Structure defining the options of the coordinate partitioning module. More...

#include <mbs_part.h>

Public Attributes
int	rowperm
	Flag to allow lines permutations: 0 no permutation (default). More...

int	visualize
	Flag to generate loop closure animation file when partitionning fails. More...

int	drivers
	DEPRECATED OPTION. More...

int	verbose
	Verbosity level of the module, defined in file mbs_define.h. More...

int	clearmbsglobal
	DEPRECATED OPTION. More...

double	random_amplitude_rank
	Amplitude of the random troubleshoot of generalized coordinates for rank. More...

double	random_amplitude_singul
	Amplitude of the random troubleshoot of generalized coordinates for solving constaints. More...

unsigned int	set_seed
	Flag to prevent the partitionning to set a constant seed number. More...

Detailed Description

Structure defining the options of the coordinate partitioning module.

Member Data Documentation

◆ clearmbsglobal

int clearmbsglobal

DEPRECATED OPTION.

◆ drivers

int drivers

DEPRECATED OPTION.

In previous version it allows to not call the user_DrivenJoint() function.

◆ random_amplitude_rank

double random_amplitude_rank

Amplitude of the random troubleshoot of generalized coordinates for rank.

This randomized value is used to determine the rank of the Jacobian matrix. It must be positive, a null value disable the randomized effect. The default is 1e-2.

◆ random_amplitude_singul

double random_amplitude_singul

Amplitude of the random troubleshoot of generalized coordinates for solving constaints.

This randomized value is used to avoid singularities when solving constraints. It must be positive, a null value disable the randomized effect. The default is 1e-5.

◆ rowperm

int rowperm

Flag to allow lines permutations: 0 no permutation (default).

Any other value allows for lines permutation.

◆ set_seed

unsigned int set_seed

Flag to prevent the partitionning to set a constant seed number.

With a variable seed number two consecutive run of the partionning with constant input gives different results. Values:

0: Seed is not set;
Positive: Seed is set with the specified value; The default value is 1.

◆ verbose

int verbose

Verbosity level of the module, defined in file mbs_define.h.

From MBS_VERBOSE_ERROR, printing error only; To MBS_VERBOSE_DEBUG, printing all messages;

◆ visualize

int visualize

Flag to generate loop closure animation file when partitionning fails.

Default is 0 and means no animation file, otherwhise file is generated.

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

mbs_common/mbs_module/mbs_part.h

Public Attributes