#include <mbs_equil_struct.h>

Public Attributes
MbsEquilOptions *	options
	structure defining the option of a equilibrium More...

MbsAux *	aux

double *	qd_saved
	initial generalized velocities as defined in the mbsysPad More...

double *	qdd_saved
	initial generalized accelerations as defined in the mbsysPad More...

int	nx
	number of variables for the equilibrium More...

double *	x
	variables for the equilibrium More...

double **	x_ptr
	vector of pointers pointing to the equilibrium variables More...

int	Nux_saved
	copy of mbs_data Nux More...

int	nxch
	number of exchange variables for the equilibrium More...

int *	xch
	index of the exchange variables in the vector of equilibrium variables More...

int	nxe
	number of added variables for the equilibrium More...

int *	xe
	index of the added variables in the vector of equilibrium variables More...

int	nxs
	number of sensitive variables for the equilibrium More...

int *	xs
	index of sensitive variables in the vector of equilibrium variables More...

int	nxns
	number of non sensitive variables for the equilibrium More...

int *	xns
	index of non sensitive variables in the vector of equilibrium variables More...

double	norm_pk
	norm of the equlibrium variables vector x (parameter to minimize in the solvepk algorithm) More...

double **	grad
	Linear Tangent matrix: delta Fx / delta x (obtained numerically) More...

double **	grad_Rr
	mbs Linear Tangent matrix: delta Rr / delta x (obtained numerically) More...

double **	grad_uxd
	uxd Linear Tangent matrix: delta uxd / delta x (obtained numerically) More...

double **	grad_fxe
	fxe Linear Tangent matrix: delta fxe / delta x (obtained numerically) More...

MbsLpk *	lpk
	working structure to compute the linearized matrices (one by one) More...

double *	F

double	R

int	iter
	current iteration in the equilibrium computation More...

int	savePeriodCounter
	counter for checking whether results must be saved More...

int	bufferNb

MbsBuffer **	buffers
	buffer to store generalized coordinates, velocities, acceleration, joint forces... More...

MbsGrowingBuffer *	user_buffer
	growing buffer to store user values More...

double **	savedArrays
	pointer to the array that must be saved to buffers More...

int	success
	1 if the equilibrium process were successful (0 if none -1 if failed) More...

Member Data Documentation

◆ aux

MbsAux* aux

◆ bufferNb

int bufferNb

◆ buffers

MbsBuffer** buffers

buffer to store generalized coordinates, velocities, acceleration, joint forces...

◆ F

double* F

◆ grad

double** grad

Linear Tangent matrix: delta Fx / delta x (obtained numerically)

◆ grad_fxe

double** grad_fxe

fxe Linear Tangent matrix: delta fxe / delta x (obtained numerically)

◆ grad_Rr

double** grad_Rr

mbs Linear Tangent matrix: delta Rr / delta x (obtained numerically)

◆ grad_uxd

double** grad_uxd

uxd Linear Tangent matrix: delta uxd / delta x (obtained numerically)

◆ iter

int iter

current iteration in the equilibrium computation

◆ lpk

MbsLpk* lpk

working structure to compute the linearized matrices (one by one)

◆ norm_pk

double norm_pk

norm of the equlibrium variables vector x (parameter to minimize in the solvepk algorithm)

◆ Nux_saved

int Nux_saved

copy of mbs_data Nux

◆ nx

int nx

number of variables for the equilibrium

◆ nxch

int nxch

number of exchange variables for the equilibrium

◆ nxe

int nxe

number of added variables for the equilibrium

◆ nxns

int nxns

number of non sensitive variables for the equilibrium

◆ nxs

int nxs

number of sensitive variables for the equilibrium

◆ options

MbsEquilOptions* options

structure defining the option of a equilibrium

◆ qd_saved

double* qd_saved

initial generalized velocities as defined in the mbsysPad

◆ qdd_saved

double* qdd_saved

initial generalized accelerations as defined in the mbsysPad

◆ R

double R

◆ savedArrays

double** savedArrays

pointer to the array that must be saved to buffers

◆ savePeriodCounter

int savePeriodCounter

counter for checking whether results must be saved

◆ success

int success

1 if the equilibrium process were successful (0 if none -1 if failed)

◆ user_buffer

MbsGrowingBuffer* user_buffer

growing buffer to store user values

◆ x

double* x

variables for the equilibrium

◆ x_ptr

double** x_ptr

vector of pointers pointing to the equilibrium variables

◆ xch

int* xch

index of the exchange variables in the vector of equilibrium variables

◆ xe

int* xe

index of the added variables in the vector of equilibrium variables

◆ xns

int* xns

index of non sensitive variables in the vector of equilibrium variables

◆ xs

int* xs

index of sensitive variables in the vector of equilibrium variables

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

mbs_common/mbs_struct/mbs_equil_struct.h

Public Attributes