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Robotran C Documentation
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8 #ifndef _REAL_TIME_EXT_
9 #define _REAL_TIME_EXT_
14 #define SAFETY_TIME 0.001
int visu_past_flag
1 to view what happened before, 0 otherwise
Definition: mbs_realtime_struct.h:29
Realtime_visu * init_realtime_visu(void *realtime_options, MbsData *mbs_data, int *err)
initialize 3D real-time variables
Definition: realtime_ext.c:26
int nb_models
number of models to load
Definition: mbs_realtime_struct.h:24
void mbs_msg(const char *msg,...)
Send a message.
Definition: mbs_message.c:87
user real-time option
Definition: mbs_realtime_struct.h:86
char * mbsz_file
Filepath to the mbsz project to be send at the socket initialization.
Definition: mbs_realtime_struct.h:113
user_realtime_visu_ptr user_realtime_visu
Definition: mbs_data.h:189
double ** past_q
requested past joints positions vector (for each model)
Definition: mbs_realtime_struct.h:48
void * visu_class
main class or structure for visualization
Definition: mbs_realtime_struct.h:51
int min_tsim_index
index correspondinf to minimal simulation time
Definition: mbs_realtime_struct.h:41
double * tsim_save
vector saving the simulation time [s]
Definition: mbs_realtime_struct.h:38
int njoint
Number of joints in the system.
Definition: mbs_data.h:260
Declaration of functions that are project dependent.
int last_past_q_flag
1 if last visu was with past_q, 0 otherwise
Definition: mbs_realtime_struct.h:34
#define MSG_PRE
Definition: realtime_ext.c:19
int flag_t_last_past
1 if 't_last_past' initialized, 0 otherwise
Definition: mbs_realtime_struct.h:30
Real-time constraints header for external modules.
double *** q_save
tabular saving the joints positions, according to tsim_save (for each model)
Definition: mbs_realtime_struct.h:39
#define SAFETY_TIME
safety time: difference between min and max time in case of problems [s]
Definition: realtime_ext.h:14
struct Functions::@4 user
double ** anim_q
joints position for .anim file (for each model)
Definition: mbs_realtime_struct.h:49
Realtime_visu * init_realtime_visu(void *realtime_options, MbsData *mbs_data, int *err)
initialize 3D real-time variables
Definition: realtime_ext.c:26
int flag_buffer_round
1 if buffer already filled, 0 otherwise
Definition: mbs_realtime_struct.h:33
char ** mbs_file
path and file name fot the .mbs file used for Java visualization (for each model)
Definition: mbs_realtime_struct.h:37
int nb_models
number of models to load
Definition: mbs_realtime_struct.h:108
functions used to get the time expressed in us (micro seconds)
double * q
Array with the current values of the generalized coordinates.
Definition: mbs_data.h:285
double cur_tsim
current simulation time [s]
Definition: mbs_realtime_struct.h:46
int * nb_q
number of joints in the .mbs used for visualization (for each model)
Definition: mbs_realtime_struct.h:36
double max_tsim
maximal simulation time [s]
Definition: mbs_realtime_struct.h:44
double min_tsim
minimal simulation time [s]
Definition: mbs_realtime_struct.h:43
Functions fct
Structure to store the pointer to the project-specific functions.
Definition: mbs_data.h:426
int free_realtime_visu(Realtime_visu *visu)
free 3D real-time structure
Definition: realtime_ext.c:285
int cur_viewpoint
current viewpoint in simulation
Definition: mbs_realtime_struct.h:27
char ** mbs_file
path and file name for the .mbs file used for Java visualization (for each model)
Definition: mbs_realtime_struct.h:110
int buffer_size
size of the buffer to save past visualization
Definition: mbs_realtime_struct.h:25
int init_break
1 to start with a break, 0 otherwise
Definition: mbs_realtime_struct.h:94
int buffer_size
size of the buffer for 3D and sdl
Definition: mbs_realtime_struct.h:97
Definition: mbs_data.h:247
Real-time constraints main header.
int init_websocket(Realtime_visu *visu, MbsData *mbs_data, int nb_models, int *nb_q, double **q_vec, char **mbs_file, char *mbsz_path, int start_viewpoint, int init_break)
Initialize the communication with the webserver.
Definition: visu_websocket.cc:192
int * nb_q
number of joints in the .mbs used for visualization (for each model)
Definition: mbs_realtime_struct.h:109
Visualization variables and stuctures.
Definition: mbs_realtime_struct.h:22
double t0
initial simulation time [s]
Definition: mbs_realtime_struct.h:89
int change_viewpoint
1 to change the viewpoint in simulation, 0 otherwise
Definition: mbs_realtime_struct.h:26
double ** cur_q
current joints positions vector (for each model)
Definition: mbs_realtime_struct.h:47
void free_websocket(void *visu_class)
close the socket connection
Definition: visu_websocket.cc:529
int free_realtime_visu(Realtime_visu *visu)
free 3D real-time structure
Definition: realtime_ext.c:285
int max_tsim_index
index correspondinf to maximal simulation time
Definition: mbs_realtime_struct.h:42
#define MSG_ERR
Definition: realtime_ext.c:18
int start_viewpoint
initial visu viewpoint ID
Definition: mbs_realtime_struct.h:115