Direct dynamics
===============

Time integration of the system direct dynamics. For more information, see 
`Robotran theoretical framework <http://robotran-doc.git-page.immc.ucl.ac.be/RobotranBasic/Robotran_basics.pdf>`_.

Code sample
-----------

For running the direct dynamics simulation, insert the following code in your 
main script and adapt it to your need:

.. code-block:: python

    mbs_data.process = 3
    mbs_dirdyn = MBsysPy.MbsDirdyn(mbs_data)
    dirdyn_results = mbs_dirdyn.set_options(dt0 = 1e-3, tf = 10.0, save2file = 1)
    mbs_dirdyn.run()
    del mbs_dirdyn

Use
---

.. py:currentmodule:: MBsysPy.mbsyspy.mbs_dirdyn

The direct dynamic analysis requires an instance of :py:class:`MbsDirdyn`. 
Then the simulation is performed by calling the function :py:func:`MbsDirdyn.run`.

The options of the time integration are set with the function :py:func:`MbsDirdyn.set_options`.