mbc_rigid_t Struct Reference

Reference node (AKA "rigid") stuff (partially opaque). More...

#include <mbc.h>

Collaboration diagram for mbc_rigid_t:

Public Attributes
uint32_t	flags
union {
char   char_r_ptr [(2+2)*sizeof(uint32_t)+(3+9+3+3+3+3+3+3)*sizeof(double)]
uint32_t   uint32_t_r_ptr [(2+2)+(3+9+3+3+3+3+3+3)*sizeof(double)/sizeof(uint32_t)]
double   double_r_ptr [(2+2)*sizeof(uint32_t)/sizeof(double)+(3+9+3+3+3+3+3+3)*sizeof(double)]
}	r_ptr
uint32_t	k_size
int32_t	r_k_label
int32_t	r_k_x
int32_t	r_k_theta
int32_t	r_k_r
int32_t	r_k_euler_123
int32_t	r_k_xp
int32_t	r_k_omega
int32_t	r_k_xpp
int32_t	r_k_omegap
uint32_t	d_size
int32_t	r_d_label
int32_t	r_d_f
int32_t	r_d_m

Detailed Description

Reference node (AKA "rigid") stuff (partially opaque).

Users do not need to access members directly; macros documented in the following should be used instead.

Flags:

• MBC_F_REF_NODE(mbc): true when reference node is defined
• MBC_F_LABELS(mbc): true when labels communication is enabled
• MBC_F_ACCELS(mbc): true when accelerations communication is enabled
• MBC_F_ROT(mbc): orientation mode (see MBC_ROT_* in MBCType)
• MBC_F_ROT_THETA(mbc): true when orientation mode is orientation vector
• MBC_F_ROT_MAT(mbc): true when orientation mode is orientation matrix
• MBC_F_ROT_EULER_123(mbc): true when orientation mode is Euler angles (123 sequence)
• MBC_F_ROT_REF_NODE(mbc): orientation mode of reference node (see MBC_ROT_* in MBCType; MBC_F_REF_NODE(mbc) must be true)

Fields (MBC_F_REF_NODE(mbc) must be true):

• MBC_R_K_LABEL(mbc): returns the (uint32_t) label of the reference node (MBC_F_LABELS(mbc) must be true)
• MBC_R_X(mbc): returns a (double *) pointer to the three components of reference node position
• MBC_R_THETA(mbc): returns a (double *) pointer to the three components of the reference node orientation vector (MBC_F_ROT_THETA(mbc) must be true)
• MBC_R_R(mbc): returns a (double *) pointer to the nine components of the reference node orientation matrix, column-major (Fortran style; MBC_F_ROT_MAT(mbc) must be true)
• MBC_R_EULER_123(mbc): returns a (double *) pointer to the three components of the reference node Euler angles (123 sequence; MBC_F_ROT_EULER_123(mbc) must be true)
• MBC_R_XP(mbc): returns a (double *) pointer to the three components of reference node velocity
• MBC_R_OMEGA(mbc): returns a (double *) pointer to the three components of reference node angular velocity
• MBC_R_XPP(mbc): returns a (double *) pointer to the three components of reference node acceleration (MBC_F_ACCELS(mbc) must be true)
• MBC_R_OMEGAP(mbc): returns a (double *) pointer to the three components of reference node angular acceleration (MBC_F_ACCELS(mbc) must be true)
• MBC_R_D_LABEL(mbc): the (uint32_t) label of the reference node (in the output buffer; MBC_F_LABELS(mbc) must be true)
• MBC_R_F(mbc): returns a (double *) pointer to the three components of reference node force
• MBC_R_M(mbc): returns a (double *) pointer to the three components of reference node moment
• MBC_R_KINEMATICS_SIZE(mbc): returns the size of the input buffer
• MBC_R_DYNAMICS_SIZE(mbc): returns the size of the output buffer
• MBC_R_SIZE(mbc): returns the cumulative size of the buffers
• MBC_R_KINEMATICS(mbc): returns a (void *) pointer to the input buffer
• MBC_R_DYNAMICS(mbc): returns a (void *) pointer to the output buffer

Definition at line 233 of file mbc.h.

Member Data Documentation

char mbc_rigid_t::char_r_ptr[(2+2)*sizeof(uint32_t)+(3+9+3+3+3+3+3+3)*sizeof(double)]

Definition at line 262 of file mbc.h.

uint32_t mbc_rigid_t::d_size

Definition at line 277 of file mbc.h.

double mbc_rigid_t::double_r_ptr[(2+2)*sizeof(uint32_t)/sizeof(double)+(3+9+3+3+3+3+3+3)*sizeof(double)]

Definition at line 264 of file mbc.h.

uint32_t mbc_rigid_t::flags

Definition at line 234 of file mbc.h.

uint32_t mbc_rigid_t::k_size

Definition at line 267 of file mbc.h.

int32_t mbc_rigid_t::r_d_f

Definition at line 279 of file mbc.h.

int32_t mbc_rigid_t::r_d_label

Definition at line 278 of file mbc.h.

int32_t mbc_rigid_t::r_d_m

Definition at line 280 of file mbc.h.

int32_t mbc_rigid_t::r_k_euler_123

Definition at line 272 of file mbc.h.

int32_t mbc_rigid_t::r_k_label

Definition at line 268 of file mbc.h.

int32_t mbc_rigid_t::r_k_omega

Definition at line 274 of file mbc.h.

int32_t mbc_rigid_t::r_k_omegap

Definition at line 276 of file mbc.h.

int32_t mbc_rigid_t::r_k_r

Definition at line 271 of file mbc.h.

int32_t mbc_rigid_t::r_k_theta

Definition at line 270 of file mbc.h.

int32_t mbc_rigid_t::r_k_x

Definition at line 269 of file mbc.h.

int32_t mbc_rigid_t::r_k_xp

Definition at line 273 of file mbc.h.

int32_t mbc_rigid_t::r_k_xpp

Definition at line 275 of file mbc.h.

union { ... } mbc_rigid_t::r_ptr

uint32_t mbc_rigid_t::uint32_t_r_ptr[(2+2)+(3+9+3+3+3+3+3+3)*sizeof(double)/sizeof(uint32_t)]

Definition at line 263 of file mbc.h.

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The documentation for this struct was generated from the following file:

• mbc.h