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

Functions
double *	user_ExtForces (double PxF[4], double RxF[4][4], double VxF[4], double OMxF[4], double AxF[4], double OMPxF[4], MbsData *mbs_data, double tsim, int ixF)
	Compute an user-specified external force. More...

Function Documentation

◆ user_ExtForces()

Compute an user-specified external force.

Parameters

[in]	PxF	position vector (index starting at 1) of the force sensor expressed in the inertial frame: .
[in]	RxF	rotation matrix (index starting at 1) from the inertial frame to the force sensor frame: $[\hat{\mathbf{X}}^S]=RxF(1:3,1:3).[\hat{\mathbf{X}}^0]$
[in]	VxF	velocity vector (index starting at 1) of the force sensor expressed in the inertial frame: .
[in]	OMxF	angular velocity vector (index starting at 1) of the force sensor expressed in the inertial frame: $OMxF(1:3)=[\omega_x; \omega_y; \omega_z]$ .
[in]	AxF	acceleration vector (index starting at 1) of the force sensor expressed in the inertial frame: .
[in]	OMPxF	angular acceleration vector (index starting at 1) of the force sensor expressed in the inertial frame: $OMPxF(1:3)=[\dot\omega_x; \dot\omega_y; \dot\omega_z]$ .
[in,out]	s	the MbsData structure of the model on which the force is computed.
[in]	tsim	the current time of the simulation
[in]	ixF	the ID identifying the computed force sensor.

Returns: A vector (of size 9, index starting at 1) with the content described for MbsData::SWr

The content of the returned vector Swr is [Fx; Fy; Fz; Mx; My; Mz; dxF]:

Force components (expressed in the inertial frame) : Fx, Fy, Fz
Pure torque components (expressed in the inertial frame) : Mx, My, Mz
Application point local coordinates vector (expressed in the body-fixed frame): dxF(1:3,1)