Robotran C Documentation
user_model.h
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1 /* --------------------------------------------------------
2  * This code was generated automatically by MBsysC modules.
3  * MBsysC modules are distributed as part of the ROBOTRAN
4  * software. They provides functionalities for dealing with
5  * symbolic equations generated by ROBOTRAN.
6  *
7  * More info on www.robotran.be
8  *
9  * Universite catholique de Louvain, Belgium
10  *
11  * Last update : Tue May 19 13:31:40 2015
12  * --------------------------------------------------------
13  *
14  */
15 #ifndef USERMODEL_h
16 #define USERMODEL_h
17 
18 //#include "lut.h"
19 
20 #include "mbs_user_interface.h"
21 // ============================================================ //
22 
23 
24 struct UserModel
25 {
26  void* dummy;
27 
28 };
29 
30 // ============================================================ //
31 
32 # endif
UserModel::dummy
void * dummy
Definition: user_model.h:26
UserModel
Definition: user_model.h:24
mbs_get_user_model_list
void mbs_get_user_model_list(int *user_model_list)
Definition: user_model.c:55
MbsDp::dSWr_link3d_dqd
double *** dSWr_link3d_dqd
The derivative matrices of each link3d MbsData::SWr vector according to the independent joint velocit...
Definition: mbs_data.h:235
MbsDp::dQq_dqd
double ** dQq_dqd
The derivative matrix of the joint force vector according to the independent joint velocities: .
Definition: mbs_data.h:215
useful_functions.h
user_Link3DForces_dqdd
double * user_Link3DForces_dqdd(double PxF[4], double d_PxF[4], double RxF[4][4], double d_RxF[4][4], double VxF[4], double d_VxF[4], double OMxF[4], double d_OMxF[4], double AxF[4], double d_AxF[4], double OMPxF[4], double d_OMPxF[4], MbsData *s, double tsim, int i_link3d, int i_param)
Compute the partial derivative of a link3D forces with respect to a generalized acceleration.
Definition: user_Link3DForces_deriv.c:48
user_Link3DForces_dq
double * user_Link3DForces_dq(double PxF[4], double d_PxF[4], double RxF[4][4], double d_RxF[4][4], double VxF[4], double d_VxF[4], double OMxF[4], double d_OMxF[4], double AxF[4], double d_AxF[4], double OMPxF[4], double d_OMPxF[4], MbsData *s, double tsim, int i_link3d, int i_param)
Compute the partial derivative of a link3D forces with respect to a generalized coordinate.
Definition: user_Link3DForces_deriv.c:18
user_LinkForces_dq
double user_LinkForces_dq(double Z, double d_Z, double Zd, double d_Zd, MbsData *mbs_data, double tsim, int i_link, int ixJ)
Compute the partial derivative of a link forces with respect to a generalized coordinate.
Definition: user_LinkForces_deriv.c:17
mbs_data.h
user_Link3DForces_dqd
double * user_Link3DForces_dqd(double PxF[4], double d_PxF[4], double RxF[4][4], double d_RxF[4][4], double VxF[4], double d_VxF[4], double OMxF[4], double d_OMxF[4], double AxF[4], double d_AxF[4], double OMPxF[4], double d_OMPxF[4], MbsData *s, double tsim, int i_link3d, int i_param)
Compute the partial derivative of a link3D forces with respect to a generalized velocity.
Definition: user_Link3DForces_deriv.c:33
MbsDp::dSWr_link3d_dq
double *** dSWr_link3d_dq
The derivative matrices of each link3d MbsData::SWr vector according to the independent joint coordin...
Definition: mbs_data.h:233
user_LinkForces
double user_LinkForces(double Z, double Zd, MbsData *mbs_data, double tsim, int ilnk)
Compute the value of a link forces.
Definition: user_LinkForces.c:15
MbsInfos
Definition: mbs_binder_public.h:428
MbsData::mbs_dp
MbsDp * mbs_dp
Structure to store the matrix of tangent analysis (symbolic).
Definition: mbs_data.h:416
mbs_1D_array.h
MbsDp::dSWr_link3d_dp
double ** dSWr_link3d_dp
The derivative matrices of each link3d MbsData::SWr vector according to the specified parameter: .
Definition: mbs_data.h:239
mbs_binder_public.h
This header defines MbsInfos (and its substructures) as well as the loading/deleting functions.
MbsDp::dQq_dp
double * dQq_dp
The derivative vector of the joint force vector according to the specified parameter: .
Definition: mbs_data.h:219
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.
Definition: user_JointForces_deriv.c:15
user_free
void user_free(MbsData *mbs_data)
User own freeing operations.
Definition: user_load.c:44
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.
Definition: user_JointForces_deriv.c:27
mbs_delete_user_model
void mbs_delete_user_model(UserModel *um)
Definition: user_model.c:30
user_JointForces
double * user_JointForces(MbsData *mbs_data, double tsim)
Compute the user-specified joint force in all joint.
Definition: user_JointForces.c:17
MbsDp::dQq_dq
double ** dQq_dq
The derivative matrix of the joint force vector according to the independent joint coordinates: .
Definition: mbs_data.h:213
MbsLoader
Definition: mbs_load_struct.h:76
MbsData::Qq
double * Qq
Array with the values of the joint forces.
Definition: mbs_data.h:301
user_LinkForces_dqd
double user_LinkForces_dqd(double Z, double d_Z, double Zd, double d_Zd, MbsData *mbs_data, double tsim, int i_link, int ixJ)
Compute the partial derivative of a link forces with respect to a generalized velocity.
Definition: user_LinkForces_deriv.c:27
mbs_load_user_model
void mbs_load_user_model(MbsInfos *mbs_infos, UserModel *um)
Load the user model data.
Definition: user_model.c:35
user_LinkForces_dqdd
double user_LinkForces_dqdd(double Z, double d_Z, double Zd, double d_Zd, MbsData *mbs_data, double tsim, int i_link, int ixJ)
Compute the partial derivative of a link forces with respect to a generalized acceleration.
Definition: user_LinkForces_deriv.c:37
MbsDp::dQq_dqdd
double ** dQq_dqdd
The derivative matrix of the joint force vector according to the independent joint accelerations: .
Definition: mbs_data.h:217
user_Link3DForces
double * user_Link3DForces(double PxF[4], double RxF[4][4], double VxF[4], double OMxF[4], double AxF[4], double OMPxF[4], MbsData *mbs_data, double tsim, int ixF)
Compute an user-specified point to point force, with arbitrary line of action.
Definition: user_Link3DForces.c:15
MbsData::l3DWr
double ** l3DWr
Definition: mbs_data.h:342
set_output.h
set_output function called by the user to output his own variables
user_model.h
mbs_loader.h
mbs_save_um
void mbs_save_um(FILE *stream, UserModel *um)
Definition: user_model.c:60
MbsDp::dSWr_link3d_dqdd
double *** dSWr_link3d_dqdd
The derivative matrices of each link3d MbsData::SWr vector according to the independent joint acceler...
Definition: mbs_data.h:237
MbsData
Definition: mbs_data.h:246
zeros_dvec_1
void zeros_dvec_1(double *vec)
set all the element of a vector of doubles to zero, starting with index 1
Definition: mbs_1D_array.c:1393
mbs_get_user_model_size
void mbs_get_user_model_size(int *n_user_model)
Definition: user_model.c:50
mbs_print_user_model
void mbs_print_user_model(UserModel *um)
Definition: user_model.c:45
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.
Definition: user_JointForces_deriv.c:39
mbs_user_interface.h
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.
Definition: user_JointForces_deriv.c:51
user_load_post
void user_load_post(MbsData *mbs_data, MbsLoader *mbs_loader)
User own initialization operations.
Definition: user_load.c:25
mbs_new_user_model
UserModel * mbs_new_user_model()
Definition: user_model.c:22
mbs_bind_user_model
void mbs_bind_user_model(MbsInfos *mbs_infos, UserModel *um)
Bind the user model data to the MbsInfos memory pointers.
Definition: user_model.c:40
user_IO.h
user_Link3DForces_dp
double * user_Link3DForces_dp(double PxF[4], double d_PxF[4], double RxF[4][4], double d_RxF[4][4], double VxF[4], double d_VxF[4], double OMxF[4], double d_OMxF[4], double AxF[4], double d_AxF[4], double OMPxF[4], double d_OMPxF[4], MbsData *s, double tsim, int i_link3d)
Compute the partial derivative of a link3D forces with respect to a parameter.
Definition: user_Link3DForces_deriv.c:64
user_LinkForces_dp
double user_LinkForces_dp(double Z, double d_Z, double Zd, double d_Zd, MbsData *mbs_data, double tsim, int i_link)
Compute the partial derivative of a link forces with respect to a specific parameter.
Definition: user_LinkForces_deriv.c:47
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