
Definition: mbs_loader_public.c:716
int * qa
Definition: mbs_binder_public.h:193
MbsInfoBody * mbs_new_info_body(void)
Definition: mbs_loader_public.c:567
int * extforce_point_list
Definition: mbs_binder_public.h:407
int mbs_info_updater(MbsInfos *mbs_infos, const char *mbs_filename)
Definition: mbs_loader_public.c:53
MbsInfoParameter ** parameter_list
Definition: mbs_binder_public.h:338
int * qc
Definition: mbs_binder_public.h:184
MbsInfoPoint ** point_list
Array of pointers to the MDS_point_strct describing each point of current body.
Definition: mbs_binder_public.h:165
void mbs_delete_info_base(MbsInfoBase *mbs_info_base)
Definition: mbs_loader_public.c:504
MbsInfoRefPoint * endpoint1
Definition: mbs_binder_public.h:254
MbsInfoUserIOs * mbs_new_info_user_IOs(void)
Definition: mbs_loader_public.c:1055
MbsInfoBall * mbs_new_info_ball(void)
Definition: mbs_loader_public.c:684
MbsInfoSolid * mbs_new_info_solid(void)
Definition: mbs_loader_public.c:754
double * inertia
Array with the inertia tensor (Ixx, Ixy, Ixz, Iyy, Iyz, Izz) of the body relative to the center of ma...
Definition: mbs_binder_public.h:162
int mbs_info_init_and_binderXML(MbsInfos *mbs_infos, const char *mbs_xml_name, int mission)
Definition: mbs_xml_binder.c:1561
MbsInfoCuts * mbs_new_info_cuts(void)
Definition: mbs_loader_public.c:787
char * symmetric_joint_name
the name of the symmetric joint (filed if master, NULL if slave or non symetric)
Definition: mbs_binder_public.h:136
MbsInfoBall * mbs_new_info_ball(void)
Definition: mbs_loader_public.c:684
int mbs_info_coordinates_xml_binder(double *coordinates_pointer, xmlNodePtr node, int mission)
Binders /////////////////////////////.
Definition: mbs_xml_binder.c:149
void mbs_msg(char *msg,...)
Send a message.
Definition: mbs_message.c:76
int actuated
For inverse dynamic only: 1 if actuated, 0 otherwise.
Definition: mbs_binder_public.h:132
int mbs_info_cuts_xml_binder(MbsInfoCuts *mbs_info_cuts, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:923
int Pos
1 if the computation of the sensor position has been asked, 0 otherwise.
Definition: mbs_binder_public.h:82
MbsInfoDData * d_qf
d_data for the forced q
Definition: mbs_binder_public.h:134
int * qlocked
Definition: mbs_binder_public.h:187
int n_qa
Definition: mbs_binder_public.h:192
char * name
Definition: mbs_binder_public.h:202
void mbs_delete_info_user_IO(MbsInfoUserIO *mbs_info_user_IO)
Definition: mbs_loader_public.c:1049
MbsInfoSensor ** sensor_list
Pointer to a list of sensor.
Definition: mbs_binder_public.h:418
int type
Type of the parameter between 1 and 7.
Definition: mbs_binder_public.h:276
MbsInfoExtforce * mbs_new_info_extforce(void)
Definition: mbs_loader_public.c:404
char * get_string_xml_node(xmlNodePtr in_node)
Definition: mbs_xml_binder.c:50
double qd0
Initial velocity of the joint.
Definition: mbs_binder_public.h:129
char * joint_parent
parent joint of the current body (NULL if it is a parent point)
Definition: mbs_binder_public.h:61
int mbs_info_sensor_xml_binder(MbsInfoSensor *mbs_info_sensor, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:193
int mbs_info_coordinates_xml_binder(double *coordinates_pointer, xmlNodePtr node, int mission)
Binders /////////////////////////////.
Definition: mbs_xml_binder.c:149
MbsInfoUserIOs * user_IOs
Definition: mbs_binder_public.h:391
Description of a user model parameter loaded from the mbs file.
Definition: mbs_binder_public.h:272
MbsInfoLinks * mbs_new_info_links(void)
Definition: mbs_loader_public.c:870
int mbs_info_solid_xml_binder(MbsInfoSolid *mbs_info_solid, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:865
void mbs_delete_info_link(MbsInfoLink *mbs_info_link)
Definition: mbs_loader_public.c:853
int Om
1 if the computation of the sensor angular velocity has been asked, 0 otherwise.
Definition: mbs_binder_public.h:66
char * structure_header
Header name with path (relative or absolute) of header describing a structure parameter.
Definition: mbs_binder_public.h:321
void * val_ptr
Pointer to the memory storing the value.
Definition: mbs_binder_public.h:293
int n_parameter
Definition: mbs_binder_public.h:337
char * symmetric_parameter_name
The name of the symmetric parameter.
Definition: mbs_binder_public.h:314
int Acc
1 if the computation of the sensor linear acceleration has been asked, 0 otherwise.
Definition: mbs_binder_public.h:86
MbsInfoRefPoint * endpoint2
Definition: mbs_binder_public.h:232
int type
Joint type: T1=1, T2=2, T3=3, R1=4, R2=5, R3=6.
Definition: mbs_binder_public.h:125
MbsInfoExtforce * mbs_new_info_extforce(void)
Definition: mbs_loader_public.c:404
MbsInfoPoint * mbs_new_info_point(void)
Definition: mbs_loader_public.c:431
MbsInfoDData * mbs_new_info_d_data(void)
Definition: mbs_loader_public.c:320
int * ignore
Definition: mbs_binder_public.h:234
Definition: mbs_binder_public.h:357
double get_double_xlm_node(xmlNodePtr in_node)
Definition: mbs_xml_binder.c:39
char * name
Definition: mbs_binder_public.h:351
MbsInfoDData ** d_resulting_list
Definition: mbs_binder_public.h:377
void free_dvec_1(double *vec)
release memory for a vector of doubles, starting at index 1
Definition: mbs_1D_array.c:901
int n_user_IO
Definition: mbs_binder_public.h:359
void * mbs_delete_info_point(MbsInfoPoint *mbs_info_point)
Definition: mbs_loader_public.c:457
int n_state_value
Definition: mbs_binder_public.h:410
MbsInfoUserIO * mbs_new_info_user_IO(void)
Definition: mbs_loader_public.c:1037
int is_symmmetric
asymmetric = 0, symmetric master = 1, symmetric salve = 2
Definition: mbs_binder_public.h:135
void mbs_delete_info_d_data(MbsInfoDData *mbs_info_d_data)
Definition: mbs_loader_public.c:340
MbsInfoDData * mbs_new_info_d_data(void)
Definition: mbs_loader_public.c:320
void mbs_delete_info_rod(MbsInfoRod *mbs_info_rod)
Definition: mbs_loader_public.c:736
MbsInfoLink ** link_list
Definition: mbs_binder_public.h:262
char * name
Definition: mbs_binder_public.h:229
Definition: mbs_binder_public.h:259
int n_qc
Definition: mbs_binder_public.h:183
MbsInfoRefPoint * mbs_new_info_ref_point(void)
Definition: mbs_loader_public.c:345
int is_symmmetric
Definition: mbs_binder_public.h:104
int mbs_info_joint_list_xml_binder(MbsInfoJoint **joint_list, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:458
MbsInfoBody * find_body_in_bodytree(MbsInfos *mbs_infos, char *bodyname)
Definition: mbs_loader_public.c:1227
MbsInfoBase * mbs_new_info_base(void)
Definition: mbs_loader_public.c:491
MbsInfoRefPoint * parent
Definition: mbs_binder_public.h:142
Definition: mbs_binder_public.h:365
int mbs_info_mbsDescR7_binder(MbsInfos *mbs_infos, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:1442
MbsInfoUserModel * mbs_new_info_user_model(void)
Definition: mbs_loader_public.c:974
MbsInfoDData ** d_optimized_list
Definition: mbs_binder_public.h:374
int n_sensor
Definition: mbs_binder_public.h:403
MbsInfoUserModels * mbs_new_info_user_models(void)
Definition: mbs_loader_public.c:1004
MbsInfoDData ** d_simplified_list
Definition: mbs_binder_public.h:368
MbsInfoBody ** body_list
Definition: mbs_binder_public.h:172
int n_point
Number of point defined on the body.
Definition: mbs_binder_public.h:164
int Pos
1 if the computation of the sensor position has been asked, 0 otherwise.
Definition: mbs_binder_public.h:63
This structure contains all informations about a body.
Definition: mbs_binder_public.h:150
int mbs_info_links_xml_binder(MbsInfoLinks *mbs_info_links, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:1025
int is_symmmetric
Definition: mbs_binder_public.h:221
MbsInfoRefPoint * mbs_new_info_ref_point(void)
Definition: mbs_loader_public.c:345
Definition: mbs_binder_public.h:250
int n_d_forced
Definition: mbs_binder_public.h:370
int n_qu
Definition: mbs_binder_public.h:177
int n_qdriven
Definition: mbs_binder_public.h:189
MbsInfoExtforce * extforce
Pointer to an external force sensor structure if it is defined on the point.
Definition: mbs_binder_public.h:101
int mbs_info_parameter_xml_binder(MbsInfoParameter *mbs_info_parameter, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:1080
MbsInfoLinks * links
Definition: mbs_binder_public.h:389
xmlNodePtr find_xmlNodePtr(xmlNodePtr node, char *name)
Definition: mbs_xml_binder.c:121
int mbs_info_point_list_xml_binder(MbsInfoPoint **mbs_info_point_list, xmlNodePtr node, int mission, char *body_name)
Definition: mbs_xml_binder.c:532
MbsInfoDData ** d_pt
Definition: mbs_binder_public.h:103
MbsInfoDData ** d_related_list
Definition: mbs_binder_public.h:380
void mbs_delete_info_user_IOs(MbsInfoUserIOs *mbs_info_user_IOs)
Definition: mbs_loader_public.c:1068
char * name
Name of the sensor.
Definition: mbs_binder_public.h:59
void mbs_delete_info_bodytree(MbsInfoBodytree *mbs_info_bodytree, void *all_joints_lists)
Definition: mbs_loader_public.c:658
int mbs_info_base_xml_binder(MbsInfoBase *mbs_info_base, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:587
int mbs_info_links_xml_binder(MbsInfoLinks *mbs_info_links, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:1025
void mbs_delete_info_extforce(MbsInfoExtforce *mbs_info_extforce)
Definition: mbs_loader_public.c:423
int mbs_info_link_xml_binder(MbsInfoLink *mbs_info_link, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:991
MbsInfoParameter * mbs_new_info_parameter(void)
Definition: mbs_loader_public.c:914
int n_solid
Definition: mbs_binder_public.h:242
int * get_ivec_0(int l_v)
create (with memory allocation) a vector (length l_v) of integers, starting at index 0
Definition: mbs_1D_array.c:399
Definition: mbs_binder_public.h:349
char * joint_parent
parent joint of the current body (NULL if it is a parent point)
Definition: mbs_binder_public.h:155
int get_int_xlm_attr(xmlAttrPtr in_node)
Definition: mbs_xml_binder.c:28
int n_d_resulting
Definition: mbs_binder_public.h:376
Definition: mbs_binder_public.h:211
int n_value
Number of values in the parameter.
Definition: mbs_binder_public.h:287
int n_user_model
Definition: mbs_binder_public.h:344
double * com
Array with the coordinate (x, y, z) of the center of mass of the body relative to the origin of the b...
Definition: mbs_binder_public.h:161
This structure contains all information about a sensor defined on the MBS structure.
Definition: mbs_binder_public.h:57
void mbs_delete_info_user_models(MbsInfoUserModels *mbs_info_user_models)
Definition: mbs_loader_public.c:1015
int symb_q
Flag to generate symbol for position.
Definition: mbs_binder_public.h:138
void mbs_info_structurer(MbsInfos *mbs_infos)
Definition: mbs_loader_public.c:90
Definition: mbs_binder_public.h:26
char * structure_lutfile
File and path (relative or absolute) to the file containing the Look-up-Table dats.
Definition: mbs_binder_public.h:328
int n_qlocked
Definition: mbs_binder_public.h:186
void mbs_delete_info_user_model(MbsInfoUserModel *mbs_info_user_model)
Definition: mbs_loader_public.c:986
int mbs_info_body_xml_binder(MbsInfoBody *mbs_info_body, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:624
int mbs_info_point_xml_binder(MbsInfoPoint *mbs_info_point, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:490
MbsInfoOpti * opti
Definition: mbs_binder_public.h:413
int nature
Nature of the joint: independent=1, dependent=2, driven=3, locked=4.
Definition: mbs_binder_public.h:126
MbsInfoPoint ** point_list
Definition: mbs_binder_public.h:398
int * ignore
Definition: mbs_binder_public.h:207
Structure handling the informations defined on the base of the MBS.
Definition: mbs_binder_public.h:112
int Rot
1 if the computation of the sensor rotation matrix has been asked, 0 otherwise.
Definition: mbs_binder_public.h:64
MbsInfoPoint * mbs_new_info_point(void)
Definition: mbs_loader_public.c:431
int get_string_xml_node_2(char **string_ptr, xmlNodePtr in_node)
Definition: mbs_xml_binder.c:78
This structure handle everything that a point on a MBS structure can handle (sensor,...
Definition: mbs_binder_public.h:94
int n_joint
Definition: mbs_binder_public.h:417
int mbs_info_body_xml_binder(MbsInfoBody *mbs_info_body, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:624
int mbs_info_link_xml_binder(MbsInfoLink *mbs_info_link, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:991
void mbs_delete_info_sensor(MbsInfoSensor *mbs_info_sensor)
Definition: mbs_loader_public.c:396
double d_0
initial value for optimization
Definition: mbs_binder_public.h:29
char * pointname
Name of the reference point on the previous body.
Definition: mbs_binder_public.h:50
MbsInfoRefPoint * endpoint1
Definition: mbs_binder_public.h:215
void * mbs_free(void *__ptr)
Free the pointor ptr and set it to NULL.
Definition: useful_functions.c:17
void mbs_delete_info_opti(MbsInfoOpti *mbs_info_opti)
Definition: mbs_loader_public.c:1111
MbsInfoBody * children_body
Body direct children of the joint.
Definition: mbs_binder_public.h:144
MbsInfoSolid ** solid_list
Definition: mbs_binder_public.h:246
int * qrot
Definition: mbs_binder_public.h:196
MbsInfoRefPoint * endpoint1
Definition: mbs_binder_public.h:231
int d_type
other = 0; simplified = 1, forced = 2, optimized = 3, resulting = 4, related = 5,
Definition: mbs_binder_public.h:28
int mbs_info_joint_xml_binder(MbsInfoJoint *mbs_info_joint, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:281
MbsInfoBodytree * bodytree
Definition: mbs_binder_public.h:387
MbsInfoUserIOs * mbs_new_info_user_IOs(void)
Definition: mbs_loader_public.c:1055
int mbs_info_solid_xml_binder(MbsInfoSolid *mbs_info_solid, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:865
int mbs_info_init_and_binderXML(MbsInfos *mbs_infos, const char *mbs_xml_name, int mission)
Definition: mbs_xml_binder.c:1561
MbsInfos * mbs_info_reader(const char *mbs_filename)
Read the mbs file to retrieve size informations (number of joints...).
Definition: mbs_loader_public.c:12
double length
Definition: mbs_binder_public.h:218
int mbs_info_ref_point_xml_binder(MbsInfoRefPoint *mbs_info_ref_point, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:565
MbsInfoUserModel ** user_model_list
Definition: mbs_binder_public.h:345
MbsInfoUserModel * mbs_new_info_user_model(void)
Definition: mbs_loader_public.c:974
void mbs_delete_info_links(MbsInfoLinks *mbs_info_links)
Definition: mbs_loader_public.c:884
MbsInfoBall ** ball_list
Definition: mbs_binder_public.h:244
MbsInfoCuts * mbs_new_info_cuts(void)
Definition: mbs_loader_public.c:787
Definition: mbs_binder_public.h:200
MbsInfoOpti * mbs_new_info_opti(void)
Definition: mbs_loader_public.c:1090
MbsInfoJoint ** joint_list
Array of pointers to the MDS_joint_strct describing each joint leaving the body.
Definition: mbs_binder_public.h:158
MbsInfoRefPoint * parent_point
parent point of the sensor (only for JSON loading ST 12072022) (NULL if it is a parent joint)
Definition: mbs_binder_public.h:60
int Rot
1 if the computation of the sensor rotation matrix has been asked, 0 otherwise.
Definition: mbs_binder_public.h:83
double * get_dvec_1(int l_v)
create (with memory allocation) a vector (length l_v) of doubles, starting at index 1
Definition: mbs_1D_array.c:885
MbsInfoUserModels * mbs_new_info_user_models(void)
Definition: mbs_loader_public.c:1004
double * d_ptr
Definition: mbs_binder_public.h:38
int n_body
Definition: mbs_binder_public.h:171
int get_int_xlm_node(xmlNodePtr in_node)
GET functions ///////////////////////.
Definition: mbs_xml_binder.c:17
void free_dvec_0(double *vec)
release memory for a vector of doubles, starting at index 0
Definition: mbs_1D_array.c:896
int mbs_info_bodytree_xml_binder(MbsInfoBodytree *mbs_info_bodytree, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:722
MbsInfoRefPoint * endpoint2
Definition: mbs_binder_public.h:216
MbsInfoUserModels * user_models
Definition: mbs_binder_public.h:390
double q0
Initial position of the joint.
Definition: mbs_binder_public.h:128
int mbs_info_user_models_xml_binder(MbsInfoUserModels *mbs_info_user_models, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:1301
double d_min
bounds values for optimization
Definition: mbs_binder_public.h:30
int symb_qdd
Flag to generate symbol for acceleration.
Definition: mbs_binder_public.h:140
MbsInfoExtforce ** extforce_list
Pointer to a list of external force sensor.
Definition: mbs_binder_public.h:419
int mbs_info_joint_list_xml_binder(MbsInfoJoint **joint_list, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:458
char * name
Definition: mbs_binder_public.h:336
int mbs_info_extforce_xml_binder(MbsInfoExtforce *mbs_info_extforce, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:239
char * joint_parent
Definition: mbs_binder_public.h:143
MbsInfoLink ** link3D_list
Definition: mbs_binder_public.h:265
char * name
Name of the body.
Definition: mbs_binder_public.h:152
int flag_PRJPATH
Flag to indicate that the path to the data file start from the project path (stored as "PRJPATH" in m...
Definition: mbs_binder_public.h:326
#define MBS_INFO_UPDATER
Definition: mbs_binder_public.h:15
int mbs_info_ball_xml_binder(MbsInfoBall *mbs_info_ball, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:762
MbsInfoJoint ** joint_list
Definition: mbs_binder_public.h:175
MbsInfoDData * d_length
Definition: mbs_binder_public.h:220
int n_link
Definition: mbs_binder_public.h:261
char * mbsname
Definition: mbs_binder_public.h:394
char * padversion
Definition: mbs_binder_public.h:395
MbsInfoJoint * find_joint_in_joint_list(MbsInfos *mbs_infos, char *jointname)
Definition: mbs_loader_public.c:1258
int mbs_info_point_list_xml_binder(MbsInfoPoint **point_list, xmlNodePtr node, int mission, char *body_name)
Definition: mbs_xml_binder.c:532
int n_extforce
Definition: mbs_binder_public.h:406
int n_point
Definition: mbs_binder_public.h:397
MbsInfoLink * mbs_new_info_link(void)
Definition: mbs_loader_public.c:840
int is_symmmetric
asymmetric = 0, symmetric master = 1, symmetric salve = 2.
Definition: mbs_binder_public.h:312
MbsInfoRefPoint * point_parent
Description of the parent point of the current body. (NULL if it is a parent joint)
Definition: mbs_binder_public.h:154
int n_in
Definition: mbs_binder_public.h:360
int * sensor_point_list
Definition: mbs_binder_public.h:404
MbsInfoRod * mbs_new_info_rod(void)
Definition: mbs_loader_public.c:716
void mbs_warning_msg(char *msg,...)
Send a warning message.
Definition: mbs_message.c:89
void mbs_delete_info_cuts(MbsInfoCuts *mbs_info_cuts)
Definition: mbs_loader_public.c:803
int mbs_info_point_xml_binder(MbsInfoPoint *mbs_info_point, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:490
struct MbsInfoDData * master_d_ptr
Definition: mbs_binder_public.h:36
Definition: mbs_binder_public.h:342
int Omp
1 if the computation of the sensor angular acceleration has been asked, 0 otherwise.
Definition: mbs_binder_public.h:68
int n_link3D
Definition: mbs_binder_public.h:264
int mbs_info_user_model_xml_binder(MbsInfoUserModel *mbs_info_user_model, xmlNodePtr node, int mission)
Definition: mbs_xml_binder.c:1258
int symb_qd
Flag to generate symbol for velocity.
Definition: mbs_binder_public.h:139
MbsInfoRefPoint * endpoint2
Definition: mbs_binder_public.h:255
int Vit
1 if the computation of the sensor linear velocity has been asked, 0 otherwise.
Definition: mbs_binder_public.h:65
MbsInfoJoint ** all_joint_list
Definition: mbs_binder_public.h:416
This structure contains all information about an external force sensor defined on the MBS structure.
Definition: mbs_binder_public.h:76
int Jac
1 if the computation of the sensor Jacobian ( ) has been asked, 0 otherwise.
Definition: mbs_binder_public.h:69
int n_joint
Number of joints leaving the body.
Definition: mbs_binder_public.h:157
1.8.17