user_cons_hJ module

Module for the definition of user constraints.

Summary

The user constraints enable to impose constraints that can not be resolved using classical Robotran cuts.

user_cons_hJ.user_cons_hJ(h, Jac, mbs_data, tsim)

Compute the Jacobian and the constraints vector for the user constraints.

Parameters

• h (numpy.ndarray) – The constraint vector to be filled. The first index (h[0]) must not be modified. The first index to be filled is h[1].

• Jac (numpy.ndarray) – The jacobian matrix to be filled. The first row (Jac[0,:]) and line (Jac[:,0]) must not be modified. The subarray to be filled is Jac[1:, 1:].

• mbs_data (MBsysPy.MbsData) – The instance containing the multibody project.

• tsim (float) – The current time of the simulation.

Returns

Return type

None