Coordinate partitioning
=======================

Partitioning of the generalized coordinates into independent and dependent 
variables (for constrained multibody systems only). For more information, see 
`Robotran theoretical framework <http://robotran-doc.git-page.immc.ucl.ac.be/RobotranBasic/Robotran_basics.pdf>`_.

.. warning::
    The partitioning module must be run once prior to any other module in case 
    of multibody model containing loop and/or user-constraint.

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

For running the coordinate partitioning, insert the following code in your main 
script and adapt it to your need:

.. code-block:: python

    mbs_data.process = 1
    mbs_part = MBsysPy.MbsPart(mbs_data)
    mbs_part.set_options(rowperm = 1, verbose = 1)
    mbs_part.run()
    del mbs_part

Use
---

.. py:currentmodule:: MBsysPy.mbsyspy.mbs_part

The partitioning is performed by instancing an instance of :py:class:`MbsPart`. 
Then partitioning is performed by calling the function :py:func:`MbsPart.run`.

The options ot the partitioning module are set with the function :py:func:`MbsPart.set_options`.

.. py:currentmodule:: MBsysPy.mbsyspy.mbs_data

.. note::
    All classes of MBsysPy designed to perform an analysis of an instance of 
    :py:class:`MbsData` have a function `run()` that start the computation.
    
    The same classes have a function `set_options()` that is used to set the 
    analysis options and must be called before calling the `run()` function.
    The available options of each analysis are documented in the `set_options()`
    function.
    
    Some of these classes have optional arguments when being instancied. These
    arguments are documented in the class `__init__()` function.