user_cons_hJ.c File Reference

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

Functions
void	user_cons_hJ (double *h, double **Jac, MbsData *mbs_data, double tsim)
	Compute the user-specified constraint vector and Jacobian. More...

Function Documentation

user_cons_hJ()

void user_cons_hJ	(	double *	h,
		double **	Jac,
		MbsData *	s,
		double	tsim
	)

Compute the user-specified constraint vector and Jacobian.

The arguments are the same for the module redirection function user_call_cons_hJ() and the user filled function user_cons_hJ(). However the return differs.

Parameters

[out]	h	The user constraint vector, see MbsAux::huserc.
[out]	Jac	The Jacobian of user constraint vector, see MbsAux::Juserc.
[in]	s	The MbsData structure of the model.
[in]	tsim	the current time of the simulation

The only field that should be incremented is the MbsData::Qq at the indexes of MbsData::qc