The State-space representation starts at index 0. More...

#include <mbs_statespace_struct.h>

Public Attributes
int *	iu
	index of the state space representation input in the Qq vector. The vector is re-ordered in the process. More...

int *	iy
	index of the state space representation output in the space space vector x. The vector is re-ordered in the process. More...

int	nx
	number of state, (normally nx=2*nqu) More...

int	nu
	number of input (limited to njoint for the moment as only joint forces are considered as input) More...

int	ny
	number of output (limited to 2*nqu) More...

double **	A
	state space matrix [nx nx] More...

double **	B
	input matrix [nx nu] More...

double **	C
	output matrix [ny nx] More...

double **	D

double **	Mr
	unused for the moment More...

double **	Gr
	Linearized damping matrix : d Rr / d qdu. More...

double **	Kr
	Linearized stiffness matrix : d Rr / d qu. More...

double **	Lr
	Linearized stiff state matrix : d Rr / d ux. More...

double **	Bvuc_0
	copy of the Bvuc matrix (with index 0 !) More...

double **	Gx
	Linearized ODE damping matrix : d uxd / d qdu. More...

double **	Kx
	Linearized ODE stiffness matrix : d uxd / d qu. More...

double **	Lx
	Linearized ODE stiff state matrix : d uxd / d ux. More...

double **	Jr
	Linearized Inertia matrix : d Rr / d qddu (including inerter terms) More...

double **	Jx
	Linearized ODE Inertia matrix : d uxd / d qddu. More...

double **	Sr
	Linearized State derivativ matrix : d Rr / d uxd. More...

int	compute_JS
	simple flag indicating whether the Jr,Jx and Sr matrices are computed to obtain the A matrix. More...

int	nqu

int	Nux

double *	columnKr

double *	columnGr

double *	columnLr

double **	Mr_copy

int *	iLU

double *	N