user_JointForces.c File Reference

#include "math.h"
#include "mbs_data.h"
#include "user_model.h"
#include "set_output.h"
#include "useful_functions.h"

Functions
double *	user_JointForces (MbsData *mbs_data, double tsim)
	Compute the user-specified joint force in all joint. More...

Function Documentation

user_JointForces()

double* user_JointForces	(	MbsData *	s,
		double	tsim
	)

Compute the user-specified joint force in all joint.

The arguments are the same for the module redirection function user_call_JointForces() and the user filled function user_JointForces().

Parameters

[in,out]	The	MbsData structure of the model. The only values that should be modified are located MbsData::Qq.
[in]	tsim	the current time of the simulation

Returns

The joint internal force/torque vector, see MbsData::Qq