General structure of the inverse kinematics module. More...

#include <mbs_solvekin_struct.h>

Public Attributes
MbsInvOptions *	options
	Structure defining the option of a inverse kinematic analysis. More...

MbsAux *	mbs_aux
	Structure to store auxiliary value needed during computation. More...

double	tsim
	Current simulation time. More...

int	tindex
	Current time index. More...

MbsBuffer **	buffers
	Buffer to store generalized coordinates, velocities, acceleration. More...

MbsGrowingBuffer *	user_buffer
	Growing buffer to store user values. More...

int	bufferNb
	Number of buffers. More...

double **	savedArrays
	Pointer to the array that must be saved to buffers. More...

int	savePeriodCounter
	Counter for checking whether results must be saved. More...

int	trajectorytype
	Value to store the type of trajectory provided by the user, automatically set. More...

MbsLutRes *	q
	Pointer to save the input trajectories. More...

MbsLutRes *	qd

MbsLutRes *	qdd

Detailed Description

General structure of the inverse kinematics module.

Member Data Documentation

◆ bufferNb

int bufferNb

Number of buffers.

◆ buffers

MbsBuffer** buffers

Buffer to store generalized coordinates, velocities, acceleration.

◆ mbs_aux

MbsAux* mbs_aux

Structure to store auxiliary value needed during computation.

◆ options

MbsInvOptions* options

Structure defining the option of a inverse kinematic analysis.

◆ q

MbsLutRes* q

Pointer to save the input trajectories.

◆ qd

MbsLutRes * qd

◆ qdd

MbsLutRes * qdd

◆ savedArrays

double** savedArrays

Pointer to the array that must be saved to buffers.

◆ savePeriodCounter

int savePeriodCounter

Counter for checking whether results must be saved.

◆ tindex

int tindex

Current time index.

◆ trajectorytype

int trajectorytype

Value to store the type of trajectory provided by the user, automatically set.

0 : Not a trajectory, motion is 'oneshot'
1 : Trajectory f fully driven model (nqu==0)
2 : Trajectory with input file for both independant and driven joints
3 : Trajectory with input file for only independant joints

◆ tsim

double tsim

Current simulation time.

◆ user_buffer

MbsGrowingBuffer* user_buffer

Growing buffer to store user values.

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

mbs_common/mbs_struct/mbs_solvekin_struct.h

Public Attributes