user_cons_J_accelred.c File Reference

#include "mbs_data.h"

Functions
int	user_cons_J_accelred (MbsData *s, double tsim)
	Close the user-specified constraints and compute the Jacobian of the constraints vector. More...

Function Documentation

user_cons_J_accelred()

int user_cons_J_accelred	(	MbsData *	s,
		double	tsim
	)

Close the user-specified constraints and compute the Jacobian of the constraints vector.

This function is only required for accelred symbolic file.

The constraints must be solved by the user, inside this function. The constraints are solved by modifying the value MbsData::q located at the indices given by MbsData::qv.

The Jacobian matrix to be filled is MbsData::jac_user (already allocated with index starting at 1). The Jacobian must be computed in the constraint solved configuration.

The arguments are the same for the module redirection function user_call_cons_J_accelred() and the user filled function user_cons_J_accelred().

Parameters

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

Returns

error status, zero if ok, negative in case of failure