Robotran C Documentation
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MbsEquilOptions Struct Reference

#include <mbs_equil_struct.h>

Public Attributes

int method
 fsolvepk = 1, other method to be added. [default = 1] More...
 
double equitol
 equilibrium acceptation tolerance [default = 1e-6] More...
 
int verbose
 Verbosity level propagated to other compatible module: More...
 
int save2file
 1: results saved 0: not saved [default = 1] More...
 
int compute_uxd
 no = 0, yes = 1, flag to compute the extra constitutive differential equations as equil equations [default = 1] More...
 
int grad_lpk
 options to compute the gradient through the lpk parabolic fitting method. If not activated, the gradient is computed by small deviation with options devJac [default = 0] More...
 
int lpk_itermax
 options for the lpk gradient [default = 10] More...
 
double lpk_relincr
 options for the lpk gradient [default = 1e-2] More...
 
double lpk_absincr
 options for the lpk gradient [default = 1e-3] More...
 
double lpk_absincr_max
 options for the lpk gradient [default = 0] More...
 
double lpk_equitol
 options for the lpk gradient [default = 1e-6] More...
 
double lpk_lintol
 options for the lpk gradient [default = 1e-3] More...
 
char * resfilename
 The keyword used for determining the name of result files [default:equil]. More...
 
const char * respath
 Path in which result file are saved. [default:resultsR folder]. More...
 
const char * animpath
 Path in which animation file are saved. [default:animationR folder]. More...
 
char * buffer_format
 if NULL, "%e" is used More...
 
int mode
 1=static / 2=quasistatic / 3=dynamic [default = 1] More...
 
int relax
 relaxation in pk algorithm no = 0, yes = 1 [default = 0] More...
 
double relaxcoeff
 relaxation coefficient [default = 0.9] More...
 
double relaxIterMax
 maximum number of relaxation iterations [default = 10] More...
 
int soft
 softing in pk algorithm no = 0, yes = 1 [default = 0] More...
 
double senstol
 tolerance for testing a variable non-sensitivity [default = 1e-6] More...
 
double devjac
 deviate state for Gradient calculation [default = 1e-6] More...
 
int itermax
 maximum number of iteration for solvepk [default = 30] More...
 
int visualize
 Q? no = 0, yes = 1, default = 0. More...
 
int clearmbsglobal
 Q? inout = 1, out = 2, none = 3, all = 4, default = 1 ??? More...
 
int nquch
 number of changed independant variables More...
 
int * quch
 index of changed independant variables More...
 
double ** xch_ptr
 vector of pointers pointing to the exchange variables (the ones that replaces the changed qu) More...
 
int nxe
 number of extra equilibrium variables More...
 
double ** xe_ptr
 vector of pointers pointing to the extra variables More...
 
int * xe_index
 vector containing the index of the added variables inside the equilibrium variables vector More...
 
int saveperiod
 The number of iteration between two buffer records [default = 1] (every iteration are recorded) More...
 
int save_anim
 1 to save the anim file, 0 otherwise (only valid if 'save2file' is set to 1) More...
 
int framerate
 number of frame per second for the .anim file More...
 
int buffersize
 The number of time step that can be recorded in the buffer [default = -1]. More...
 
int max_save_user
 The maximal number of user variables saved [default = 12]. More...
 
void(* fxe_ptr )(MbsData *, double *)
 pointer pointing on the .c function calculating the added equilibrum functions More...
 
char ** joints_name
 Array containing the name of each joints. More...
 
double * max_inc
 Maximum absolute value of the increment of each variable between iterations. More...
 
int close_geo_sensitive
 

Member Data Documentation

◆ animpath

const char* animpath

Path in which animation file are saved. [default:animationR folder].

◆ buffer_format

char* buffer_format

if NULL, "%e" is used

◆ buffersize

int buffersize

The number of time step that can be recorded in the buffer [default = -1].

◆ clearmbsglobal

int clearmbsglobal

Q? inout = 1, out = 2, none = 3, all = 4, default = 1 ???

◆ close_geo_sensitive

int close_geo_sensitive

◆ compute_uxd

int compute_uxd

no = 0, yes = 1, flag to compute the extra constitutive differential equations as equil equations [default = 1]

◆ devjac

double devjac

deviate state for Gradient calculation [default = 1e-6]

◆ equitol

double equitol

equilibrium acceptation tolerance [default = 1e-6]

◆ framerate

int framerate

number of frame per second for the .anim file

◆ fxe_ptr

void(* fxe_ptr(MbsData *, double *)

pointer pointing on the .c function calculating the added equilibrum functions

◆ grad_lpk

int grad_lpk

options to compute the gradient through the lpk parabolic fitting method. If not activated, the gradient is computed by small deviation with options devJac [default = 0]

◆ itermax

int itermax

maximum number of iteration for solvepk [default = 30]

◆ joints_name

char** joints_name

Array containing the name of each joints.

◆ lpk_absincr

double lpk_absincr

options for the lpk gradient [default = 1e-3]

◆ lpk_absincr_max

double lpk_absincr_max

options for the lpk gradient [default = 0]

◆ lpk_equitol

double lpk_equitol

options for the lpk gradient [default = 1e-6]

◆ lpk_itermax

int lpk_itermax

options for the lpk gradient [default = 10]

◆ lpk_lintol

double lpk_lintol

options for the lpk gradient [default = 1e-3]

◆ lpk_relincr

double lpk_relincr

options for the lpk gradient [default = 1e-2]

◆ max_inc

double* max_inc

Maximum absolute value of the increment of each variable between iterations.

If not set (NULL ptr.) no limitation are considered. To not limit some variables, set the value at the corresponding index to INFINITY or zero. No check is done on the sign of the provided value! The memory is not freed automatically.

◆ max_save_user

int max_save_user

The maximal number of user variables saved [default = 12].

◆ method

int method

fsolvepk = 1, other method to be added. [default = 1]

◆ mode

int mode

1=static / 2=quasistatic / 3=dynamic [default = 1]

◆ nquch

int nquch

number of changed independant variables

◆ nxe

int nxe

number of extra equilibrium variables

◆ quch

int* quch

index of changed independant variables

◆ relax

int relax

relaxation in pk algorithm no = 0, yes = 1 [default = 0]

◆ relaxcoeff

double relaxcoeff

relaxation coefficient [default = 0.9]

◆ relaxIterMax

double relaxIterMax

maximum number of relaxation iterations [default = 10]

◆ resfilename

char* resfilename

The keyword used for determining the name of result files [default:equil].

◆ respath

const char* respath

Path in which result file are saved. [default:resultsR folder].

◆ save2file

int save2file

1: results saved 0: not saved [default = 1]

◆ save_anim

int save_anim

1 to save the anim file, 0 otherwise (only valid if 'save2file' is set to 1)

◆ saveperiod

int saveperiod

The number of iteration between two buffer records [default = 1] (every iteration are recorded)

◆ senstol

double senstol

tolerance for testing a variable non-sensitivity [default = 1e-6]

◆ soft

int soft

softing in pk algorithm no = 0, yes = 1 [default = 0]

◆ verbose

int verbose

Verbosity level propagated to other compatible module:

  • MBS_VERBOSE_ERROR: Only print error related messages;
  • MBS_VERBOSE_WARNING: Print error and warning related messages;
  • MBS_VERBOSE_ALL: Print all normal release messages (default);
  • MBS_VERBOSE_DEBUG: Maximal verbosity level;

◆ visualize

int visualize

Q? no = 0, yes = 1, default = 0.

◆ xch_ptr

double** xch_ptr

vector of pointers pointing to the exchange variables (the ones that replaces the changed qu)

◆ xe_index

int* xe_index

vector containing the index of the added variables inside the equilibrium variables vector

◆ xe_ptr

double** xe_ptr

vector of pointers pointing to the extra variables


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