MbsAux_tag Struct Reference

#include <mbs_aux.h>

Public Attributes
double	norm_h
double	NRerr
int	MAX_NR_ITER
	max number of iteration for NR procedure More...
int	n_iter_close_loop
	number of iterations after closing loop procedure in mbs_close_geo More...
double *	h
	Vector (index starting at 1) of size [Ncons] (or NULL if Ncons==0). More...
double **	Jac
	Array (index starting at 1) of size [Ncons x njoint] (or NULL if Ncons==0). More...
double *	huserc
	Vector (index starting at 1) of size [Nuserc] (or NULL if Nuserc==0). More...
double **	Juserc
	Array (index starting at 1) of size [Nuserc x njoint] (or NULL if Nuserc==0). More...
double **	mJv
	Array (index starting at 1) of size [Ncons x nqv] (or NULL if Ncons==0). More...
int *	ind_mJv
	Vector (index starting at 1) of size [Ncons] (or NULL if Ncons==0). More...
double *	Qc
	Vector (index starting at 1) of size [nqc]. More...
double *	mJv_h
	Value of the independant constraints ( ) More...
int	nquc
	store nqu+nqc More...
int *	iquc
double **	Juct
double **	Bvuc
	Array (index starting at 1) of size [nqv x nquc] (or NULL if Nuserc==0). More...
double *	Jvtlambda
	Intermediate array to store and compute lambda. More...
double **	Jvt
int *	ind_Jvt
int *	qrot_qu_indvec
	vec [ivec_1, njoint] containing 1 or 0, depending on the nature of the joint : if rotational AND qu => 1, else 0 (default is zero) More...
int *	qrot_qc_indvec
	vec [ivec_1, njoint] containing 1 or 0, depending on the nature of the joint : if rotational AND qc => 1, else 0 (default is zero) More...
int *	qrot_qv_indvec
	vec [ivec_1, njoint] containing 1 or 0, depending on the nature of the joint : if rotational AND qv => 1, else 0 (default is zero) More...
double *	jdqd
	Vector (index starting at 1) of size [Ncons]. More...
double *	jdqduserc
double *	bp
	Vector (index starting at 1) of size [Ncons] (or NULL if Ncons==0). More...
MbsSensor *	psens
double *	q_save
	Vector (index starting at 1) of size [njoint]. More...
int	close_anim
double **	M
	Array (index starting at 1) of size [njoint x njoint]. More...
double *	c
	Vector (index starting at 1) of size [njoint]. More...
double *	F
	vector of size [njoint] that containts c(q,qd)-Q(q,qd) More...
double **	BtMvu
double **	BtMB
	Arrays (index starting at 1) of size [(nqu + nqc) x (nqu + nqc)]. More...
double **	BtMvv
	Array (index starting at 1) of size [(nqu + nqc) x nqv]. More...
double *	BtFv
double *	MBMb
	Vectors (index starting at 1) of size [nqu]. More...
double **	Mruc
	Array (index starting at 1) of size [(nqu + nqc) x (nqu + nqc)]. More...
double *	Fruc
	Vector (index starting at 1) of size [nqu + nqc]. More...
double **	Mr
	Array (index starting at 1) of size [nqu x nqu]. More...
double *	Fr
	Vector (index starting at 1) of size [nqu]. More...
double *	p_Mr
	Vector (index starting at 1) of size [nqu]. More...
int *	compute_Qc_vec
	Vector (index starting at 1) of size [njoint]. More...
double *	Qa
	Vector (index starting at 1) of size [njoint]. More...
double **	A
	Array (index starting at 1) of size [nqu x njoint]. More...
int *	ind_A
	Vector (index starting at 1) of size [njoint]. More...
double *	b
	Vector (index starting at 1) of size [njoint]. More...
double *	w
	Vector (index starting at 1) of size [njoint]. More...
double **	v
	Array (index starting at 1) of size [njoint x njoint]. More...
double *	phi
	vector of size [njoint x 1] that contains the results of symbolic file invdyna. More...
double *	R
	vector of size [njoint x 1] that contains R=phi-c; (unconstrained equations of motion for the mbs on residual form) More...
double *	Rruc
	vector of size [nqu+nqc x 1] that contains the reduced residue for the equations of motions after the first reduction (dependent variables) More...
double *	Rred
	vector of size [nqu x 1] that contains the reduced residue of the equations of motion after the second reduction (driven variables) More...

Member Data Documentation

A

double** A

Array (index starting at 1) of size [nqu x njoint].

b

double* b

Vector (index starting at 1) of size [njoint].

bp

double* bp

Vector (index starting at 1) of size [Ncons] (or NULL if Ncons==0).

BtFv

double* BtFv

BtMB

double ** BtMB

Arrays (index starting at 1) of size [(nqu + nqc) x (nqu + nqc)].

BtMvu

double** BtMvu

BtMvv

double** BtMvv

Array (index starting at 1) of size [(nqu + nqc) x nqv].

Bvuc

double** Bvuc

Array (index starting at 1) of size [nqv x nquc] (or NULL if Nuserc==0).

c

double* c

Vector (index starting at 1) of size [njoint].

close_anim

int close_anim

compute_Qc_vec

int* compute_Qc_vec

Vector (index starting at 1) of size [njoint].

F

double* F

vector of size [njoint] that containts c(q,qd)-Q(q,qd)

Fr

double* Fr

Vector (index starting at 1) of size [nqu].

Fruc

double* Fruc

Vector (index starting at 1) of size [nqu + nqc].

h

double* h

Vector (index starting at 1) of size [Ncons] (or NULL if Ncons==0).

huserc

double* huserc

Vector (index starting at 1) of size [Nuserc] (or NULL if Nuserc==0).

ind_A

int* ind_A

Vector (index starting at 1) of size [njoint].

ind_Jvt

int* ind_Jvt

ind_mJv

int* ind_mJv

Vector (index starting at 1) of size [Ncons] (or NULL if Ncons==0).

iquc

int* iquc

Jac

double** Jac

Array (index starting at 1) of size [Ncons x njoint] (or NULL if Ncons==0).

jdqd

double* jdqd

Vector (index starting at 1) of size [Ncons].

jdqduserc

double* jdqduserc

Juct

double** Juct

Juserc

double** Juserc

Array (index starting at 1) of size [Nuserc x njoint] (or NULL if Nuserc==0).

Jvt

double** Jvt

Jvtlambda

double* Jvtlambda

Intermediate array to store and compute lambda.

The Lagrange multiplier are ordered according to the options of the partioning module.

M

double** M

Array (index starting at 1) of size [njoint x njoint].

MAX_NR_ITER

int MAX_NR_ITER

max number of iteration for NR procedure

MBMb

double * MBMb

Vectors (index starting at 1) of size [nqu].

mJv

double** mJv

Array (index starting at 1) of size [Ncons x nqv] (or NULL if Ncons==0).

mJv_h

double* mJv_h

Value of the independant constraints ( )

Mr

double** Mr

Array (index starting at 1) of size [nqu x nqu].

Mruc

double** Mruc

Array (index starting at 1) of size [(nqu + nqc) x (nqu + nqc)].

n_iter_close_loop

int n_iter_close_loop

number of iterations after closing loop procedure in mbs_close_geo

initialized at 0; if n_iter_close_loop<0 => en error has occured !

norm_h

double norm_h

nquc

int nquc

store nqu+nqc

NRerr

double NRerr

p_Mr

double* p_Mr

Vector (index starting at 1) of size [nqu].

phi

double* phi

vector of size [njoint x 1] that contains the results of symbolic file invdyna.

psens

MbsSensor* psens

q_save

double* q_save

Vector (index starting at 1) of size [njoint].

Qa

double* Qa

Vector (index starting at 1) of size [njoint].

Qc

double* Qc

Vector (index starting at 1) of size [nqc].

qrot_qc_indvec

int* qrot_qc_indvec

vec [ivec_1, njoint] containing 1 or 0, depending on the nature of the joint : if rotational AND qc => 1, else 0 (default is zero)

qrot_qu_indvec

int* qrot_qu_indvec

vec [ivec_1, njoint] containing 1 or 0, depending on the nature of the joint : if rotational AND qu => 1, else 0 (default is zero)

qrot_qv_indvec

int* qrot_qv_indvec

vec [ivec_1, njoint] containing 1 or 0, depending on the nature of the joint : if rotational AND qv => 1, else 0 (default is zero)

R

double* R

vector of size [njoint x 1] that contains R=phi-c; (unconstrained equations of motion for the mbs on residual form)

Rred

double* Rred

vector of size [nqu x 1] that contains the reduced residue of the equations of motion after the second reduction (driven variables)

Rruc

double* Rruc

vector of size [nqu+nqc x 1] that contains the reduced residue for the equations of motions after the first reduction (dependent variables)

v

double** v

Array (index starting at 1) of size [njoint x njoint].

Maybe obsolete.

w

double* w

Vector (index starting at 1) of size [njoint].

Maybe obsolete.

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The documentation for this struct was generated from the following file:

• mbs_common/mbs_struct/mbs_aux.h