MbsInvOptions Struct Reference

Structure defining the option of both inverse kinematics and inverse dynamic analysis. More...

#include <mbs_solvekin_struct.h>

Public Attributes
int	motion
	Determines how the evolution of q, qd qdd are provided. More...
char *	trajectoryqname
	Give the path and filename (with extention) to the file containing the input trajectory in position of the joints. More...
char *	trajectoryqdname
	Give the path and filename (with extention) to the file containing the input trajectory in velocity of the joints. More...
char *	trajectoryqddname
	Give the path and filename (with extention) to the file containing the input trajectory in acceleration of the joints. More...
double	t0
	Initial time of the simulation, default = 0.0. More...
double	tf
	Final time of the simulation, default = 5.0. More...
double	dt
	Time step, default = 0.001. More...
int	save2file
	Determine whether results are written to files on disk (in MbsSolvekinOptions::respath folder): More...
char *	resfilename
	Basename of the results files, suffixes and extension added automatically. More...
char *	respath
	Path in which results file are saved. More...
char *	animpath
	Path in which animation file is saved. More...
int	save_anim
	Determine whether animation file is generated (only valid if MbsSolvekinOptions::save2file is set to 1) More...
int	framerate
	Number of frame per second for the .anim file, default = 1000. More...
int	saveperiod
	The number of time steps between two buffer records. More...
int	max_save_user
	The maximal number of user variables saved. More...
int	buffersize
	The number of time step that can be recorded in the buffer. More...
char *	buffer_format
	The format of the results in the res file. More...
int	verbose
	Gives informations during the process. More...

Detailed Description

Structure defining the option of both inverse kinematics and inverse dynamic analysis.

Member Data Documentation

animpath

char* animpath

Path in which animation file is saved.

The provided memory must be static or freed by the provider. The adress in this variable cannot be used to free dyamically allocated memory as It will be redirected by the module.

Default: the animationR folder of the project

buffer_format

char* buffer_format

The format of the results in the res file.

If NULL, uses "%e"

default: NULL if NULL, "%e" is used

buffersize

int buffersize

The number of time step that can be recorded in the buffer.

Results are written to disk when the buffer is full.

default: -1, compute the buffer size for saving results only once at the end according to dt0, t0 and tf.

dt

double dt

Time step, default = 0.001.

For motion == 'trajectory' (for inverse kinematic analysis, there must be at least one independent joint):

• Set to 0.0 to use the time vector of the coordinate input file (MbsSolvekinOptions::t0 and MbsSolvekinOptions::tf are ignored).
• Specify a value to use specific time vecor.

framerate

int framerate

Number of frame per second for the .anim file, default = 1000.

max_save_user

int max_save_user

The maximal number of user variables saved.

default: 12

motion

int motion

Determines how the evolution of q, qd qdd are provided.

• oneshot (default) : Uses q, qd and qdd at the current time and configuration of the MBS.
• closeloop : Only for inverse kinematics analysis. Same as oneshot but save the iteration of the close loop process (NR).
• trajectory : Compute the evolution of between t0 and tf. Trajectory files can be provided for q, qd, qdd (only if some joints are independent, i.e. nqu>0).

resfilename

char* resfilename

Basename of the results files, suffixes and extension added automatically.

The provided memory must be static or freed by the provider. The adress in this variable cannot be used to free dyamically allocated memory as It will be redirected by the module.

The filename can contains relative path from MbsDirdynOptions::respath.

Default: 'invdyn'

respath

char* respath

Path in which results file are saved.

The provided memory must be static or freed by the provider. The adress in this variable cannot be used to free dyamically allocated memory as It will be redirected by the module.

Default: the resultsR folder of the project

save2file

int save2file

Determine whether results are written to files on disk (in MbsSolvekinOptions::respath folder):

• 1: results are saved (default)
• 0: results are not saved

save_anim

int save_anim

Determine whether animation file is generated (only valid if MbsSolvekinOptions::save2file is set to 1)

• 1: file is generated (default)
• 0: file is not generated

saveperiod

int saveperiod

The number of time steps between two buffer records.

default: 1 (every time step are recorded)

t0

double t0

Initial time of the simulation, default = 0.0.

tf

double tf

Final time of the simulation, default = 5.0.

trajectoryqddname

char* trajectoryqddname

Give the path and filename (with extention) to the file containing the input trajectory in acceleration of the joints.

Only required for motion == 'trajectory' if some joints are independent. By default, pointer to NULL.

Requirement on the file:

• First column is the time, other are the joints accelerations.
• Either provide only the independant joint (by increasing index), user_drivenjoint will be called.
• Either provide all the joint, user_drivenjoint will be neglected.

trajectoryqdname

char* trajectoryqdname

Give the path and filename (with extention) to the file containing the input trajectory in velocity of the joints.

Only required for motion == 'trajectory' if some joints are independent. By default, pointer to NULL.

Requirement on the file:

• First column is the time, other are the joints velocities.
• Either provide only the independant joint (by increasing index), user_drivenjoint will be called.
• Either provide all the joint, user_drivenjoint will be neglected.

trajectoryqname

char* trajectoryqname

Give the path and filename (with extention) to the file containing the input trajectory in position of the joints.

Only required for motion == 'trajectory' if some joints are independent. By default, pointer to NULL.

Requirement on the file:

• First column is the time, other are the joints coordinates.
• Either provide only the independant joint (by increasing index), user_drivenjoint will be called.
• Either provide all the joint, user_drivenjoint will be neglected.

verbose

int verbose

Gives informations during the process.

//!< 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;

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

• mbs_common/mbs_struct/mbs_solvekin_struct.h