mbsyscopy updated

mbsysCopy/cmake_aux/flags/CMakeLists.txt

@@ -29,6 +29,9 @@ function(optionnal_modules_flags)
     ## -- Addons --##
     # MBS-LMGC interaction
     option (FLAG_ADDON_MBSLMGC "Including MBS-LMGC Addon" OFF) 
+    
+    ## -- Application for generating user files --##
+    option (FLAG_APP_USERFILES "Application for generating project specific user files" ON)
 
 endfunction()
 

mbsysCopy/mbs_app/user_file_generation/src/mbs_print_user_files.c

@@ -179,6 +179,9 @@ void mbs_print_user_models(MDS_gen_strct* gen, char *fileoutC, char *fileoutH)
                     fprintf(fidH,"        %s* %s;",gen->user_models->user_model_list[i]->parameter_list[j]->structure_name,gen->user_models->user_model_list[i]->parameter_list[j]->name);
                     fprintf(fidH,"        // pointer must be initialized and freed by the user\n");
                     break;
+                case 7: // integer
+                    fprintf(fidH,"        int %s;\n",gen->user_models->user_model_list[i]->parameter_list[j]->name);
+                    break;
             }
         }
         fprintf(fidH,"    } %s;\n", gen->user_models->user_model_list[i]->name);
@@ -205,6 +208,7 @@ void mbs_print_user_models(MDS_gen_strct* gen, char *fileoutC, char *fileoutH)
     fprintf(fidC,"#include \"mbs_xml_reader.h\"\n");
     fprintf(fidC,"#include \"mbs_load_xml.h\"\n");
     fprintf(fidC,"#include \"useful_functions.h\"\n");   
+    fprintf(fidC,"#include \"math.h\"\n");   
     fprintf(fidC,"\n");
     fprintf(fidC,"// ============================================================ //\n\n");
     fprintf(fidC,"\n");
@@ -237,6 +241,8 @@ void mbs_print_user_models(MDS_gen_strct* gen, char *fileoutC, char *fileoutH)
                     fprintf(fidC,"    um->%s.%s = get_ivec_1(%d);\n",gen->user_models->user_model_list[i]->name , gen->user_models->user_model_list[i]->parameter_list[j]->name,gen->user_models->user_model_list[i]->parameter_list[j]->n_value);
                     fprintf(fidC,"    um->%s.%s[0] = %d;\n",gen->user_models->user_model_list[i]->name , gen->user_models->user_model_list[i]->parameter_list[j]->name,gen->user_models->user_model_list[i]->parameter_list[j]->n_value);
                     break;
+                case 7: //integer
+                    fprintf(fidC,"    um->%s.%s = 0;\n",gen->user_models->user_model_list[i]->name , gen->user_models->user_model_list[i]->parameter_list[j]->name);
             }
         }
         fprintf(fidC," \n");
@@ -274,6 +280,9 @@ void mbs_print_user_models(MDS_gen_strct* gen, char *fileoutC, char *fileoutH)
     fprintf(fidC,"    free(um);\n");
     fprintf(fidC,"}\n");
     fprintf(fidC,"\n");
+    
+    // mbs_load_user_model_xml
+    
     fprintf(fidC," void mbs_load_user_model_xml(MDS_gen_strct* gen, UserModel* um) \n");
     fprintf(fidC,"{\n");
     fprintf(fidC,"\n");
@@ -293,7 +302,7 @@ void mbs_print_user_models(MDS_gen_strct* gen, char *fileoutC, char *fileoutH)
                 case 2:
                     fprintf(fidC,"    for(ind=0; ind<gen->user_models->user_model_list[%d]->parameter_list[%d]->n_value; ind++)\n",i,j);
                     fprintf(fidC,"    {\n");
-                    fprintf(fidC,"        um->%s.%s[ind] = gen->user_models->user_model_list[%d]->parameter_list[%d]->value_list[ind];\n",gen->user_models->user_model_list[i]->name , gen->user_models->user_model_list[i]->parameter_list[j]->name, i, j);
+                    fprintf(fidC,"        um->%s.%s[ind+1] = gen->user_models->user_model_list[%d]->parameter_list[%d]->value_list[ind];\n",gen->user_models->user_model_list[i]->name , gen->user_models->user_model_list[i]->parameter_list[j]->name, i, j);
                     fprintf(fidC,"    }\n");
                     break;
                 case 3:
@@ -337,11 +346,81 @@ void mbs_print_user_models(MDS_gen_strct* gen, char *fileoutC, char *fileoutH)
                     fprintf(fidC,"        ind_state_value++;\n");
                     fprintf(fidC,"    }\n");
                     break;
+                case 7:  //integer
+                    fprintf(fidC,"    um->%s.%s = (int)lround(gen->user_models->user_model_list[%d]->parameter_list[%d]->value_list[0]);\n",gen->user_models->user_model_list[i]->name , gen->user_models->user_model_list[i]->parameter_list[j]->name,i,j);
+                    break;
+            }
+        }
+        fprintf(fidC," \n");
+    }
+    fprintf(fidC,"}\n");
+    
+    // mbs_bind_user_model
+    fprintf(fidC,"\n");
+    fprintf(fidC," void mbs_bind_user_model(MDS_gen_strct* gen, UserModel* um) \n");
+    fprintf(fidC,"{\n");
+    fprintf(fidC,"\n");
+    fprintf(fidC,"\n");
+
+    for(i=0; i< gen->user_models->n_user_model; i++)
+    {
+        for(j=0; j< gen->user_models->user_model_list[i]->n_parameter; j++)
+        {
+            switch( gen->user_models->user_model_list[i]->parameter_list[j]->type)
+            {
+                case 1:
+                case 7:
+                    fprintf(fidC,"    gen->user_models->user_model_list[%d]->parameter_list[%d]->val_ptr = &um->%s.%s;\n", i, j, gen->user_models->user_model_list[i]->name, gen->user_models->user_model_list[i]->parameter_list[j]->name);
+                    break;
+                case 2:
+                case 3:
+                case 4:
+                case 5:
+                case 6:
+                    fprintf(fidC,"    gen->user_models->user_model_list[%d]->parameter_list[%d]->val_ptr = um->%s.%s;\n", i, j, gen->user_models->user_model_list[i]->name , gen->user_models->user_model_list[i]->parameter_list[j]->name);
+                    break;
             }
         }
         fprintf(fidC," \n");
     }
     fprintf(fidC,"}\n");
+
+    // mbs_print_user_model
+    
+    fprintf(fidC," void mbs_print_user_model(UserModel* um) \n");
+    fprintf(fidC,"{\n");
+    fprintf(fidC,"\n");
+
+    for(i=0; i< gen->user_models->n_user_model; i++)
+    {
+        for(j=0; j< gen->user_models->user_model_list[i]->n_parameter; j++)
+        {
+            char* um_name = gen->user_models->user_model_list[i]->name;
+            char* param_name = gen->user_models->user_model_list[i]->parameter_list[j]->name;
+            switch( gen->user_models->user_model_list[i]->parameter_list[j]->type)
+            {
+                case 1:
+                    fprintf(fidC,"    printf(\"user_model->%s.%s=%%f\\n\", um->%s.%s);\n", um_name, param_name, um_name, param_name);
+                    break;
+                case 2:
+                case 3:
+                case 4:
+                case 5:
+                    fprintf(fidC,"    printf(\"user_model->%s.%s\\n\");\n", um_name, param_name);
+                    break;
+                
+                case 7:  //integer
+                    fprintf(fidC,"    printf(\"user_model->%s.%s=%%d\\n\", um->%s.%s);\n", um_name, param_name, um_name, param_name);
+                    break;
+            }
+        }
+        fprintf(fidC," \n");
+    }
+    fprintf(fidC,"}\n");
+
+
+    
+    // end of file
     fprintf(fidC,"\n");
 
     fprintf(fidC,"// ============================================================ //\n \n");

mbsysCopy/mbs_common/CMakeLists.txt

@@ -90,6 +90,7 @@ SET(LIB_MBSYSC_INCLUDE_DIRS "${ROBOTRAN_SOURCE_DIR}/mbs_common/mbs_struct"
 )
 
 configure_file(LibRobotranCConfig.cmake.in "${CMAKE_BINARY_DIR}/LibRobotranCConfig.cmake" @ONLY)
+configure_file(LibRobotranCConfigVersion.cmake.in "${CMAKE_BINARY_DIR}/LibRobotranCConfigVersion.cmake" @ONLY)
 
 if(hasParent) #compiled by standalone project
     SET(LIB_MBSYSC_INCLUDE_DIRS ${LIB_MBSYSC_INCLUDE_DIRS} PARENT_SCOPE )

mbsysCopy/mbs_common/LibRobotranCConfigVersion.cmake.in

+
+# - Version Config file for the Robotran MBSysC package
+# It defines the version of the Robotran MBSysC package and
+# checks the compatibility with the user projects
+
+##############################
+# Set version
+##############################
+
+set(PACKAGE_VERSION 1.9.6)
+
+##############################
+# Set compatibility rule
+##############################
+
+# compatibility for the "find_package( LibRobotranC X.Y.Z EXACT )"
+# set to the exact same version number
+
+if (PACKAGE_FIND_VERSION VERSION_EQUAL PACKAGE_VERSION)
+    set(PACKAGE_VERSION_EXACT TRUE)
+endif (PACKAGE_FIND_VERSION VERSION_EQUAL PACKAGE_VERSION)
+
+
+# compatibility for the "find_package( LibRobotranC X.Y.Z )"
+# set to any version X.Y.*
+
+if("${PACKAGE_FIND_VERSION_MAJOR}" EQUAL 1)
+	if("${PACKAGE_FIND_VERSION_MINOR}" EQUAL 9)
+		set(PACKAGE_VERSION_COMPATIBLE TRUE)
+	endif("${PACKAGE_FIND_VERSION_MINOR}" EQUAL 9)
+endif("${PACKAGE_FIND_VERSION_MAJOR}" EQUAL 1)
\ No newline at end of file

mbsysCopy/mbs_common/mbs_add_on/mbs_lmgc/mbs_lmgc.c

@@ -68,6 +68,7 @@ void mbs_lmgc_set_nb_mbs(int nb){
             mld->resqFile   = NULL;
             mld->resqdFile  = NULL;
             mld->resQqFile  = NULL;
+            mld->resImpQcFile  = NULL;
             mld->animFile   = NULL;
             mld->nb_nodes = 0;
             mld->nodes = NULL;
@@ -142,6 +143,11 @@ void mbs_lmgc_set_res_file(int iMbs, char* filename){
     strcat(f, "_Qq.res");
     mbs_lmgc_set_filename(iMbs, &(globalSystem->mbs_lmgc_s[iMbs].resQqFile) ,f);
 
+    // set the res file for impulse of joint forces associated to driven joints
+    strcpy(f, filename);
+    strcat(f, "_ImpQc.res");
+    mbs_lmgc_set_filename(iMbs, &(globalSystem->mbs_lmgc_s[iMbs].resImpQcFile) ,f);
+
     free(f);
     #ifdef DEBUG_PRINT
     printf("Path to results filename for mbs number %d set to %s.\n", iMbs, globalSystem->mbs_lmgc_s[iMbs].resqFile);
@@ -312,14 +318,17 @@ void mbs_lmgc_initialize(){
         mld->vBeg  = (double*) malloc(nquc*sizeof(double));
         mld->vFree = (double*) malloc(nquc*sizeof(double));
         mld->vAux  = (double*) malloc(nquc*sizeof(double));
-        mld->reac  = (double*) malloc(nqu*sizeof(double));
-        mld->rAux  = (double*) malloc(nqu*sizeof(double));
+        mld->reac  = (double*) malloc(nquc*sizeof(double));
+        mld->rAux  = (double*) malloc(nquc*sizeof(double));
+        
+        mld->impQc  = (double*) malloc(nbJoint*sizeof(double));
 
         nullifyArray(mld->qm,    nqu);
         nullifyArray(mld->vFree, nquc);
         nullifyArray(mld->vAux,  nquc);
-        nullifyArray(mld->reac,  nqu);
-        nullifyArray(mld->rAux,  nqu);
+        nullifyArray(mld->reac,  nquc);
+        nullifyArray(mld->rAux,  nquc);
+        nullifyArray(mld->impQc, nbJoint);
 
         // init vBeg to the initial value of qd
         for (j=0; j<nquc; j++){
@@ -331,7 +340,7 @@ void mbs_lmgc_initialize(){
          *  - Generalized velocities (qd);
          *  - Generalized joints forces/torques (Qq);
          */
-        mld->bufferNb = 3;
+        mld->bufferNb = 4;
         mld->buffersize = 1; // Arbitrary dimension as number of steps is unknown
         
         // Some value for readability of function call that are always true or false in our simulation
@@ -346,12 +355,14 @@ void mbs_lmgc_initialize(){
         mld->buffers[0] = mbs_new_buffer(mld->resqFile, mld->animFile, md->njoint, mld->buffersize, bufferIDs[0], save_anim, save_visu, 1./(double)framerate); // Coordinate
         mld->buffers[1] = mbs_new_buffer(mld->resqdFile, mld->animFile, md->njoint, mld->buffersize, bufferIDs[1], save_anim, save_visu, 1./(double)framerate);// Velocities
         mld->buffers[2] = mbs_new_buffer(mld->resQqFile, mld->animFile, md->njoint, mld->buffersize, bufferIDs[3], save_anim, save_visu, 1./(double)framerate);// Forces-torques
+        mld->buffers[3] = mbs_new_buffer(mld->resImpQcFile, mld->animFile, md->njoint, mld->buffersize, bufferIDs[4], save_anim, save_visu, 1./(double)framerate);// Forces-torques impuls of driven joints
         
         // Array with pointer to fields to be saved
         mld->savedArrays = (double**) malloc(mld->bufferNb*sizeof(double*));
         mld->savedArrays[0] = md->q+1;
         mld->savedArrays[1] = md->qd+1;
         mld->savedArrays[2] = md->Qq+1;
+        mld->savedArrays[3] = mld->impQc;
     }
 
 }
@@ -390,6 +401,7 @@ void mbs_lmgc_finalize(){
         free(mld->vAux);
         free(mld->reac);
         free(mld->rAux);
+        free(mld->impQc);
 
         mbs_lmgc_free_node_list(mld->nb_nodes, mld->nodes);
 
@@ -617,7 +629,9 @@ void mbs_lmgc_nullify_reac(int i_mbs){
     printf("mbs_lmgc_nullify_reac(i_mbs=%d) \n", i_mbs);
     #endif 
     
-    nullifyArray(globalSystem->mbs_lmgc_s[i_mbs].reac, globalSystem->mbs_lmgc_s[i_mbs].mbs_data->nqu);
+    MbsData* md =  globalSystem->mbs_lmgc_s[i_mbs].mbs_data;
+    
+    nullifyArray(globalSystem->mbs_lmgc_s[i_mbs].reac, md->nqu+md->nqc);
 }
 
 void mbs_lmgc_nullify_rAux(int i_mbs){
@@ -626,7 +640,9 @@ void mbs_lmgc_nullify_rAux(int i_mbs){
     printf("mbs_lmgc_nullify_rAux(i_mbs=%d) \n", i_mbs);
     #endif 
     
-    nullifyArray(globalSystem->mbs_lmgc_s[i_mbs].rAux, globalSystem->mbs_lmgc_s[i_mbs].mbs_data->nqu);
+    MbsData* md =  globalSystem->mbs_lmgc_s[i_mbs].mbs_data;
+    
+    nullifyArray(globalSystem->mbs_lmgc_s[i_mbs].rAux, md->nqu+md->nqc);
 }
 
 /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
@@ -649,18 +665,22 @@ void mbs_lmgc_nullify_rAux(int i_mbs){
  */
 void mbs_lmgc_add_reaction(int i_mbs, int i_node, double* reacNode, double* reacGlob){
 
-    int i, j;
+    int i, j, nquc;
     MbsLmgcNode* node = NULL;
+    MbsLmgcData* mld = NULL;
+    
+    mld = globalSystem->mbs_lmgc_s+i_mbs;
     
     // get node
-    node = globalSystem->mbs_lmgc_s[i_mbs].nodes+i_node;
+    node = mld->nodes+i_node;
     
     #ifdef DEBUG_PRINT
     printf("mbs_lmgc_add_reaction(i_mbs=%d, i_node=%d, Generalized independent reaction =[ ", i_mbs, i_node);
     #endif
-
+    
+    nquc = mld->mbs_data->nqu+mld->mbs_data->nqc;
     // compute Jsens^T * reac_node
-	for(i=0 ; i < globalSystem->mbs_lmgc_s[i_mbs].mbs_data->nqu ; i++)
+	for(i=0 ; i < nquc ; i++)
 	{
 		for(j=0; j<6 ; j++)
 		{
@@ -836,7 +856,7 @@ void mbs_lmgc_get_vAux(int i_mbs, int i_node, double* vlocyNode){
 /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
 /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
 void mbs_lmgc_compute_dof(double h, double theta){
-    int i,j;
+    int i,j, k;
     
     #ifdef DEBUG_PRINT
     printf("mbs_lmgc_compute_dof(h=%f, theta=%f) \n", h, theta);
@@ -882,6 +902,18 @@ void mbs_lmgc_compute_dof(double h, double theta){
             // Kinematic resolution (velocities)
             mbs_close_kin(md, mld->lds);
         }
+        
+        
+        // compute driven force/joint impulse
+        for(j=0 ; j < md->nqc ; j++){
+            // Lambda_c = lambda_c * h     + reac_c  + ...
+            mld->impQc[md->qc[j+1]-1] = h*md->Qc[md->qc[j+1]] - mld->reac[md->nqu+j];
+            // Lambda_c = ... + Mcu*vAux
+            for(k=0 ; k < md->nqu ; k++){
+                mld->impQc[md->qc[j+1]-1] += mld->lds->Mruc[md->nqu+j+1][k+1]*mld->vAux[k];
+            }
+        }
+        
         // Update time to the end of step, to be coherent with the current values of joints
         md->tsim+=h;
     }

mbsysCopy/mbs_common/mbs_add_on/mbs_lmgc/mbs_lmgc.h

@@ -74,6 +74,9 @@ typedef struct MbsLmgcData{
   /** Array of auxiliary generalized reaction (for computing W matrix) */
   double* rAux;
   
+  /** Array of impulse on the driven coordinates */
+  double* impQc;
+  
 
   /** String defining the file from which to load the mbs data */
   char* mbsFile;
@@ -87,6 +90,9 @@ typedef struct MbsLmgcData{
   /** String defining the file in which to save velocity results */
   char* resQqFile;
   
+  /** String defining the file in which to save impuls of joint/force associated to driven joints */
+  char* resImpQcFile;
+  
   /** String defining the file in which to save animation result */
   char* animFile;
   

mbsysCopy/mbs_common/mbs_load_xml/mbs_load_libraries.c

@@ -185,6 +185,8 @@ void mbs_load_user_functions(MbsData* mbs_data, const char* mbs_filename, const
     mbs_data->fct.user.mbs_delete_user_model   = (mbs_delete_user_model_ptr)   mbs_load_function(userLibInfo, "mbs_delete_user_model");
     mbs_data->fct.user.mbs_delete_user_IO      = (mbs_delete_user_IO_ptr)      mbs_load_function(userLibInfo, "mbs_delete_user_IO");
     mbs_data->fct.user.mbs_load_user_model_xml = (mbs_load_user_model_xml_ptr) mbs_load_function(userLibInfo, "mbs_load_user_model_xml");
+    mbs_data->fct.user.mbs_bind_user_model     = (mbs_bind_user_model_ptr)     mbs_load_function(userLibInfo, "mbs_bind_user_model");
+    mbs_data->fct.user.mbs_print_user_model    = (mbs_print_user_model_ptr)    mbs_load_function(userLibInfo, "mbs_print_user_model");
 
     #ifdef REAL_TIME
         mbs_data->fct.user.user_realtime_options = (user_realtime_options_ptr) mbs_load_function(userLibInfo, "user_realtime_options");

mbsysCopy/mbs_common/mbs_load_xml/mbs_load_xml.c

@@ -12,6 +12,7 @@
 #ifdef PRJ_FCT_PTR
 	#define mbs_new_user_model()              s->fct.user.mbs_new_user_model()
 	#define mbs_load_user_model_xml(mgs, um)  s->fct.user.mbs_load_user_model_xml(mgs, um)
+	#define mbs_bind_user_model(mgs, um)      s->fct.user.mbs_bind_user_model(mgs, um)
 	#define mbs_delete_user_model(um)         s->fct.user.mbs_delete_user_model(um)
 	#define mbs_new_user_IO(a)                s->fct.user.mbs_new_user_IO(a)
 	#define mbs_delete_user_IO(uio)           s->fct.user.mbs_delete_user_IO(uio)
@@ -28,6 +29,18 @@ MbsData* mbs_load(const char* mbs_filename, const char* build_name){
     MbsData *mbs_data;
 
     mds = MDS_mbs_reader(mbs_filename);
+    
+    mbs_data = mbs_load_with_MDS(mds, build_name);
+
+    free_MDS_gen_strct(mds);
+
+    return mbs_data;
+}
+
+MbsData* mbs_load_with_MDS(MDS_gen_strct *mds, const char* build_name){
+    MbsData *mbs_data;
+    
+    char* mbs_filename = mds->mbsfile;
 
     mbs_data = (MbsData*) malloc(sizeof(MbsData));
 
@@ -39,8 +52,6 @@ MbsData* mbs_load(const char* mbs_filename, const char* build_name){
 
     mbs_data = MDS_create_MBSdataStruct(mds, mbs_data);
 
-    free_MDS_gen_strct(mds);
-
     mbs_data->mbs_filename = (char*) malloc (1+strlen(mbs_filename));
     mbs_data->build_name   = (char*) malloc (1+strlen(build_name));
 
@@ -50,7 +61,6 @@ MbsData* mbs_load(const char* mbs_filename, const char* build_name){
     return mbs_data;
 }
 
-
 /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
 
 /**
@@ -492,6 +502,7 @@ MbsData* MDS_create_MBSdataStruct(MDS_gen_strct* mds_gen_strct, MbsData* s)
     {
         s->user_model = mbs_new_user_model();
         mbs_load_user_model_xml(mds_gen_strct, s->user_model);
+        mbs_bind_user_model(mds_gen_strct, s->user_model);
     }
     else
     {

mbsysCopy/mbs_common/mbs_load_xml/mbs_load_xml.h

@@ -16,6 +16,16 @@ extern "C" {
   */
 MbsData* mbs_load(const char* mbs_filename, const char* build_name);
 
+ /**
+  * \brief Load the data from the given MDS_gen_strct. 
+  *        The memory of a new MbsData is allocated.
+  * 
+  * \param mds the MDS_gen_strct containing the date from which to retrieve
+  *            the MbsData structure.
+  * \param build_name path to the build folder of MBsysC libraries
+  */
+MbsData* mbs_load_with_MDS(MDS_gen_strct *mds, const char* build_name);
+
  /**
   * \brief Free the memory used by the given MbsData structure.
   *
@@ -34,6 +44,11 @@ void mbs_delete_data(MbsData *s);
   */
 void mbs_load_user_model_xml(MDS_gen_strct* gen, UserModel* ums);
 
+ /**
+  * \brief Bind the user model data to the MDS_gen_strct memory pointers
+  */
+void mbs_bind_user_model(MDS_gen_strct* gen, UserModel* ums);
+
  /**
   * \brief Retrieve a MbsData structure from the given MDS_gen_strct
   *

mbsysCopy/mbs_common/mbs_load_xml/mbs_xml_reader.c

@@ -964,6 +964,10 @@ MDS_parameter_strct* MDS_parameter_reader(xmlNodePtr node, xmlDocPtr doc)
                 {
                     mds_parameter_strct->type = 1;
                 }
+                if(!strcmp((const char*)elementValue,"integer"))
+                {
+                    mds_parameter_strct->type = 7;
+                }
                 if(!strcmp((const char*)elementValue,"vector"))
                 {
                     mds_parameter_strct->type = 2;

mbsysCopy/mbs_common/mbs_load_xml/mbs_xml_reader.h

@@ -243,7 +243,7 @@ typedef struct MDS_links_strct
 typedef struct MDS_parameter_strct
 {
     char *name;
-    int type; // scalar=1 ;  vector=2 ; lut1D=3 ; lut2D=4 ; state=5
+    int type; // scalar=1 ;  vector=2 ; lut1D=3 ; lut2D=4 ; state=5 ; structure=6 : integer=7
     int n_value;
     double *value_list;
 
@@ -257,6 +257,9 @@ typedef struct MDS_parameter_strct
     /** if user model param is a lut1D or lut2D name */
     int   flag_PRJPATH;
     char* structure_lutfile;
+    
+    /** pointer to the memory storing the value in the UserModel structure (redundant with MDS_d_data_strct **d_value but simpler) **/
+    void* val_ptr;
 
 } MDS_parameter_strct;
 

mbsysCopy/mbs_common/mbs_realtime/java/java_functions.c

@@ -28,6 +28,11 @@
 
 #define START_VIEWPOINT 0 ///< default initial viewpoint
 
+
+
+JNIEnv* global_jni_env=NULL; ///< global reference to the java virtual machine (can be started only once)
+
+
 /*! \brief instantiate a java virtual machine so as to access to the 3D animation facilities of MBSysPad
  * 
  * \return JNI environment
@@ -127,7 +132,13 @@ void start_jni(JNI_in_out *jni_in_out)
     jni_in_out = (JNI_in_out*) args;
     #endif
 
-    env = create_vm();
+    // start the java virtual machine if it was not already done ...
+    if(global_jni_env==NULL){
+        env = create_vm();
+        global_jni_env = env; // ... and store it to the global reference
+    }else{ // if jvm alread started, retrieve the global reference
+        env=global_jni_env;
+    }
 
     animFrameClass = (*env)->FindClass(env, "be/robotran/test/LiveSimAnimFrameCL");
 

mbsysCopy/mbs_common/mbs_realtime/open_gl/mbs_read/MbsRead.cc

@@ -1573,6 +1573,15 @@ MbsShape3D* MbsRead::ShapeExtract(xmlNodePtr shape_node, xmlDocPtr doc,
 
     new_shape_3d = NULL;
 
+    // hide
+    cur_node = FirstNode(shape_node->children, "hide");
+
+    // current shape is hidden
+    if (cur_node != NULL)
+    {
+        return NULL;
+    }
+
     // name
     cur_node = FirstNode(shape_node->children, "name");
 

mbsysCopy/mbs_common/mbs_realtime/sdl/plot_sdl.c

@@ -405,8 +405,9 @@ Screen_sdl* init_screen_sdl(Realtime_option *options)
  * 
  * \param[in,out] screen_sdl SDL main data structure
  * \param[in] nb_new_curves number of new curves
+ * \param[in] y_curves current y values
  */
-void new_curves_save(Screen_sdl *screen_sdl, int nb_new_curves)
+void new_curves_save(Screen_sdl *screen_sdl, int nb_new_curves, double *y_curves)
 {
     int i, j;
     int cur_nb_curves, buffer_size;
@@ -418,9 +419,14 @@ void new_curves_save(Screen_sdl *screen_sdl, int nb_new_curves)
     {
         screen_sdl->y_save[i] = (double*) malloc(buffer_size * sizeof(double));
 
-        for(j=0; j<buffer_size; j++)
+        for(j=0; j<=screen_sdl->min_tsim_index; j++)
         {
-            screen_sdl->y_save[i][j] = 0.0; 
+            screen_sdl->y_save[i][j] = y_curves[i];
+        }
+
+        for(j=screen_sdl->min_tsim_index+1; j<buffer_size; j++)
+        {
+            screen_sdl->y_save[i][j] = 0.0;
         }
     }
         
@@ -823,7 +829,7 @@ void update_plot_vectors(Simu_realtime *realtime, double t)
     update_scale_signals(screen_sdl, realtime, 0);
 }
 
-/*! \brief update 'y_tab' and 't_vec' for plot data durinf the breaks
+/*! \brief update 'y_tab' and 't_vec' for plot data during the breaks
  * 
  * \param[in,out] screen_sdl SDL main data structure
  */
@@ -1326,23 +1332,21 @@ void update_full_vectors(Simu_realtime *realtime, double tsim)
 
     nb_curves = auto_plot->nb;
 
-    if (!nb_curves)
+    // at least one curve to draw
+    if (nb_curves > 0)
     {
-        screen_sdl->max_tsim = tsim;
-        return;
+        screen_sdl->flag_started = 1;
     }
 
     if (auto_plot->nb_new_curves > 0)
     {
-        new_curves_save(screen_sdl, auto_plot->nb_new_curves);
+        new_curves_save(screen_sdl, auto_plot->nb_new_curves, y_curves);
 
         auto_plot->nb_new_curves = 0;
 
         update_sdl_legend(realtime, auto_plot->nb);
     }
 
-    screen_sdl->flag_started = 1;
-
     min_tsim_index = screen_sdl->min_tsim_index;
 
     buffer_size = screen_sdl->buffer_size;
@@ -2055,7 +2059,7 @@ void plot_screen_sdl(Simu_realtime *realtime, double tsim, int screen_flag)
 
     if (screen_sdl->auto_plot->nb_new_curves > 0)
     {
-        new_curves_save(screen_sdl, screen_sdl->auto_plot->nb_new_curves);
+        new_curves_save(screen_sdl, screen_sdl->auto_plot->nb_new_curves, screen_sdl->auto_plot->y_curves);
 
         screen_sdl->auto_plot->nb_new_curves = 0;
 

mbsysCopy/mbs_common/mbs_realtime/sdl/plot_sdl.h

@@ -250,7 +250,7 @@ typedef struct Screen_sdl
 void wait_key_generic(Simu_realtime *realtime, int cur_t_usec, double tsim);
 
 Screen_sdl* init_screen_sdl(Realtime_option *options);
-void new_curves_save(Screen_sdl *screen_sdl, int nb_new_curves);
+void new_curves_save(Screen_sdl *screen_sdl, int nb_new_curves, double *y_curves);
 TTF_Font* init_font(char *folder, int font_size);
 void free_screen_sdl(Screen_sdl *screen_sdl);
 

mbsysCopy/mbs_common/mbs_struct/mbs_data.h

@@ -91,6 +91,8 @@ typedef struct{
         mbs_delete_user_model_ptr mbs_delete_user_model;
         mbs_delete_user_IO_ptr mbs_delete_user_IO;
         mbs_load_user_model_xml_ptr mbs_load_user_model_xml;
+        mbs_bind_user_model_ptr mbs_bind_user_model;
+        mbs_print_user_model_ptr mbs_print_user_model;
 
         #ifdef REAL_TIME
             user_realtime_options_ptr user_realtime_options;

mbsysCopy/mbs_common/mbs_struct/mbs_project_fct_ptr.h

@@ -43,6 +43,8 @@ typedef UserModel*  (*mbs_new_user_model_ptr)();
 typedef void (*mbs_delete_user_model_ptr)(UserModel* ums);
 typedef void (*mbs_delete_user_IO_ptr)(UserIO *uvs);
 typedef void (*mbs_load_user_model_xml_ptr)(MDS_gen_strct* gen, UserModel* ums);
+typedef void (*mbs_bind_user_model_ptr)(MDS_gen_strct* gen, UserModel* ums);
+typedef void (*mbs_print_user_model_ptr)(UserModel* ums);
 
 
 #ifdef REAL_TIME

mbsysCopy/mbs_common/mbs_struct/mbs_user_interface.h

@@ -25,6 +25,7 @@ extern "C" {
 #endif
 	UserModel* mbs_new_user_model();
 	void mbs_delete_user_model(UserModel* ums);
+	void mbs_print_user_model(UserModel* ums);
 #ifdef __cplusplus
 }
 #endif

mbsysCopy/mbs_common/mbs_utilities/mbs_buffer.c

@@ -437,7 +437,7 @@ void mbs_anim_write(MbsBuffer* b)
                 {
                     if (next_index > 0)
                     {
-                        print_x = alpha_comp * b->tx[TIME_ID(next_index)+1 + i] + alpha * b->tx[TIME_ID(next_index)+1 + i];
+                        print_x = alpha_comp * b->tx[TIME_ID(next_index-1)+1 + i] + alpha * b->tx[TIME_ID(next_index)+1 + i];
                     }
                     else
                     {

mbsysCopy/mbs_common/mbs_utilities/mbs_data.c

@@ -4,6 +4,13 @@
 
 
 
+
+#ifdef PRJ_FCT_PTR
+	#define mbs_print_user_model(um)      s->fct.user.mbs_print_user_model(um)
+#else
+    #include "mbs_user_interface.h"
+#endif
+
 /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
 // Those utility functions should be move elsewhere
 // We should use function of useful_functions. h but signature is not the same ... we need to merge that all!
@@ -86,7 +93,9 @@ void mbs_print_data(MbsData* s){
     print_matrix("In ", 9, s->njoint, s->In);
     print_matrix("l ", 3, s->njoint, s->l);
 
+    mbs_print_user_model(s->user_model);
     /*printUserModel(s->usrMod);
+     
 
     printUserIO(s->userIO);*/
 }

mbsysCopy/mbs_workspace_template/C/CMakeLists_NSCD.txt

@@ -174,7 +174,7 @@ flags_clean()
 if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries
 
     find_path(LibRobotranC_DIR LibRobotranCConfig.cmake "${ROBOTRAN_SOURCE_DIR}/build")
-    find_package( LibRobotranC REQUIRED )
+    find_package( LibRobotranC 1.9.6 REQUIRED )
     target_link_libraries( ${Executable} ${LIB_MBSYSC_MODULES} ${LIB_MBSYSC_LOAD} ${LIB_MBSYSC_UTILITIES} )
     add_definitions(${LIB_MBSYSC_DEFINITIONS})
     

mbsysCopy/mbs_workspace_template/C/CMakeLists_symbolicR.txt

@@ -91,7 +91,7 @@ endif()
 
 # MBSysC libraries
 if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries
-    find_package( LibRobotranC REQUIRED )
+    find_package( LibRobotranC 1.9.6 REQUIRED )
     add_definitions(${LIB_MBSYSC_DEFINITIONS})
     target_link_libraries(Project_symbolic ${LIB_MBSYSC_MODULES})
 endif()

mbsysCopy/mbs_workspace_template/C/CMakeLists_userfctR.txt

@@ -131,7 +131,7 @@ endif()
 
 # MBSysC libraries
 if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries
-    find_package( LibRobotranC REQUIRED )
+    find_package( LibRobotranC 1.9.6 REQUIRED )
     add_definitions(${LIB_MBSYSC_DEFINITIONS})
 endif()
 

mbsysCopy/mbs_workspace_template/C/CMakeLists_workR.txt

@@ -174,7 +174,7 @@ flags_clean()
 if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries
 
     find_path(LibRobotranC_DIR LibRobotranCConfig.cmake "${ROBOTRAN_SOURCE_DIR}/build")
-    find_package( LibRobotranC REQUIRED )
+    find_package( LibRobotranC 1.9.6 REQUIRED )