user_DrivenJoints.c File Reference

#include "math.h"
#include "mbs_data.h"

Functions
void	user_DrivenJoints (MbsData *mbs_data, double tsim)
	Compute the positions, velocities and acceleration of driven joint. More...

Function Documentation

user_DrivenJoints()

void user_DrivenJoints	(	MbsData *	s,
		double	tsim
	)

Compute the positions, velocities and acceleration of driven joint.

Parameters

[in,out]	s	the MbsData structure of the model on which the driven joint are computed.
[in]	tsim	the current time of the simulation

The only fields that should be updated are MbsData::q, MbsData::qd and MbsData::qdd at the indexes MbsData::qc