user_JointForces_deriv.c File Reference

#include "math.h"
#include "mbs_1D_array.h"
#include "mbs_data.h"

Macros
#define	_USE_MATH_DEFINES

Functions
double *	user_JointForces_dq (MbsData *mbs_data, double tsim, int ixJ)
	Compute the derivative of the joint forces vector according to a generalized coordinate. More...
double *	user_JointForces_dqd (MbsData *mbs_data, double tsim, int ixJ)
	Compute the derivative of the joint forces vector according to a generalized velocity. More...
double *	user_JointForces_dqdd (MbsData *mbs_data, double tsim, int ixJ)
	Compute the derivative of the joint forces vector according to a generalized acceleartion. More...
double *	user_JointForces_dp (MbsData *mbs_data, double tsim)
	Compute the derivative of the joint forces vector according to a specific parameter. More...

Macro Definition Documentation

_USE_MATH_DEFINES

#define _USE_MATH_DEFINES

Function Documentation

user_JointForces_dp()

double* user_JointForces_dp	(	MbsData *	mbs_data,
		double	tsim
	)

Compute the derivative of the joint forces vector according to a specific parameter.

The only field that should be modified is the MbsData::derivative->dQq_dp at the row of ixP:

.

Parameters

[in,out]	mbs_data	the MbsData structure of the model.
[in]	tsim	the current time of the simulation

Returns

The pointer to MbsData::derivative->dQq_dp[ixP]

user_JointForces_dq()

double* user_JointForces_dq	(	MbsData *	mbs_data,
		double	tsim,
		int	ixJ
	)

Compute the derivative of the joint forces vector according to a generalized coordinate.

The only field that should be modified is the MbsData::derivative->dQq_dq at the row of ixJ:

.

Parameters

[in,out]	mbs_data	the MbsData structure of the model.
[in]	tsim	the current time of the simulation
[in]	ixJ	The id of the generalized coordinate.

Returns

The pointer to MbsData::derivative->dQq_dq[ixJ]

user_JointForces_dqd()

double* user_JointForces_dqd	(	MbsData *	mbs_data,
		double	tsim,
		int	ixJ
	)

Compute the derivative of the joint forces vector according to a generalized velocity.

The only field that should be modified is the MbsData::derivative->dQq_dqd at the row of ixJ:

.

Parameters

[in,out]	mbs_data	the MbsData structure of the model.
[in]	tsim	the current time of the simulation
[in]	ixJ	The id of the generalized coordinate.

Returns

The pointer to MbsData::derivative->dQq_dqd[ixJ]

user_JointForces_dqdd()

double* user_JointForces_dqdd	(	MbsData *	mbs_data,
		double	tsim,
		int	ixJ
	)

Compute the derivative of the joint forces vector according to a generalized acceleartion.

The only field that should be modified is the MbsData::derivative->dQq_dqdd at the row of ixJ:

.

Parameters

[in,out]	mbs_data	the MbsData structure of the model.
[in]	tsim	the current time of the simulation
[in]	ixJ	The id of the generalized coordinate.

Returns

The pointer to MbsData::derivative->dQq_dqdd[ixJ]