useful_functions.h File Reference

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "mbs_data.h"
#include "mbs_1D_array.h"
#include "mbs_matrix.h"

Go to the source code of this file.

Macros
#define	MIN(a, b)   (((a)<(b))?(a):(b))
#define	MAX(a, b)   (((a)>(b))?(a):(b))
#define	DBL_MAX   1.7976931348623158e+308

Functions
void *	mbs_free (void *__ptr)
	Free the pointor ptr and set it to NULL. More...
void	mbs_log (char *msg,...)
	Function for logging messages in a file called "log" where the program is executed. More...
double	pow_int (double basis, int expo)
	compute efficiently pow with an integer exponent More...
int	expo_ten_inf (double nb)
	get log with base 10 More...
double	sign (double a)
	sign function More...
char *	get_time_machine ()
	returns the current time as a String More...
char *	get_char_vec (int l_v)
	create (with memory allocation) a vector (length l_v) of char More...
char **	get_char_tab (int nb_r, int nb_c)
	create (with memory allocation) a [nb_r times nb_c] matrix of chars WARNING: only the first dimension (nb_r) is allocated, pointing to NULL ! More...
void	free_char_vec (char *vec)
	release memory for a vector of char More...
char *	get_char_cpy (const char *fmt,...)
	Copy the provided formatted string into a newly allocated memory. More...
void	free_char_tab (char **mat)
	release memory for a matrix of chars More...
double ***	get_d3Darray_0 (int nb_r, int nb_c, int z)
	create (with memory allocation) a [x times y times z] 3D array of doubles, starting at index 0 More...
void	free_d3Darray_0 (double ***array3D)
	release memory for a 3D array of doubles, starting at index 0 More...
void	mbs_print_data (MbsData *mbs_data)
void	mbs_copy_data (MbsData *s, MbsData *s_copy)
	Copy all fields between two MBSdata structures. More...
void	mbs_reset_data (MbsData *s)
	Reset all fields of a MbsData structure to initial values. More...
int	mbs_write_data (MbsData *mbs, char *filename, char *function_name)
	Write a source with a function allocating and setting a MbsData copy of the provided. More...
int	mbs_compare_data (MbsData *s1, MbsData *s2, int accelred)
	Compare two MbsData. More...
int	mbs_strcmp (const char *__s1, const char *__s2)
	Compare two char with strcmp. More...

Macro Definition Documentation

DBL_MAX

#define DBL_MAX   1.7976931348623158e+308

MAX

#define MAX	(		a,
			b
	)		(((a)>(b))?(a):(b))

MIN

#define MIN	(		a,
			b
	)		(((a)<(b))?(a):(b))

Function Documentation

expo_ten_inf()

int expo_ten_inf

(

double

nb

)

get log with base 10

Parameters

[in]

nb

number to compute the log

Returns

the exponent (base 10) -> log_10 (this is the inferior exponent)

free_char_tab()

void free_char_tab

(

char **

mat

)

release memory for a matrix of chars

Parameters

[in]

mat

matrix of chars

free_char_vec()

void free_char_vec

(

char *

vec

)

release memory for a vector of char

Parameters

[in]

vec

vector of chars

free_d3Darray_0()

void free_d3Darray_0

(

double ***

array3D

)

release memory for a 3D array of doubles, starting at index 0

Parameters

[in,out]

array3D

3D array of doubles

get_char_cpy()

char* get_char_cpy	(	const char *	fmt,
			...
	)

Copy the provided formatted string into a newly allocated memory.

The caller is responsible to release the memory.

Parameters

fmt	The string to be formated and stored.

Returns

A pointer to the memory storing the formatted string.

get_char_tab()

char** get_char_tab	(	int	nb_r,
		int	nb_c
	)

create (with memory allocation) a [nb_r times nb_c] matrix of chars WARNING: only the first dimension (nb_r) is allocated, pointing to NULL !

Parameters

[in]	nb_r	= nb of rows
[in]	nb_c	= nb of columns

Returns

requested matrix of chars

get_char_vec()

char* get_char_vec

(

int

l_v

)

create (with memory allocation) a vector (length l_v) of char

Parameters

[in]

l_v

= size of the vector

Returns

requested vector of char

get_d3Darray_0()

double*** get_d3Darray_0	(	int	nb_r,
		int	nb_c,
		int	z
	)

create (with memory allocation) a [x times y times z] 3D array of doubles, starting at index 0

Parameters

[in]	x	nb of first dimension
[in]	nb_c	nb of second dimension
[in]	z	nb of third dimension

Returns

requested 3D array of doubles

get_time_machine()

char* get_time_machine

(

)

returns the current time as a String

source: http://en.wikipedia.org/wiki/C_date_and_time_functions

mbs_compare_data()

int mbs_compare_data	(	MbsData *	s1,
		MbsData *	s2,
		int	accelred
	)

Compare two MbsData.

The following fields are not compared:

• MbsData::DonePart
• MbsData::DoneEquil
• MbsData::DoneModal
• MbsData::process
• MbsData::flag_stop
• MbsData::flag_jac_position
• MbsData::flag_safety_checks
• MbsData::flag_optim_symb_sin_cos
• MbsData::MAX_NR_ITER

Other fields may be ommited.

The user model parameters are not compared.

If using "accelred" activate the flag accelred (non-null value). Otherwhise deactivate it (null value). The field specifiec to accelered (MbsData::jac_user and MbsData::jdqd_user) are allocated with size MbsData::nqv at file loading. When not using "accelred" this value can be changed without reallocating the fields.

Parameters

[in]	s1	The first multibody system.
[in]	s2	The second multibody system
[in]	accelred	Flag to compare specified field for accelred usage (user jacobian and jdqd fields). Should be set to False by default.

Returns

0 if same system, -1 otherwhise

mbs_copy_data()

void mbs_copy_data	(	MbsData *	s,
		MbsData *	s_copy
	)

Copy all fields between two MBSdata structures.

WARNING: This function is not updated daily with new functionnalities of MbsData. Use with care.

The function does not modify the followings:

• user models
• user IOs
• multibody filename
• build path
• project path
• project name
• pointers to project functions
• pointer to realtime structure

Parameters

[in]	s	Pointer to the multibody source.
[out]	s_copy	Pointer to the multibody output.

Returns

mbs_free()

void* mbs_free

(

void *

__ptr

)

Free the pointor ptr and set it to NULL.

mbs_log()

void mbs_log	(	char *	msg,
			...
	)

Function for logging messages in a file called "log" where the program is executed.

It is useful for debugging when the printf messages do not appear in the console (for instance in Simulink).

mbs_print_data()

void mbs_print_data

(

MbsData *

mbs_data

)

mbs_reset_data()

void mbs_reset_data

(

MbsData *

s

)

Reset all fields of a MbsData structure to initial values.

Parameters

[in,out]

s

the MbsData structure to reset

mbs_strcmp()

int mbs_strcmp	(	const char *	__s1,
		const char *	__s2
	)

Compare two char with strcmp.

Parameters

[in]	__s1	The first char to compare.
[in]	__s2	The second char to compare.

Returns

Negative number in case of error, 0 otherwhise.

mbs_write_data()

int mbs_write_data	(	MbsData *	mbs,
		char *	filename,
		char *	function_name
	)

Write a source with a function allocating and setting a MbsData copy of the provided.

Parameters

[in]	mbs	The MbsData structure to be set in the function.
[in]	filename	The name of the source file to be created.
[in]	function_name	The name of the function creating the new MbsData. NULL can be provided, in such a case the name will be "get_mbs_data".

Returns

Negative number in case of error, 0 otherwhise.

pow_int()

double pow_int	(	double	basis,
		int	expo
	)

compute efficiently pow with an integer exponent

Parameters

[in]	a	= basis (double)
[in]	b	= exponent (integer)

Returns

a^b (same result as pow(a,b), except that b is a integer -> more efficient)

sign()

double sign

(

double

a

)

sign function

Parameters

[in]

a

input

Returns

1 if positive (or 0), -1 if negative