#include <mbs_data.h>

Public Attributes
MbsDataLibInfo *	symbolicLibHandle

MbsDataLibInfo *	userfctLibHandle

struct {
mbs_link_ptr mbs_link

mbs_link3D_ptr mbs_link3D

mbs_extforces_ptr mbs_extforces

mbs_accelred_ptr mbs_accelred

mbs_dirdyna_ptr mbs_dirdyna

mbs_invdyna_ptr mbs_invdyna

mbs_cons_hJ_ptr mbs_cons_hJ

mbs_cons_jdqd_ptr mbs_cons_jdqd

mbs_sensor_ptr mbs_sensor

mbs_gensensor_ptr mbs_gensensor

mbs_checksymb_ptr mbs_check_symbolic

mbs_invdynared_d_ptr mbs_invdynared_dq

mbs_invdynared_d_ptr mbs_invdynared_dqd

mbs_invdynared_d_ptr mbs_invdynared_dqdd

mbs_invdynared_d_ptr mbs_invdynared_dp

}	symb

struct {
user_JointForces_ptr user_JointForces

user_load_post_ptr user_load_post

user_free_ptr user_free

user_dirdyn_init_ptr user_dirdyn_init

user_dirdyn_loop_ptr user_dirdyn_loop

user_dirdyn_finish_ptr user_dirdyn_finish

user_invdyn_init_ptr user_invdyn_init

user_invdyn_loop_ptr user_invdyn_loop

user_invdyn_finish_ptr user_invdyn_finish

user_equil_init_ptr user_equil_init

user_equil_loop_ptr user_equil_loop

user_equil_finish_ptr user_equil_finish

user_equil_fxe_ptr user_equil_fxe

user_Derivative_ptr user_Derivative

user_DrivenJoints_ptr user_DrivenJoints

user_cons_hJ_ptr user_cons_hJ

user_cons_jdqd_ptr user_cons_jdqd

user_cons_J_accelred_ptr user_cons_J_accelred

user_LinkForces_ptr user_LinkForces

user_Link3DForces_ptr user_Link3DForces

user_ExtForces_ptr user_ExtForces

mbs_new_user_IO_ptr mbs_new_user_IO
	Initialize the UserIO structure and bind the ioInfo pointer to the allocated memory (project specific -> see definition in project/userfctR/user_IO.c) More...

mbs_new_user_model_ptr mbs_new_user_model

mbs_delete_user_model_ptr mbs_delete_user_model

mbs_delete_user_IO_ptr mbs_delete_user_IO
	Free the memory associated to the given UserIO structure. More...

mbs_get_user_IO_size_ptr mbs_get_user_IO_size
	Get the size of the UserIO structure inside the user_IO.c file. More...

mbs_load_user_model_ptr mbs_load_user_model

mbs_bind_user_model_ptr mbs_bind_user_model

mbs_print_user_model_ptr mbs_print_user_model

mbs_get_user_model_size_ptr mbs_get_user_model_size

mbs_get_user_model_list_ptr mbs_get_user_model_list

mbs_save_um_ptr mbs_save_um

mbs_print_user_IO_ptr mbs_print_user_IO
	Print the current UserIO values. More...

mbs_save_user_IO_ptr mbs_save_user_IO
	Save the current UserIO values into a file stream. More...

user_JointForces_d_ptr user_JointForces_dq

user_JointForces_d_ptr user_JointForces_dqd

user_JointForces_d_ptr user_JointForces_dqdd

user_JointForces_dp_ptr user_JointForces_dp

user_LinkForces_d_ptr user_LinkForces_dq

user_LinkForces_d_ptr user_LinkForces_dqd

user_LinkForces_d_ptr user_LinkForces_dqdd

user_LinkForces_dp_ptr user_LinkForces_dp

user_Link3DForces_d_ptr user_Link3DForces_dq

user_Link3DForces_d_ptr user_Link3DForces_dqd

user_Link3DForces_d_ptr user_Link3DForces_dqdd

user_Link3DForces_dp_ptr user_Link3DForces_dp

user_ExtForces_d_ptr user_ExtForces_dq

user_ExtForces_d_ptr user_ExtForces_dqd

user_ExtForces_d_ptr user_ExtForces_dqdd

user_ExtForces_dp_ptr user_ExtForces_dp

user_realtime_options_ptr user_realtime_options

user_keyboard_ptr user_keyboard

user_realtime_plot_ptr user_realtime_plot

user_joystick_axes_ptr user_joystick_axes

user_joystick_buttons_ptr user_joystick_buttons

user_realtime_visu_ptr user_realtime_visu

set_mbs_to_output_ptr user_synch_outputs

}	user

Member Data Documentation

◆ mbs_accelred

mbs_accelred_ptr mbs_accelred

◆ mbs_bind_user_model

mbs_bind_user_model_ptr mbs_bind_user_model

◆ mbs_check_symbolic

mbs_checksymb_ptr mbs_check_symbolic

◆ mbs_cons_hJ

mbs_cons_hJ_ptr mbs_cons_hJ

◆ mbs_cons_jdqd

mbs_cons_jdqd_ptr mbs_cons_jdqd

◆ mbs_delete_user_IO

mbs_delete_user_IO_ptr mbs_delete_user_IO

Free the memory associated to the given UserIO structure.

(project specific -> see definition in project/userfctR/user_IO.c)

◆ mbs_delete_user_model

mbs_delete_user_model_ptr mbs_delete_user_model

◆ mbs_dirdyna

mbs_dirdyna_ptr mbs_dirdyna

◆ mbs_extforces

mbs_extforces_ptr mbs_extforces

◆ mbs_gensensor

mbs_gensensor_ptr mbs_gensensor

◆ mbs_get_user_IO_size

mbs_get_user_IO_size_ptr mbs_get_user_IO_size

Get the size of the UserIO structure inside the user_IO.c file.

pointors are the ouputs : n_in = number of user input port n_out = number of user output port n_user_IO = number of user IO ports

(project specific -> see definition in project/userfctR/user_IO.c)

◆ mbs_get_user_model_list

mbs_get_user_model_list_ptr mbs_get_user_model_list

◆ mbs_get_user_model_size

mbs_get_user_model_size_ptr mbs_get_user_model_size

◆ mbs_invdyna

mbs_invdyna_ptr mbs_invdyna

◆ mbs_invdynared_dp

mbs_invdynared_d_ptr mbs_invdynared_dp

◆ mbs_invdynared_dq

mbs_invdynared_d_ptr mbs_invdynared_dq

◆ mbs_invdynared_dqd

mbs_invdynared_d_ptr mbs_invdynared_dqd

◆ mbs_invdynared_dqdd

mbs_invdynared_d_ptr mbs_invdynared_dqdd

◆ mbs_link

mbs_link_ptr mbs_link

◆ mbs_link3D

mbs_link3D_ptr mbs_link3D

◆ mbs_load_user_model

mbs_load_user_model_ptr mbs_load_user_model

◆ mbs_new_user_IO

mbs_new_user_IO_ptr mbs_new_user_IO

Initialize the UserIO structure and bind the ioInfo pointer to the allocated memory (project specific -> see definition in project/userfctR/user_IO.c)