mbs_sensor2.h

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//---------------------------
// UCL-CEREM-MBS
//
// @version MBsysLab_s 1.7.a
//
// Creation : 2006
// Last update : 01/10/2008
//---------------------------
//
// Gestion via Bugzilla :
// 01/10/2008 : JFC : Bug n°38
//
 
#pragma once
 
/*--------------------*/
 
typedef struct MbsSensor
{
    double P
        [4]; ///< Position vector of the sensor expressed in the inertial frame: \f$P(1:3)=[P_x; P_y; P_z]\f$.
    double R
        [4]
        [4]; ///< Rotation matrix from the inertial frame to the sensor frame: \f$[\hat{\mathbf{X}}^S]=R(1:3,1:3).[\hat{\mathbf{X}}^0]\f$
    double V
        [4]; ///< Velocity vector of the sensor expressed in the inertial frame: \f$V(1:3)=[V_x; V_y; V_z]\f$.
    double OM
        [4]; ///< Angular velocity vector of the sensor expressed in the inertial frame: \f$OM(1:3)=[\omega_x; \omega_y; \omega_z]\f$.
    double A
        [4]; ///< Acceleration vector of the sensor expressed in the inertial frame: \f$A(1:3)=[A_x; A_y; A_z]\f$.
    double OMP
        [4]; ///< Angular acceleration vector of the sensor expressed in the inertial frame: \f$OMP(1:3)=[\dot\omega_x; \dot\omega_y; \dot\omega_z]\f$.
    /**
     * Jacobian matrix of the sensor:
     * \f$J(1:njoint,1:6)=\left[ \frac{\partial V}{\partial \dot q^T} \quad \frac{\partial OM}{\partial \dot q^T} \right]^\top \f$
     */
    double* J[7];
 
    /**/
} MbsSensor;
 
#ifdef __cplusplus
extern "C"
{
#endif
    /*!
 * \brief Allocate the Jacobian matrix of the MbsSensor according to the number of joints in the multibody system.
 * \param[in,out] psens Pointer to the MbsSensor structure to modify.
 * \param[in] njoint Number of joint in the MBS, see MbsData::njoint.
 */
    void allocate_sensor(MbsSensor* psens, int njoint);
 
    /*!
 * \brief Initialize all fields of MbsSensor structure to 0.
 * \param[in,out] psens Pointer to the MbsSensor structure to initialize.
 * \param[in] njoint Number of joint in the MBS, see MbsData::njoint.
 */
    void init_sensor(MbsSensor* psens, int njoint);
 
    /*!
 * \brief Free the memory of MbsSensor structure.
 * \param[in,out] psens Pointer to the MbsSensor structure to be freed.
 */
    void free_sensor(MbsSensor* psens);
 
#ifdef __cplusplus
}
#endif