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Robotran C Documentation
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20 #define SF_N_USER_INPUT 0
21 #define SF_N_USER_OUTPUT 0
MbsDirdyn * mbs_new_dirdyn(MbsData *mbs_data)
Create a new direct dynamic structure.
Definition: mbs_dirdyn.c:33
MbsInvOptions * options
Structure defining the option of a inverse kinematic analysis.
Definition: mbs_solvekin_struct.h:153
double Fspring
Definition: user_IO.h:27
int user_cons_J_accelred(MbsData *s, double tsim)
[Accelred only] Compute the Jac_user matrix nqv x Njoint matrix (starting at one) for custom user con...
Definition: user_cons_J_accelred.c:16
int * xfidpt
Array of the points defined as force application points.
Definition: mbs_data.h:264
General structure of the inverse dynamics module.
Definition: mbs_invdyn_struct.h:27
void mbs_extforces(double **frc, double **trq, MbsData *s, double tsim)
Definition: mbs_extforces_void.c:15
Contains information about UserIO.
Definition: mbs_user_interface.h:44
void mbs_delete_data(MbsData *s)
Free the memory used by the given MbsData structure.
Definition: mbs_loader.c:985
void user_dirdyn_finish(MbsData *mbs_data, MbsDirdyn *mbs_dd)
user own finishing functions
Definition: user_dirdyn.c:59
void mbs_error_msg(char *msg,...)
Send an error message.
Definition: mbs_message.c:102
void mbs_delete_modal(MbsModal *mo, MbsData *s)
Free the MbsModal structure (pointers table, ...)
Definition: mbs_modal.c:663
double mode_ampl
amplification factor for the animation of the modes, application dependent [default = 0....
Definition: mbs_modal_struct.h:21
void mbs_delete_invdyn(MbsInvdyn *invdyn, MbsData *mbs_data)
Free memory of the inverse dynamic structure The options (MbsInvOptions) and MbsAux structures are al...
Definition: mbs_invdyn.c:84
int save_result
no = 0, yes = 1, flag to save the modal results summary [default = 1]
Definition: mbs_modal_struct.h:18
void user_invdyn_init(MbsData *mbs_data, MbsInvdyn *mbs_invdyn)
Definition: user_invdyn.c:16
#define _MBS_ERR_MOD_LOAD
Module error number module: Loading = -900.
Definition: mbs_errors_names.h:73
int mbs_run_dirdyn(MbsDirdyn *dd, MbsData *mbs_data)
Run the direct dynamic simulation.
Definition: mbs_dirdyn.c:203
int mbs_accelred(MbsData *s, double tsim)
Definition: mbs_accelred_void.c:15
#define _MBS_ERR_LOW_FILES
Low Level error number Error during opening/writing files = -9.
Definition: mbs_errors_names.h:147
int verbose
no = 0, yes = 1, extra outputs = 2 [default = 1]
Definition: mbs_equil_struct.h:16
char * trajectoryqddname
Give the path and filename (with extention) to the file containing the input trajectory in accelerati...
Definition: mbs_solvekin_struct.h:73
int method
fsolvepk = 1, other method to be added. [default = 1]
Definition: mbs_equil_struct.h:14
UserIO * mbs_new_user_IO(UserIoInfo *ioInfo)
Initialize the UserIO structure and bind the ioInfo pointer to the allocated memory (project specific...
Definition: user_IO.c:20
MbsPartOptions * options
Structure containing the options for coordinate partitioning module.
Definition: mbs_part.h:36
General structure of the inverse kinematics module.
Definition: mbs_solvekin_struct.h:149
int mbs_run_part(MbsPart *mbs_part, MbsData *mbs_data)
Main function of the coordinate partitioning module.
Definition: mbs_part.c:494
double dt
Time step, default = 0.001.
Definition: mbs_solvekin_struct.h:86
int verbose
no = 0, yes = 1, [default = 1]
Definition: mbs_modal_struct.h:20
double ** jac_user
Jacobian of constraints [nqv x njoint] (starting at 1), only used in symbolic accelred,...
Definition: mbs_data.h:229
void user_invdyn_loop(MbsData *mbs_data, MbsInvdyn *mbs_invdyn)
Definition: user_invdyn.c:21
void mbs_delete_dirdyn(MbsDirdyn *dirdyn, MbsData *mbs_data)
Free memory of the direct dynamic structure The options (MbsDirdynOptions) and MbsAux structures are ...
Definition: mbs_dirdyn.c:188
MbsModalOptions * options
Definition: mbs_modal_struct.h:79
void user_Derivative(MbsData *mbs_data)
Definition: user_Derivative.c:15
int motion
Determines how the evolution of q, qd qdd are provided.
Definition: mbs_solvekin_struct.h:40
int framerate
Number of frame per second for the .anim file, default = 1000.
Definition: mbs_solvekin_struct.h:113
double ** SWr
Array of Swr vector for each external forces.
Definition: mbs_data.h:265
int save2file
Determine whether results are written to files on disk (in resultsR folder): 1: results are saved 0: ...
Definition: mbs_dirdyn_struct.h:51
void mbs_link3D(double **frc, double **trq, MbsData *s, double tsim)
Definition: mbs_link3D_void.c:18
double t0
Initial time of the simulation, default = 0.0.
Definition: mbs_solvekin_struct.h:76
double dt0
initial value of the integration step size, default = 0.001
Definition: mbs_dirdyn_struct.h:45
MbsEquilOptions * options
structure defining the option of a equilibrium
Definition: mbs_equil_struct.h:70
void mbs_dirdyna(double **M, double *c, MbsData *s, double tsim)
Definition: mbs_dirdyna_void.c:15
Definition: mbs_equil_struct.h:68
void user_dirdyn_loop(MbsData *mbs_data, MbsDirdyn *mbs_dd)
user own loop functions
Definition: user_dirdyn.c:46
void user_cons_jdqd(double *jdqd, MbsData *mbs_data, double tsim)
Definition: user_cons_jdqd.c:15
Main structure for the coordinate partitioning module.
Definition: mbs_part.h:34
char * trajectoryqname
Give the path and filename (with extention) to the file containing the input trajectory in position o...
Definition: mbs_solvekin_struct.h:51
void mbs_msg(char *msg,...)
Send a message.
Definition: mbs_message.c:76
void user_equil_finish(MbsData *mbs_data, MbsEquil *mbs_equil)
user own finishing functions
Definition: user_equil.c:53
MbsInvdyn * mbs_new_invdyn(MbsData *mbs_data)
Create a new inverse dynamic structure.
Definition: mbs_invdyn.c:28
void mbs_delete_user_IO(UserIO *uvs)
Free the memory associated to the given UserIO structure.
Definition: user_IO.c:30
void user_equil_loop(MbsData *mbs_data, MbsEquil *mbs_equil)
user own loop functions
Definition: user_equil.c:40
void mbs_gensensor(MbsSensor *sens, MbsData *s, int isens)
Definition: mbs_gensensor_void.c:17
double tf
final time of the simulation, default = 5.0
Definition: mbs_dirdyn_struct.h:43
Definition: mbs_modal_struct.h:77
int save_anim
no = 0, yes = 1, flag to save and generate the animation for the modes [default = 0]
Definition: mbs_modal_struct.h:19
void mbs_invdyna(double *Qq, MbsData *s, double tsim)
Definition: mbs_invdyna_void.c:16
void mbs_delete_equil(MbsEquil *eq, MbsData *s)
Free the Equilibrium structure (pointers table, Equibrium options, ...)
Definition: mbs_equil.c:146
MbsModal * mbs_new_modal(MbsData *s)
Create a new modal structure.
Definition: mbs_modal.c:28
@ trajectory
Definition: mbs_solvekin_struct.h:25
int main(int argc, char const *argv[])
Universite catholique de Louvain CEREM : Centre for research in mechatronics http://www....
Definition: _complete_main.c:37
int verbose
1 to get print indications related partitioning module; 0 otherwise, defaut = 1
Definition: mbs_part.h:19
char * trajectoryqdname
Give the path and filename (with extention) to the file containing the input trajectory in velocity o...
Definition: mbs_solvekin_struct.h:62
void mbs_cons_hJ(double *h, double **Jac, MbsData *s, double tsim)
Definition: mbs_cons_hJ_void.c:15
void user_cons_hJ(double *h, double **Jac, MbsData *mbs_data, double tsim)
Definition: user_cons_hJ.c:15
double tf
Final time of the simulation, default = 5.0.
Definition: mbs_solvekin_struct.h:79
MbsEquil * mbs_new_equil(MbsData *s)
Allocate the memory for the Equilibrium Options (but not for all the Equilibrium structure) Initializ...
Definition: mbs_equil.c:34
void mbs_link(double **frc, double **trq, double *Flnk, double *Z, double *Zd, MbsData *s, double tsim)
Definition: mbs_link_void.c:15
double ** dpt
Array containing the coordinate of all anchor points (3+1 lines, npt+1 columns).
Definition: mbs_data.h:153
void mbs_cons_jdqd(double *Jdqd, MbsData *s, double tsim)
Definition: mbs_cons_jdqd_void.c:15
void user_invdyn_finish(MbsData *mbs_data, MbsInvdyn *mbs_invdyn)
Definition: user_invdyn.c:27
Definition: mbs_data.h:149
Real-time constraints main header.
MbsPart * mbs_new_part(MbsData *mbs_data)
Allocate a new MbsPart structure for the given MbsData structure.
Definition: mbs_part.c:787
int main(int argc, char const *argv[])
Universite catholique de Louvain CEREM : Centre for research in mechatronics http://www....
Definition: _simple_main.c:33
@ oneshot
Definition: mbs_solvekin_struct.h:25
int mbs_run_solvekin(MbsSolvekin *sk, MbsData *mbs_data)
Run the inverse kinematic analysis.
Definition: mbs_solvekin.c:101
MbsInvOptions * options
Structure defining the options of a inverse dynamics analysis.
Definition: mbs_invdyn_struct.h:31
int process
Flag that indicate which module is currently running (1=partitioning, 2=equilibrium,...
Definition: mbs_data.h:297
void mbs_delete_part(MbsPart *mbs_part)
Free the memory of the given MbsPart structure.
Definition: mbs_part.c:812
Definition: mbs_sensor_struct.h:18
double senstol
tolerance for testing a variable non-sensitivity [default = 1e-6]
Definition: mbs_equil_struct.h:39
int mbs_run_modal(MbsModal *mo, MbsData *s)
Run the Modal Analysis.
Definition: mbs_modal.c:109
int mbs_run_equil(MbsEquil *eq, MbsData *s)
Run the Equilibrium process.
Definition: mbs_equil.c:214
void user_equil_init(MbsData *mbs_data, MbsEquil *mbs_equil)
user own initialization functions
Definition: user_equil.c:27
int rowperm
1 to allow line permutation; 0 otherwise, defaut = 0
Definition: mbs_part.h:15
General structure of the direct dynamic module.
Definition: mbs_dirdyn_struct.h:144
MbsSolvekin * mbs_new_solvekin(MbsData *mbs_data)
Create a new inverse kinematic structure.
Definition: mbs_solvekin.c:29
void user_equil_fxe(MbsData *mbs_data, double *f)
user own implementation of added equilibrium equations Fxe Necessary to express equilibrium f(x)=0
Definition: user_equil.c:65
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.
Definition: user_ExtForces.c:15
MbsData * mbs_load(const char *mbs_filename, const char *build_path)
Load the data from the given *.mbs file (data in the xml format).
Definition: mbs_loader.c:36
void mbs_delete_solvekin(MbsSolvekin *solvekin, MbsData *mbs_data)
Free memory of the inverse kinematic structure The options (MbsInvOptions) and MbsAux structures are ...
Definition: mbs_solvekin.c:85
MbsDirdynOptions * options
structure defining the option of a direct dynamic
Definition: mbs_dirdyn_struct.h:146
void user_dirdyn_init(MbsData *mbs_data, MbsDirdyn *mbs_dd)
user own initialization functions
Definition: user_dirdyn.c:28
int mbs_run_invdyn(MbsInvdyn *invd, MbsData *mbs_data)
Run the inverse kinematic analysis.
Definition: mbs_invdyn.c:100
void user_DrivenJoints(MbsData *mbs_data, double tsim)
Compute the positions, velocities and acceleration of driven joint.
Definition: user_DrivenJoints.c:15
void mbs_get_user_IO_size(int *n_in, int *n_out, int *n_user_IO)
Get the size of the UserIO structure inside the user_IO.c file.
Definition: user_IO.c:36
void mbs_sensor(MbsSensor *sens, MbsData *s, int isens)
Compute all fields of a sensor (force sensor or classic sensor).
Definition: mbs_sensor_void.c:16
1.8.17