mbs_sensor2.h
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1 //---------------------------
2 // UCL-CEREM-MBS
3 //
4 // @version MBsysLab_s 1.7.a
5 //
6 // Creation : 2006
7 // Last update : 01/10/2008
8 //---------------------------
9 //
10 // Gestion via Bugzilla :
11 // 01/10/2008 : JFC : Bug n°38
12 //
13 
14 #pragma once
15 /*--------------------*/
16 
17 typedef struct MbsSensor
18 {
19  double P[4];
20  double R[4][4];
21  double V[4];
22  double OM[4];
23  double A[4];
24  double OMP[4];
25 
29  double* J[7];
30 
31 
32 } MbsSensor;
33 
34 #ifdef __cplusplus
35 extern "C" {
36 #endif
37 
42 void allocate_sensor(MbsSensor* psens, int njoint);
43 
49 void init_sensor(MbsSensor* psens, int njoint);
50 
55 void free_sensor(MbsSensor* psens);
56 
57 #ifdef __cplusplus
58 }
59 #endif
60 
MbsSensor::V
double V[4]
Velocity vector of the sensor expressed in the inertial frame: .
Definition: mbs_sensor2.h:21
MbsSensor::OMP
double OMP[4]
Angular acceleration vector of the sensor expressed in the inertial frame: .
Definition: mbs_sensor2.h:24
allocate_sensor
void allocate_sensor(MbsSensor *psens, int njoint)
Allocate the Jacobian matrix of the MbsSensor according to the number of joints in the multibody syst...
Definition: mbs_sensor.c:14
init_sensor
void init_sensor(MbsSensor *psens, int njoint)
Initialize all fields of MbsSensor structure to 0.
Definition: mbs_sensor.c:25
MbsSensor::J
double * J[7]
Jacobian matrix of the sensor: .
Definition: mbs_sensor2.h:29
MbsSensor::P
double P[4]
Position vector of the sensor expressed in the inertial frame: .
Definition: mbs_sensor2.h:19
free_sensor
void free_sensor(MbsSensor *psens)
Free the memory of MbsSensor structure.
Definition: mbs_sensor.c:49
MbsSensor
struct MbsSensor MbsSensor
MbsSensor::OM
double OM[4]
Angular velocity vector of the sensor expressed in the inertial frame: .
Definition: mbs_sensor2.h:22
MbsSensor
Definition: mbs_sensor2.h:17
MbsSensor::R
double R[4][4]
Rotation matrix from the inertial frame to the sensor frame: .
Definition: mbs_sensor2.h:20
MbsSensor::A
double A[4]
Acceleration vector of the sensor expressed in the inertial frame: .
Definition: mbs_sensor2.h:23