user_cons_J_accelred.c File Reference

#include "mbs_data.h"

Functions
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 constraints in accelred. More...

Function Documentation

user_cons_J_accelred()

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 constraints in accelred.

The constraints are assumed to be solved by the user, inside this function. Thus, only the Jacobian of the constraints is needed (in the configuration of solved constraints ! )

Parameters

[in,out]	s	the MbsData structure of the model on which the user constraints are computed.
[in]	tsim	the current time of the simulation

Returns

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

The only field that should be modified is the MbsData::jac_user matrix