#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"

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...

int	set_char_cpy (char *dest, const char fmt,...)
	Set a copy the provided formatted string into a newly allocated memory. More...

int	set_um_string (char *um_str, const char new_txt)
	Redirect the memory of the string user model to a newly allocated char array. More...

void	free_char_tab (char **mat)
	release memory for a matrix of chars More...

char *	str_replace_char (char orig, const char old_char, const char new_str, int free_orig)
	Create a copy of a string with a specific char replaced by a string. More...

int	mbs_is_char_in (const char text, const char *list, int nb_elem)
	Return the index of the provided text in a list of text. More...

int	mbs_is_char_in_concat (const char text, const char list)
	Check if the provided text is in a concatenated list of text separated by ";". More...

int	mbs_is_char_i_in_concat (const char text, const char list)
	Check if the provided text (not case sensitive) is in a concatenated list of text separated by ";". More...

int	mbs_is_char_in_concat_full (const char text, const char list, char sep, int case_sens)
	Check if the provided text is in a concatenated list of text. More...

double ***	get_d3Darray_1 (int x, int y, int z)
	create (with memory allocation) a [x times y times z] 3D array of doubles, starting at index 1 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 1 More...

void	free_d3Darray_1 (double ***array3D)

void	mbs_print_data (MbsData *mbs_data)

void	mbs_copy_data (MbsData s, MbsData s_copy)
	Copy all fields between two MBSdata structures. More...

double *	mbs_data_get_IO (MbsData mbs, const char io_name, int in_out)
	Return the adress of the specified User IO. More...

void	mbs_reset_joints_kine (MbsData *s)
	Reset joints kinematics (q, qd, qdd) of a MbsData structure to initial values. 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_strncmp (const char __s1, const char __s2, size_t n)
	Compares only the first (at most) n bytes of of two chars. More...

int	mbs_strnicmp (const char __s1, const char __s2, size_t n)
	Compares only the first (at most) n bytes of of two chars ignoring the case. More...

int	mbs_strcmp (const char __s1, const char __s2)
	Compare two char with strcmp. More...

int	mbs_stricmp (const char __s1, const char __s2)
	Compare two char with _stricmp (convert strings to lower case, ignoring case sensitive). More...

char *	mbs_strndup (const char *input_char, size_t char_size)
	(taken from strdup definition in string.h since C23) Returns a pointer to a null-terminated byte string, which contains copies of at most size bytes from the string pointed to by src. The space for the new string is obtained as if malloc was called. If the null terminator is not encountered in the first size bytes, it is appended to the duplicated string. 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 1

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

Parameters

[in,out] array3D 3D array of doubles

release memory for a 3D array of doubles, starting at index 1

Parameters

[in,out] array3D 3D array of doubles

◆ free_d3Darray_1()

void free_d3Darray_1 ( double *** array3D )

◆ 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. Providing NULL returns NULL.

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

Returns: requested 3D array of doubles

◆ get_d3Darray_1()

double*** get_d3Darray_1	(	int	x,
		int	y,
		int	z
	)

create (with memory allocation) a [x times y times z] 3D array of doubles, starting at index 1

Parameters

[in]	x	nb of first dimension
[in]	y	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:

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_data_get_IO()

double* mbs_data_get_IO	(	MbsData *	mbs,
		const char *	io_name,
		int	in_out
	)

Return the adress of the specified User IO.

The function set errno in case of error. No matches is not considered as an error.

Parameters

[in]	mbs	Pointer to the multibody structure.
[in]	io_name	Name of the user input or output to find.
[in]	in_out	Flag to determine if the requested user IO is an input, or or output: +1: user Input only; -1: user Output only; 0: Not specified, seach in inputs then output.

Returns: The adress of the double containing the user IO. NULL in case of error or if not found.

◆ mbs_free()

void* mbs_free ( void * __ptr )

Free the pointor ptr and set it to NULL.

◆ mbs_is_char_i_in_concat()

int mbs_is_char_i_in_concat	(	const char *	text,
		const char *	list
	)

Check if the provided text (not case sensitive) is in a concatenated list of text separated by ";".

Parameters

[in]	text	Pointer to the text to be found.
[in]	list	Pointer to contatenated texts to be looked into. The separator must be ";".

Returns

Either:

0: text FOUND in the list;
1: text NOT found in the list;
an error code for invalid argument (_MBS_ERR_LOW_INVALID);

◆ mbs_is_char_in()

int mbs_is_char_in	(	const char *	text,
		const char **	list,
		int	nb_elem
	)

Return the index of the provided text in a list of text.

Parameters

[in]	text	Pointer to the text to be found.
[in]	list	Array of pointer to text to be looked into.
[in]	nb_elem	The number of element in `list`.

Returns

Either:

the index of the text in the list (>=0);
a code indicate the text was not in the list (-1);
an error code for invalid argument (_MBS_ERR_LOW_INVALID);

◆ mbs_is_char_in_concat()

int mbs_is_char_in_concat	(	const char *	text,
		const char *	list
	)

Check if the provided text is in a concatenated list of text separated by ";".

Parameters

[in]	text	Pointer to the text to be found.
[in]	list	Pointer to contatenated texts to be looked into. The separator must be ";".

Returns

Either:

0: text FOUND in the list;
1: text NOT found in the list;
an error code for invalid argument (_MBS_ERR_LOW_INVALID);

◆ mbs_is_char_in_concat_full()

int mbs_is_char_in_concat_full	(	const char *	text,
		const char *	list,
		char	sep,
		int	case_sens
	)

Check if the provided text is in a concatenated list of text.

Parameters

[in]	text	Pointer to the text to be found.
[in]	list	Pointer to contatenated texts to be looked into. Concatenated text are separated by the provided separator.
[in]	spe	The separator used in the list to separate the different texts.
[in]	case_sens	If true (non-zero) the comparison is case-sensitive. If false (zero), the comparison ignore the case.

Returns

Either:

0: text FOUND in the list;
1: text NOT found in the list;
an error code for invalid argument (_MBS_ERR_LOW_INVALID);

◆ 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_reset_joints_kine()

void mbs_reset_joints_kine ( MbsData * s )

Reset joints kinematics (q, qd, qdd) 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_stricmp()

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

Compare two char with _stricmp (convert strings to lower case, ignoring case sensitive).

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_strncmp()

int mbs_strncmp	(	const char *	__s1,
		const char *	__s2,
		size_t	n
	)

Compares only the first (at most) n bytes of of two chars.

This is a wrapping of the standard function strncmp() but catching undefined behaviors when at least one pointer is NULL:

If both pointers are NULL: 0
If bytes must be compare (n is not zero): 1
If not byte must be compared (n is zero): 0

The later has been implemented as the standard declare an undefined behavior if one of the pointer is NULL but ensure a 0 returns if the count (n) is equal to 0. Catching the mix of them (zero and NULL) avoids surprises.

Parameters

[in]	__s1	The first char to compare.
[in]	__s2	The second char to compare.
[in]	n	The number of bytes to compare.

Returns

The comparison output:

0, if the first n bytes of s1 and s2 are equal, or if n is zero;
0, if both pointers are NULL;
1, if only one pointer is NULL (and n is not zero);
the return of strncmp(__s1, __s2, n) otherwhise.

◆ mbs_strndup()

char* mbs_strndup	(	const char *	input_char,
		size_t	char_size
	)

(taken from strdup definition in string.h since C23) Returns a pointer to a null-terminated byte string, which contains copies of at most size bytes from the string pointed to by src. The space for the new string is obtained as if malloc was called. If the null terminator is not encountered in the first size bytes, it is appended to the duplicated string.

The returned pointer must be passed to free to avoid a memory leak. ! User is responsible to free the memory ! If an error occurs, a null pointer is returned and errno might be set.

Parameters

[in]	input_char	(const char*) The char to .
[in]	char_size	(size_t) max number of bytes to copy from src.

Returns: NULL pointor in case of error, char pointor containing copy of input_char.

◆ mbs_strnicmp()

int mbs_strnicmp	(	const char *	__s1,
		const char *	__s2,
		size_t	n
	)

Compares only the first (at most) n bytes of of two chars ignoring the case.

This is a wrapping of the standard function strnicmp() but catching undefined behaviors when at least one pointer is NULL:

If both pointers are NULL: 0
If bytes must be compare (n is not zero): 1
If not byte must be compared (n is zero): 0

The later has been implemented as the standard declare an undefined behavior if one of the pointer is NULL but ensure a 0 returns if the count (n) is equal to 0. Catching the mix of them (zero and NULL) avoids surprises.

Parameters

[in]	__s1	The first char to compare.
[in]	__s2	The second char to compare.
[in]	n	The number of bytes to compare.

Returns

The comparison output:

0, if the first n bytes of s1 and s2 are equal, or if n is zero;
0, if both pointers are NULL;
1, if only one pointer is NULL (and n is not zero);
the return of strncmp(__s1, __s2, n) 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)

◆ set_char_cpy()

int set_char_cpy	(	char **	dest,
		const char *	fmt,
			...
	)

Set a copy the provided formatted string into a newly allocated memory.

If the destination adress is not NULL, it is FREED to avoid memory leaks. Ensure to only provide dynamic allocated memory adress or NULL.

The caller is responsible to release the memory.

Parameters

[in,out]	dest	Destination where the copy must be set.
[in]	fmt	The string to be formated and stored. Providing NULL sets NULL.

Returns: MBS_INFO_SUCCESS or MBS_INFO_FAILURE

◆ set_um_string()

int set_um_string	(	char **	um_str,
		const char *	new_txt
	)

Redirect the memory of the string user model to a newly allocated char array.

The memory of the existing user model is freed.

A copy of the new string to set in the user model is created.

This function can be used to any pointer to char*, even if it has been created for string user model.

Parameters

um_str	Pointer to the pointer of the string to be replaced, cannot be NULL.
new_txt	The new text to be set in the newly allocated memory pointed by um_str.

Returns: Negative number in case of error, 0 otherwhise.

◆ sign()

double sign ( double a )

sign function

Parameters

[in] a input

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

◆ str_replace_char()

char* str_replace_char	(	char *	orig,
		const char	old_char,
		const char *	new_str,
		int	free_orig
	)

Create a copy of a string with a specific char replaced by a string.

If the char is not present in the input string, a copy is returned.

Only 1-byte characters from UTF-8 can be replaced from the string (globally excludes accentuated letters).

Parameters

[in,out]	orig	Pointer to the original string.
[in]	old_char	Character (unique) to be replaced from the original string.
[in]	new_str	Pointer to the characters to be inserted instead of the old_char. A NULL pointer removes the `old_char`.
[in]	free_str	Flag to free the original_str on replacement success. This allow to call the function as ‘txt = str_replace(txt, ’\t', " ", 1);` without memory leak.

Returns: A pointer to the modified string, or NULL in case of error.

Macros

Functions

Macro Definition Documentation

◆ DBL_MAX

◆ MAX

◆ MIN

Function Documentation

◆ expo_ten_inf()

◆ free_char_tab()

◆ free_char_vec()

◆ free_d3Darray_0()

◆ free_d3Darray_1()

◆ get_char_cpy()

◆ get_char_tab()

◆ get_char_vec()

◆ get_d3Darray_0()

◆ get_d3Darray_1()

◆ get_time_machine()

◆ mbs_compare_data()

◆ mbs_copy_data()

◆ mbs_data_get_IO()

◆ mbs_free()

◆ mbs_is_char_i_in_concat()

◆ mbs_is_char_in()

◆ mbs_is_char_in_concat()

◆ mbs_is_char_in_concat_full()

◆ mbs_log()

◆ mbs_print_data()

◆ mbs_reset_data()

◆ mbs_reset_joints_kine()

◆ mbs_strcmp()

◆ mbs_stricmp()

◆ mbs_strncmp()

◆ mbs_strndup()

◆ mbs_strnicmp()

◆ mbs_write_data()

◆ pow_int()

◆ set_char_cpy()

◆ set_um_string()

◆ sign()

◆ str_replace_char()