Structure defining one multibody system and additional stuff for coupling it to LMGC90. More...
#include <mbs_lmgc.h>
Public Attributes | |
| int | nb_nodes |
| Number of nodes in this system. More... | |
| MbsData * | mbs_data |
| Pointer to the MbsData structure of the multibody system. More... | |
| int | mbs_data_loaded |
| Flag indicate if mbs_data was loaded or if a pointer to the memory was provided (-1: no data / 0: pointer to memory / 1: loaded) More... | |
| MbsAux * | lds |
| Utility structure for keeping intermediate variable during computation. More... | |
| MbsLmgcNode * | nodes |
| Array of nodes associated to this mbs. More... | |
| double * | qm |
| Array of the generalized position in the contact configuration. More... | |
| double * | vFree |
| Array of the generalized free velocities (velocities without contact) More... | |
| double * | vBeg |
| Array of the generalized velocities at the beginning of the time step. More... | |
| double * | vAux |
| Array of auxiliary generalized velocities (for computing W matrix) More... | |
| double * | reac |
| Array of generalized reaction. More... | |
| double * | rAux |
| Array of auxiliary generalized reaction (for computing W matrix) More... | |
| double * | impQc |
| Array of impulse on the driven coordinates. More... | |
| char * | mbsFile |
| String defining the file from which to load the mbs data. More... | |
| char * | libPath |
| String defining the folder of the project libraries (symbolic and user) More... | |
| char * | resqFile |
| String defining the file in which to save coordinate results. More... | |
| char * | resqdFile |
| String defining the file in which to save velocity results. More... | |
| char * | resQqFile |
| String defining the file in which to save velocity results. More... | |
| char * | resImpQcFile |
| String defining the file in which to save impuls of joint/force associated to driven joints. More... | |
| char * | animFile |
| String defining the file in which to save animation result. More... | |
| MbsBuffer ** | buffers |
| buffer to store generalized coordinates, velocities, acceleration, joint forces... More... | |
| double ** | savedArrays |
| pointer to the array that must be saved to buffers More... | |
| int | bufferNb |
| Number of buffer. More... | |
| int | saveperiod |
| The number of time steps between two buffer records; default: 1 (every time step are recorded). More... | |
| int | next_save_step |
| The next step for the buffer to be saved. More... | |
| int | current_step |
| The current step number. More... | |
| int | buffersize |
| The number of time step that can be recorded in the buffer. More... | |
Structure defining one multibody system and additional stuff for coupling it to LMGC90.
| char* animFile |
String defining the file in which to save animation result.
| int bufferNb |
Number of buffer.
| MbsBuffer** buffers |
buffer to store generalized coordinates, velocities, acceleration, joint forces...
| 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.
| int current_step |
The current step number.
| double* impQc |
Array of impulse on the driven coordinates.
| MbsAux* lds |
Utility structure for keeping intermediate variable during computation.
| char* libPath |
String defining the folder of the project libraries (symbolic and user)
| int mbs_data_loaded |
Flag indicate if mbs_data was loaded or if a pointer to the memory was provided (-1: no data / 0: pointer to memory / 1: loaded)
| char* mbsFile |
String defining the file from which to load the mbs data.
| int nb_nodes |
Number of nodes in this system.
| int next_save_step |
The next step for the buffer to be saved.
| MbsLmgcNode* nodes |
Array of nodes associated to this mbs.
| double* qm |
Array of the generalized position in the contact configuration.
| double* rAux |
Array of auxiliary generalized reaction (for computing W matrix)
| double* reac |
Array of generalized reaction.
| char* resImpQcFile |
String defining the file in which to save impuls of joint/force associated to driven joints.
| char* resqdFile |
String defining the file in which to save velocity results.
| char* resqFile |
String defining the file in which to save coordinate results.
| char* resQqFile |
String defining the file in which to save velocity results.
| double** savedArrays |
pointer to the array that must be saved to buffers
| int saveperiod |
The number of time steps between two buffer records; default: 1 (every time step are recorded).
| double* vAux |
Array of auxiliary generalized velocities (for computing W matrix)
| double* vBeg |
Array of the generalized velocities at the beginning of the time step.
| double* vFree |
Array of the generalized free velocities (velocities without contact)
1.8.17
