mbs_dirdyn.py 47.3 KB
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# -*- coding: utf-8 -*-
"""
-------------------------------
(c) Universite catholique de Louvain, 2019

Creation : 2019 by O. Lantsoght
Last update : 2019

version MBsysC v1.11.2

-------------------------------
Portable Python interface to MBsysC using Ctypes.

Define the class MbsDirdyn based on the MbsDirdyn structure of MBsysC.
This class has the functions required to manipulate the direct dynamic module.
This include setting the options, running an (or multiple) analysis and freeing
the memory.
"""

import os
import imp
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import ctypes
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import numpy as np

# importing MbsysPy classes

# importing libraries
from ..mbsysc_loader.loadlibs import libmodules

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# importing utilities function
from ..mbs_utilities import callback_undefined

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# importing wrapping function
from ..mbsysc_loader.callback import user_cons_hJ_wrap
from ..mbsysc_loader.callback import user_cons_jdqd_wrap
from ..mbsysc_loader.callback import user_dirdyn_init_wrap
from ..mbsysc_loader.callback import user_dirdyn_loop_wrap
from ..mbsysc_loader.callback import user_dirdyn_finish_wrap

from ..mbsysc_loader.callback import mbs_cons_hJ_wrap
from ..mbsysc_loader.callback import mbs_cons_jdqd_wrap
from ..mbsysc_loader.callback import mbs_invdyna_wrap
from ..mbsysc_loader.callback import mbs_dirdyna_wrap


#==============================================================================
# Global parameter of the current module
#==============================================================================
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__DEBUG__ = True
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__MODULE_DIR__ = os.path.dirname(os.path.abspath(__file__))


#==============================================================================
# Defining Python MbsDirdyn class
#==============================================================================

class MbsDirdyn(object):
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    """
    Class of the direct dynamic module
    
    
    Attributes
    ----------
    
    tsim : double
        Current simulation time.
    dt : double
        Current integration step size.
    results : MbsResult
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        Instance of MbsResult containing the results of the direct dynamics analysis
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    """
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    def __init__(self, mbs, user_path=None, symbolic_path=None):
        if __DEBUG__ : print( "DEBUG>>  Creating MbsDirdyn struct for "+mbs.mbs_name+"' MBS.")
        self.mbs_dirdyn_ptr = libmodules.mbs_new_dirdyn(mbs.mbs_data_ptr)
        if __DEBUG__ : print( "DEBUG>>  MbsDirdyn structure loaded")
        self.mbs = mbs

        #Test
        if __DEBUG__ :
            print( "DEBUG>>  MbsDirdyn created.")
            print( "     >>  options->tf (5.0): ", self.mbs_dirdyn_ptr.contents.options.contents.tf)
            print( "     >>  options->dt_max (1e-3): ", self.mbs_dirdyn_ptr.contents.options.contents.dt_max)
            print( "     >>  mbs_aux->NRerr (-): ", self.mbs_dirdyn_ptr.contents.mbs_aux.contents.NRerr)
            print( "     >>  mbs_aux->nquc (-): ", self.mbs_dirdyn_ptr.contents.mbs_aux.contents.nquc)
            print( "     >>  mbs_aux->M[1:3][1:3]: ", 
                  self.mbs_dirdyn_ptr.contents.mbs_aux.contents.M[1][1], 
                  self.mbs_dirdyn_ptr.contents.mbs_aux.contents.M[1][2], 
                  self.mbs_dirdyn_ptr.contents.mbs_aux.contents.M[2][1], 
                  self.mbs_dirdyn_ptr.contents.mbs_aux.contents.M[2][2])
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        # Path to user function used by partitionning module
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        self.user_path = self.mbs.user_path
        if not (user_path==None):
            project_path  = (self.mbs.project_path).decode("utf-8")
            user_path = os.path.join(project_path, user_path)
            # Error handeling
            if not os.path.isdir(user_path):
                print ('The user function directory for direct dynamic module does not exist: "'+ user_path+'"')
                print ('The current root folder is: "'+os.getcwd()+'"')
                print ('The following directory is used instead: "'+self.user_path+'".')
            else:
                self.user_path = user_path
        # Path to user function used by partitionning modue
        self.symbolic_path = self.mbs.symbolic_path
        if not (user_path==None):
            project_path  = (self.mbs.project_path).decode("utf-8")
            symbolic_path = os.path.join(project_path, symbolic_path)
            # Error handeling
            if not os.path.isdir(symbolic_path):
                print ('Thesymbolic function directory for direct dynamic module does not exist: "'+ symbolic_path+'"')
                print ('The current root folder is: "'+os.getcwd()+'"')
                print ('The following directory is used instead: "'+self.symbolic_path+'".')
            else:
                self.symbolic_path = symbolic_path
        
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        # dictionary containing the pointers to avoid garbage collecting
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        self.ptrs_to_user_fcts = dict()
        self.ptrs_to_symb_fcts = dict()
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        # Storing project function pointer
        self.user_cons_hJ = None
        self.user_cons_jdqd = None
        self.user_dirdyn_init = None
        self.user_dirdyn_loop = None
        self.user_dirdyn_finish = None
        self.mbs_cons_hJ = None
        self.mbs_cons_jdqd = None
        self.mbs_invdyna = None
        self.mbs_dirdyna = None
        
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        # Storing Results
        self.results = MbsResult(self.mbs)
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        self.store_results = True
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        # Exposing some memory
        if __DEBUG__ : print( "DEBUG>>  Exposing MbsDirdyn fields")
        # Constraints
        self._h = self._Jac = self._jdqd = None
        if self.mbs.Ncons>0:
            self._h = np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.mbs_aux.contents.h, (self.mbs.Ncons+1,))
            self._Jac = np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.mbs_aux.contents.Jac[0], (self.mbs.Ncons+1,self.mbs.njoint+1))
            self._jdqd = np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.mbs_aux.contents.jdqd, (self.mbs.Ncons+1,))
        self._huserc = self._Juserc = self._jdqduserc = None
        if self.mbs.Nuserc>0:
            self._huserc = np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.mbs_aux.contents.huserc, (self.mbs.Nuserc+1,))
            self._Juserc = np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.mbs_aux.contents.Juserc[0], (self.mbs.Nuserc+1,self.mbs.njoint+1))
            self._jdqduserc = np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.mbs_aux.contents.jdqduserc, (self.mbs.Nuserc+1,))
        # Fields from equation of motion
        self._M = np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.mbs_aux.contents.M[0], (self.mbs.njoint+1,self.mbs.njoint+1))
        self._c = np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.mbs_aux.contents.c, (self.mbs.njoint+1,))
        self._F = np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.mbs_aux.contents.F, (self.mbs.njoint+1,))
        
        # Loading user function
        if __DEBUG__ : print( "DEBUG>>  Loading user functions")
        self.__load_user_fct__(self.user_path)
        # Loading symbolic function
        if __DEBUG__ : print( "DEBUG>>  Loading symbolic functions")
        self.__load_symbolic_fct__(self.symbolic_path)
        

    def __str__(self):
        if __DEBUG__ : print( "DEBUG>>  start of __str")
        
        return "MbsDirdyn instance has nothing to be printed from C library!"
    
    def __load_user_fct__(self, user_path):
        """ 
            Load user function where some args depend on MbsDirdyn module.
            
            Load the user functions in which some of the arguments are  
            dependent of MbsDirdyn module instance. The functions will be 
            assigned to the MbsData instance when the 'run' functions is called 
            and unassigned at the end.
            
            The loader user functions are :
             - user_cons_hJ (from cons_hJ.py)
             - user_cons_jdqd (from cons_hJ.py)
             - user_dirdyn_init (from user_dirdyn.py)
             - user_dirdyn_loop (from user_dirdyn.py)
             - user_dirdyn_finish (from user_dirdyn.py)
        """
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        template_path = os.path.join(__MODULE_DIR__,'../templates/user')
        
        
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        # cons_hJ
        user_file = "cons_hJ.py"
        path = os.path.abspath(os.path.join(user_path, user_file))
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        if not os.path.isfile(path):
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            if __DEBUG__ : print( "DEBUG>>  file '"+user_file+"' not found in folder '"+os.path.dirname(path))
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            path = os.path.abspath(os.path.join(template_path, user_file))
        module = imp.load_source(user_file[:-3], path)
        self.user_cons_hJ = module.user_cons_hJ
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        # cons_jdqd
        user_file = "cons_jdqd.py"
        path = os.path.abspath(os.path.join(user_path, user_file))
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        if not os.path.isfile(path):
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            if __DEBUG__ : print( "DEBUG>>  file '"+user_file+"' not found in folder '"+os.path.dirname(path))
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            path = os.path.abspath(os.path.join(template_path, user_file))
        module = imp.load_source(user_file[:-3], path)
        self.user_cons_jdqd = module.user_cons_jdqd
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        # user_dirdyn
        user_file = "user_dirdyn.py"
        path      = os.path.abspath(os.path.join(user_path, user_file))
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        if not os.path.isfile(path):
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            print ("file '"+user_file+"' not found in folder '"+os.path.dirname(path))
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            path = os.path.abspath(os.path.join(template_path, user_file))
        else:
            if __DEBUG__ : print( "DEBUG>>  loading file '"+user_file+"' in folder '"+os.path.dirname(path))
        module = imp.load_source(user_file[:-3], path)
        self.user_dirdyn_init   = module.user_dirdyn_init
        self.user_dirdyn_loop   = module.user_dirdyn_loop
        self.user_dirdyn_finish = module.user_dirdyn_finish
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        return
        
    def __load_symbolic_fct__(self, symbolic_path):
        """ 
            Load symbolic function where some args depend on MbsDirdyn module.
            
            Load the symb functions in which some of the arguments are  
            dependent of MbsDirdyn module instance. The functions will be 
            assigned to the MbsData instance when the 'run' functions is called 
            and unassigned at the end.
            
            The loader user functions are :
             - cons_hJ (from mbs_cons_hJ_MBSNAME.py)
             - cons_jdqd (from mbs_cons_jdqd_MBSNAME.py)
             - dirdyna (from mbs_dirdyna_MBSNAME.py)
             - invdyna (from mbs_invdyna_MBSNAME.py)
        """
        mbs_name = self.mbs.mbs_name
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        template_path = os.path.join(__MODULE_DIR__,'../templates/symbolic')
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        # mbs_cons_hJ
        symb_file = "mbs_cons_hJ_"+mbs_name+".py"
        path = os.path.abspath(os.path.join(symbolic_path, symb_file))
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        if not os.path.isfile(path):
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            if __DEBUG__ : print( "DEBUG>>  file '"+symb_file+"' not found in folder '"+os.path.dirname(path))
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            symb_file = "mbs_cons_hJ_PRJ.py"
            path = os.path.abspath(os.path.join(template_path, symb_file))
        module = imp.load_source(symb_file[:-3], path)
        self.mbs_cons_hJ = module.cons_hJ
        
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        # mbs_cons_jdqd
        symb_file = "mbs_cons_jdqd_"+mbs_name+".py"
        path = os.path.abspath(os.path.join(symbolic_path, symb_file))
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        if not os.path.isfile(path):
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            if __DEBUG__ : print( "DEBUG>>  file '"+symb_file+"' not found in folder '"+os.path.dirname(path))
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            symb_file = "mbs_cons_jdqd_PRJ.py"
            path = os.path.abspath(os.path.join(template_path, symb_file))
        module = imp.load_source(symb_file[:-3], path)
        self.mbs_cons_jdqd = module.cons_jdqd
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        # dirdyna
        symb_file = "mbs_dirdyna_"+mbs_name+".py"
        path = os.path.abspath(os.path.join(symbolic_path, symb_file))
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        if not os.path.isfile(path):
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            if __DEBUG__ : print( "DEBUG>>  file '"+symb_file+"' not found in folder '"+os.path.dirname(path))
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            symb_file = "mbs_dirdyna_PRJ.py"
            path = os.path.abspath(os.path.join(template_path, symb_file))
        module = imp.load_source(symb_file[:-3], path)
        self.mbs_dirdyna = module.dirdyna
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        return
    
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    def __assign_user_fct__(self):
        """ 
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            Assign and wrap python user function where some args depend 
            on MbsDirdyn module. Store the functions in the MbsData instance 
            and assign the pointer of functions in the C structure
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        """
        # cons_hJ
        self.ptrs_to_user_fcts["user_cons_hJ"] = user_cons_hJ_wrap(lambda h,Jac,mbs,tsim : self.user_cons_hJ(self._huserc, self._Juserc, self.mbs, tsim))
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        self.mbs.user_cons_hJ = self.user_cons_hJ
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        self.mbs.mbs_data_ptr.contents.user_cons_hJ = self.ptrs_to_user_fcts["user_cons_hJ"]
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        # cons_jdqd
        self.ptrs_to_user_fcts["user_cons_jdqd"] = user_cons_jdqd_wrap(lambda jdqd,mbs,tsim : self.user_cons_jdqd(self._jdqduserc, self.mbs))
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        self.mbs.user_cons_jdqd = self.user_cons_jdqd
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        self.mbs.mbs_data_ptr.contents.user_cons_jdqd = self.ptrs_to_user_fcts["user_cons_jdqd"]
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        # user_dirdyn
        self.ptrs_to_user_fcts["user_dirdyn_init"] = user_dirdyn_init_wrap(lambda mbs, dd : self.mbs.user_dirdyn_init(self.mbs, self))
        self.ptrs_to_user_fcts["user_dirdyn_loop"] = user_dirdyn_loop_wrap(lambda mbs, dd : self.mbs.user_dirdyn_loop(self.mbs, self))
        self.ptrs_to_user_fcts["user_dirdyn_finish"] = user_dirdyn_finish_wrap(lambda mbs, dd : self.mbs.user_dirdyn_finish(self.mbs, self))
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        self.mbs.user_dirdyn_init = self.user_dirdyn_init
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        self.mbs.mbs_data_ptr.contents.user_dirdyn_init = self.ptrs_to_user_fcts["user_dirdyn_init"]
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        self.mbs.user_dirdyn_loop = self.user_dirdyn_loop
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        self.mbs.mbs_data_ptr.contents.user_dirdyn_loop = self.ptrs_to_user_fcts["user_dirdyn_loop"]
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        self.mbs.user_dirdyn_finish = self.user_dirdyn_finish
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        self.mbs.mbs_data_ptr.contents.user_dirdyn_finish = self.ptrs_to_user_fcts["user_dirdyn_finish"]
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        return
        
    def __assign_symbolic_fct__(self):
        """ 
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            Assign and wrap python symbolic function where some args depend 
            on MbsDirdyn module. Store the functions in the MbsData instance 
            and assign the pointer of functions in the C structure
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        """
        
        # mbs_cons_hJ
        self.ptrs_to_symb_fcts["mbs_cons_hJ"] = mbs_cons_hJ_wrap(lambda h,Jac,mbs,tsim : self.mbs_cons_hJ(self._h,self._Jac, self.mbs))
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        self.mbs.mbs_cons_hJ = self.mbs_cons_hJ
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        self.mbs.mbs_data_ptr.contents.mbs_cons_hJ = self.ptrs_to_symb_fcts["mbs_cons_hJ"]
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        # mbs_cons_jdqd
        self.ptrs_to_symb_fcts["mbs_cons_jdqd"] = mbs_cons_jdqd_wrap(lambda jdqd,mbs,tsim : self.mbs_cons_jdqd(self._jdqd, self.mbs))
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        self.mbs.mbs_cons_jdqd = self.mbs_cons_jdqd
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        self.mbs.mbs_data_ptr.contents.mbs_cons_jdqd = self.ptrs_to_symb_fcts["mbs_cons_jdqd"]
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        # dirdyna
        self.ptrs_to_symb_fcts["mbs_dirdyna"] = mbs_dirdyna_wrap(lambda M,c,mbs,tsim : self.mbs_dirdyna(self._M, self._c, self.mbs, tsim))
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        self.mbs.mbs_dirdyna = self.mbs_dirdyna
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        self.mbs.mbs_data_ptr.contents.mbs_dirdyna = self.ptrs_to_symb_fcts["mbs_dirdyna"]
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        return
    
     # Callback function for function with advanced arguments
    def __callback_mbs_cons_hJ(self, fun, h, Jac):
        if __DEBUG__ : print( "DEBUG>>  callback_mbs_cons_hJ")
        __h = np.ctypeslib.as_array(h, (self.mbs.Ncons+1,))
        __Jac = np.ctypeslib.as_array(Jac[0], (self.mbs.Ncons+1,self.mbs.njoint+1))
        fun(__h,__Jac,self.mbs)
    
    
    def __unassign_user_fct__(self):
        """ 
            Unassign user function where some args depend on MbsDirdyn module.
        """
        
        self.ptrs_to_user_fcts = {}
        
        self.mbs.user_cons_hJ = None
        self.mbs.mbs_data_ptr.contents.user_cons_hJ = user_cons_hJ_wrap(lambda h,Jac,mbs,tsim : callback_undefined("user_cons_hJ"))
        self.mbs.user_cons_jdqd = None
        self.mbs.mbs_data_ptr.contents.user_cons_jdqd = user_cons_jdqd_wrap(lambda h,Jac,mbs,tsim : callback_undefined("user_cons_jdqd"))
        self.mbs.user_dirdyn_init = None
        self.mbs.mbs_data_ptr.contents.user_dirdyn_init = user_dirdyn_init_wrap(lambda mbs, dd : callback_undefined("user_dirdyn_init"))
        self.mbs.user_dirdyn_loop = None
        self.mbs.mbs_data_ptr.contents.user_dirdyn_loop = user_dirdyn_loop_wrap(lambda mbs, dd : callback_undefined("user_dirdyn_loop"))
        self.mbs.user_dirdyn_finish = None
        self.mbs.mbs_data_ptr.contents.user_dirdyn_finish = user_dirdyn_finish_wrap(lambda mbs, dd : callback_undefined("user_dirdyn_finish"))
        
    def __unassign_symbolic_fct__(self):
        
        """ 
            Unassign symbolic function where some args depend on MbsDirdyn module.
        """
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        self.ptrs_to_symb_fcts = {}
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        self.mbs.mbs_cons_hJ = None
        self.mbs.mbs_data_ptr.contents.mbs_cons_hJ = mbs_cons_hJ_wrap(lambda h,Jac,mbs,tsim : callback_undefined("mbs_cons_hJ"))
        self.mbs.mbs_cons_jdqd = None
        self.mbs.mbs_data_ptr.contents.mbs_cons_jdqd = mbs_cons_jdqd_wrap(lambda jdqd,mbs,tsim : callback_undefined("mbs_cons_jdqd"))
        self.mbs.mbs_dirdyna = None
        self.mbs.mbs_data_ptr.contents.mbs_dirdyna = mbs_dirdyna_wrap(lambda M,c,mbs,tsim : callback_undefined("mbs_dirdyna"))
        
    def __del__(self):
        
        libmodules.mbs_delete_dirdyn(self.mbs_dirdyn_ptr, self.mbs.mbs_data_ptr)
        if __DEBUG__ : print("DEBUG>>  MbsDirdyn pointer deleted")
        
    def run(self):
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        """
            Run a direct dynamics analysis
            
            Options can be setted with set_options 
            Options can be retrieved with get_options
            
            Results are stored in the field results (if store_results == True)
            
            Examples
            --------
            >>> mbs_data = robotran.MbsData("../dataR/ExampleProject.mbs")
            >>> mbs_dirdyn = robotran.MbsDirdyn(mbs_data)
            >>> mbs_dirdyn.set_options(t0 = 5, tf = 10)
            >>> mbs_dirdyn.get_options("t0", "tf")
                (5.0, 10.0)
            >>> mbs_dirdyn.run()
        
        """
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        # Assing required user functions
        self.__assign_user_fct__()
        self.mbs.__assign_user_fct__()
        
        # Assing required symbolic functions
        self.__assign_symbolic_fct__()
        self.mbs.__assign_symb_fct__()
        
        
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        if not self.store_results:   
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            libmodules.mbs_run_dirdyn(self.mbs_dirdyn_ptr, self.mbs.mbs_data_ptr)
        else:
            #save2file forced to 1 because if buffers don't have the complete results, results are loaded from files
            self.set_options(save2file = 1)
            libmodules.mbs_dirdyn_init(self.mbs_dirdyn_ptr, self.mbs.mbs_data_ptr)
            libmodules.mbs_dirdyn_loop(self.mbs_dirdyn_ptr, self.mbs.mbs_data_ptr)
       
            # Results (buffer) memory is kept BUT FILES WILL BE WRITTEN LATER
            if self.get_options("save2file"):
                #c_mbs_dirdyn_write_buffers(self.mbs_dirdyn_ptr)
                size1 = self.mbs_dirdyn_ptr.contents.buffers[0].contents.index
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                if size1 == 0:
                    size1 = self.mbs_dirdyn_ptr.contents.buffers[0].contents.size
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                size2 = self.mbs_dirdyn_ptr.contents.buffers[0].contents.nx+1
                
                # array are initialized to the time pointer so as to start index of joints at 1 (we have to ensure contiguity between t and x in buffers ! ! !)    
                self.results.q = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[0].contents.tx ,(size1, size2)))
                # get time array from the q buffer
                self.results.t = self.results.q[:,0]
                if not self.results.t[0] == self.get_options("t0"):
                    print("The beginning of the integration is not available in the buffer.\n The complete results have to be loaded from files.")
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                    filename = ctypes.string_at(self.mbs_dirdyn_ptr.contents.buffers[0].contents.filename).decode('utf-8')
                    self.results.load_results_from_file(filename, module = 6)
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                # get qd and qdd buffer
                self.results.qd = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[1].contents.tx ,(size1, size2)))
                self.results.qdd = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[2].contents.tx ,(size1, size2)))
                size2 = self.mbs_dirdyn_ptr.contents.buffers[3].contents.nx+1
                self.results.Qq = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[3].contents.tx ,(size1, size2)))
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                buffer_id = 4
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                if self.mbs.Nux:
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                    size2 = self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.nx+1
                    self.results.ux = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.tx ,(size1, size2)))
                    self.results.uxd = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id+1].contents.tx ,(size1, size2)))
                    buffer_id = buffer_id + 2
                if self.mbs.Nlink:
                    size2 = self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.nx+1
                    self.results.Z = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.tx ,(size1, size2)))
                    self.results.Zd = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id+1].contents.tx ,(size1, size2)))
                    self.results.Fl = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id+2].contents.tx ,(size1, size2)))
                    buffer_id = buffer_id + 3
                if self.mbs.nqc:
                    size2 = self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.nx+1
                    self.results.Qc = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.tx ,(size1, size2)))
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                if self.mbs_dirdyn_ptr.contents.user_buffer.contents.nx:
                    size = self.mbs_dirdyn_ptr.contents.user_buffer.contents.index
                    nbOutput = self.mbs_dirdyn_ptr.contents.user_buffer.contents.nx
                    user_out = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.user_buffer.contents.X[0],(nbOutput, size)))
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                    for i in range(nbOutput):
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                        name = self.mbs_dirdyn_ptr.contents.user_buffer.contents.names[i]
                        name = name.decode('utf-8')
                        self.results.outputs[name] = user_out[i,:]
            
            libmodules.mbs_dirdyn_finish(self.mbs_dirdyn_ptr, self.mbs.mbs_data_ptr)
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        # Anassign user functions
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        self.__unassign_user_fct__()
        self.mbs.__unassign_user_fct__()
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        # Anassing required symbolic functions
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        self.__unassign_symbolic_fct__()
        self.mbs.__unassign_symb_fct__()
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        return self.results
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    def set_options(self, **kwargs):
        """
        Set the specified options for Dirdyn module
        
        Parameters
        ----------
        
        t0 : float
            initial time of the simulation, default = 0.0
        tf : float
            final time of the simulation, default = 5.0
        dt0 : float
            initial value of the integration step size, default = 0.001
        save2file : int
            Determine whether results are written to files on disk (in resultsR folder):  
            1: results are saved
            0: results are not saved 
            default = 1
        resfilename : str
            The keyword used for determining the name of result files
        respath : str
            Path in which result file are saved.
            Default: the resultsR folder of the project
        animpath : str
            Path in which anim file is saved.
            Default: the animationR folder of the project
        save_anim : int
            1 to save the anim file
            0 otherwise (only valid if 'save2file' is set to 1)
            default = 1
        save_visu : int 
            1 to save the visualizazion file (as it appears in 'user_realtime_visu.c')
            0 otherwise (only valid if 'save2file' is set to 1)
            default = 0
        framerate : int
            number of frame per second for the .anim file
            default = 1000
        saveperiod : int
            The number of time steps between two buffer records
            default: 1 (every time step are recorded)
        max_save_user : int
            The maximal number of user variables saved
            default: 12
        buffersize : int 
            The number of time step that can be recorded in the buffer.
            Results are written to disk when the buffer is full.
            default: -1
            compute the buffer size for saving results only once at the end according to dt0, t0 and tf.
        realtime : int
            1 to activate to real-time features
            0 to deactivate them
            default = 0
        accelred : int
            1 to use accelred
            0 otherwise
            default = 0
        flag_compute_Qc : int
            choose to compute (or not) the Qc for driven variables
            For dirdyn only
            ==1 by default
            this allows to go faster
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        compute_all_uxd : int
            choose to compute (or not) the user derivative during dirdyn time integration.
            For dirdyn only.
            default = 1
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        compute_Qc : numpy.ndarray
            If options->flag_compute_Qc is set to 0, the vector allows to compute only the needed Qc
            For dirdyn only.
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            Empty vector by default
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            If compute_Qc = [njoint 1 0 0 1 0], we will compute Qc(1) and Qc(4) only.
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            length by default to njoint+1, compute_Qc[0] = njoint
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        integrator : str
            Set integrator to use, available value: "RK4", "Dopri5", "Rosenbrock","EulerEx", "Eulaire","EulerIm","Bader", "WMethods", "Custom"
            default = "RK4".
        verbose : int 
            1 to get print indications related to time adaptive integrator
            0 otherwise
            default = 1
        flag_stop_stiff : int 
            1 to stop integration if it become stiff
            0 (default value) otherwise
            default = 0
        flag_precise_dynamics : int
            = 1 to call the direct dynamics at the beginning of each time step of integration
            default = 1 
            Not calling it (flag = 0) will be faster to compute but will create small errors in the results
            Options related to waypoints: force integrator to stop at fixed time
        flag_waypoint : int
            1 to use waypoints
            0 otherwise
            default =0
        flag_solout_wp : int
            1 to call solout only at required waypoints (only if flag_waypoint activated)
            default = 0
        delta_t_wp : float
            time interval between two waypoints [s]
            default = 1.0e-3
        nmax : int
            maximal number of steps [-]
            default = 1e9
        toler : float 
            mixed error tolerances [-]
            default = 1.0e-3
        rtoler : float
            relative error tolerances [-]
            default = 1.0e-3
        atoler : float
            absolute error tolerances [-]
            default = 1.0e-6
        dt_max : float
            maximal time step [s]
            default = 1.0e-3
        n_freeze : int 
            number of time step when the jacobian is freezed (computed once at the start of the n_freeze time steps)
            default = 0
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        show_failed_closure : int 
            1 to generate animation of the failed Newton-Raphson procedure
            default = 0.
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        store_results : boolean
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            1 to save a copy of the results from the buffers
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            default = 1
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        """
        
        for key, value in kwargs.items():
            if key == "t0":
                self.mbs_dirdyn_ptr.contents.options.contents.t0 = value
            elif key == "tf":
                self.mbs_dirdyn_ptr.contents.options.contents.tf = value
            elif key == "dt0":
                self.mbs_dirdyn_ptr.contents.options.contents.dt0 = value
            elif key == "save2file":
                self.mbs_dirdyn_ptr.contents.options.contents.save2file = value
            elif key == "resfilename":
                self.mbs_dirdyn_ptr.contents.options.contents.resfilename = value.encode('utf-8')
            elif key == "respath":
                self.mbs_dirdyn_ptr.contents.options.contents.respath = value.encode('utf-8')
            elif key == "animpath":
                self.mbs_dirdyn_ptr.contents.options.contents.animpath = value.encode('utf-8')
            elif key == "save_anim":
                self.mbs_dirdyn_ptr.contents.options.contents.save_anim = value
            elif key == "save_visu":
                self.mbs_dirdyn_ptr.contents.options.contents.save_visu = value
            elif key == "framerate":
                self.mbs_dirdyn_ptr.contents.options.contents.framerate = value
            elif key == "saveperiod":
                self.mbs_dirdyn_ptr.contents.options.contents.saveperiod= value
            elif key == "max_save_user":
                self.mbs_dirdyn_ptr.contents.options.contents.max_save_user = value
            elif key == "buffersize":
                self.mbs_dirdyn_ptr.contents.options.contents.buffersize = value
            elif key == "realtime":
                self.mbs_dirdyn_ptr.contents.options.contents.realtime = value
            elif key == "accelred":
                self.mbs_dirdyn_ptr.contents.options.contents.accelred = value
            elif key == "flag_compute_Qc":
                self.mbs_dirdyn_ptr.contents.options.contents.flag_compute_Qc = value
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            elif key == "compute_all_uxd":
                self.mbs_dirdyn_ptr.contents.options.contents.compute_all_uxd = value
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            elif key == "compute_Qc":
                if (type(value) is np.ndarray) or (type(value) is list):
                    if  np.size(value) == self.mbs.mbs_data_ptr.contents.njoint + 1:
                        for i, val in enumerate(value[1:]):
                            self.mbs_dirdyn_ptr.contents.options.contents.compute_Qc[i+1] = val
                    else:
                        print(">>DIRDYN>> The size of compute_Qc is not consistent with njoint")
                else:
                    print(">>DIRDYN>> The specified value for compute_Qc is not a list or a np.array")
            elif key == "integrator":
                if (type(value) is int) and (value>=0 and value<=8):
                    self.mbs_dirdyn_ptr.contents.options.contents.integrator = value
                elif type(value) is str:
                    if value == "RK4":
                        self.mbs_dirdyn_ptr.contents.options.contents.integrator = 0
                    elif value == "Dopri5":
                        self.mbs_dirdyn_ptr.contents.options.contents.integrator = 1
                    elif value == "Rosenbrock":
                        self.mbs_dirdyn_ptr.contents.options.contents.integrator = 2
                    elif value == "EulerEx":
                        self.mbs_dirdyn_ptr.contents.options.contents.integrator = 3
                    elif value == "Eulaire":
                        self.mbs_dirdyn_ptr.contents.options.contents.integrator = 4
                    elif value == "EulerIm":
                        self.mbs_dirdyn_ptr.contents.options.contents.integrator = 5
                    elif value == "Bader":
                        self.mbs_dirdyn_ptr.contents.options.contents.integrator = 6
                    elif value == "WMethods":
                        self.mbs_dirdyn_ptr.contents.options.contents.integrator = 7
                    elif value == "Custom":
                        self.mbs_dirdyn_ptr.contents.options.contents.integrator = 8
                    else:
                        print(">>DIRDYN>>  " + value + " is not an integrator")
                else:
                    print(">>DIRDYN>>  " + value + " is not an integrator")
            elif key == "verbose":
                self.mbs_dirdyn_ptr.contents.options.contents.verbose = value
            elif key == "flag_stop_stiff":
                self.mbs_dirdyn_ptr.contents.options.contents.flag_stop_stiff = value
            elif key == "flag_precise_dynamics":
                self.mbs_dirdyn_ptr.contents.options.contents.flag_precise_dynamics = value
            elif key == "flag_waypoint":
                self.mbs_dirdyn_ptr.contents.options.contents.flag_waypoint = value
            elif key == "flag_solout_wp":
                self.mbs_dirdyn_ptr.contents.options.contents.flag_solout_wp= value
            elif key == "delta_t_wp":
                self.mbs_dirdyn_ptr.contents.options.contents.delta_t_wp = value
            elif key == "nmax":
                self.mbs_dirdyn_ptr.contents.options.contents.nmax = value
            elif key == "toler":
                self.mbs_dirdyn_ptr.contents.options.contents.toler = value
            elif key == "rtoler":
                self.mbs_dirdyn_ptr.contents.options.contents.rtoler = value
            elif key == "atoler":
                self.mbs_dirdyn_ptr.contents.options.contents.atoler = value
            elif key == "dt_max":
                self.mbs_dirdyn_ptr.contents.options.contents.dt_max = value
            elif key == "n_freeze":
                self.mbs_dirdyn_ptr.contents.options.contents.n_freeze = value
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            elif key == "show_failed_closure":
                self.mbs_dirdyn_ptr.contents.options.contents.show_failed_closure = value
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            elif key == "store_results":
                self.store_results = value
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            else:
                print(">>DIRDYN>> The option "+key+ " is not defined in this module")
                
        
    def get_options(self, *args):
        """
        Get the specified options for Dirdyn module
        
        Parameters
        ----------
        
        The different options specifed in the documentation of set_options
        
        Returns
        -------
    
        The value of the different options specifed in the documentation of set_options
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        """
        options = []
        for key in args:
            if key == "t0":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.t0)
            elif key == "tf":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.tf)
            elif key == "dt0":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.dt0)
            elif key == "save2file":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.save2file)
            elif key == "resfilename":
                options.append(ctypes.string_at(self.mbs_dirdyn_ptr.contents.options.contents.resfilename).decode("utf-8"))
            elif key == "respath":
                options.append(ctypes.string_at(self.mbs_dirdyn_ptr.contents.options.contents.respath).decode("utf-8"))
            elif key == "animpath":
                options.append(ctypes.string_at(self.mbs_dirdyn_ptr.contents.options.contents.animpath).decode("utf-8"))
            elif key == "save_anim":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.save_anim)
            elif key == "save_visu":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.save_visu)
            elif key == "framerate":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.framerate)
            elif key == "saveperiod":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.saveperiod)
            elif key == "max_save_user":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.max_save_user)
            elif key == "buffersize":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.buffersize)
            elif key == "realtime":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.realtime)
            elif key == "accelred":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.accelred)
            elif key == "flag_compute_Qc":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.flag_compute_Qc)
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            elif key == "compute_all_uxd":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.compute_all_uxd)
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            elif key == "compute_Qc":
                compute_Qc_py = np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.options.contents.compute_Qc, (self.mbs.mbs_data_ptr.contents.njoint+1,))
                options.append(compute_Qc_py)
            elif key == "integrator":
                if self.mbs_dirdyn_ptr.contents.options.contents.integrator == 0:
                    options.append("RK4")
                elif self.mbs_dirdyn_ptr.contents.options.contents.integrator == 1:
                    options.append("Dopri5")
                elif self.mbs_dirdyn_ptr.contents.options.contents.integrator == 2:
                    options.append("Rosenbrock")
                elif self.mbs_dirdyn_ptr.contents.options.contents.integrator == 3:
                    options.append("EulerEx")    
                elif self.mbs_dirdyn_ptr.contents.options.contents.integrator == 4:
                    options.append("Eulaire") 
                elif self.mbs_dirdyn_ptr.contents.options.contents.integrator == 5:
                    options.append("EulerIm")  
                elif self.mbs_dirdyn_ptr.contents.options.contents.integrator == 6:
                    options.append("Bader")
                elif self.mbs_dirdyn_ptr.contents.options.contents.integrator == 7:
                    options.append("WMethods")   
                elif self.mbs_dirdyn_ptr.contents.options.contents.integrator == 8:
                    options.append("Custom")   
            elif key == "verbose":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.verbose)
            elif key == "flag_stop_stiff":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.flag_stop_stiff)
            elif key == "flag_precise_dynamics":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.flag_precise_dynamics)
            elif key == "flag_waypoint":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.flag_waypoint)
            elif key == "flag_solout_wp":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.flag_solout_wp)
            elif key == "delta_t_wp":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.delta_t_wp)
            elif key == "nmax":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.nmax)
            elif key == "toler":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.toler)
            elif key == "rtoler":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.rtoler)
            elif key == "atoler":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.atoler)
            elif key == "dt_max":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.dt_max)
            elif key == "n_freeze":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.n_freeze)
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            elif key == "show_failed_closure":
                options.append(self.mbs_dirdyn_ptr.contents.options.contents.show_failed_closure)
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            elif key == "store_results":
                options.append(self.store_results)
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            else:
                print(">>DIRDYN>> The option "+key+ " is not defined in this module")
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        if len(options) == 0:
            return
        if len(options) == 1:
            return options[0]
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        return tuple(options)
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    #==========================================================================
    # Defining properties
    #==========================================================================
    @property
    def mbs_filename(self):
        return self.mbs.mbs_filename
    
    @property
    def project_path(self):
        return self.mbs.project_path
    
    @property
    def mbs_name(self):
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        return self.mbs.mbs_name
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    @property
    def tsim(self):
        return self.mbs_dirdyn_ptr.contents.tsim
    
    @property
    def dt(self):
        return self.mbs_dirdyn_ptr.contents.dt
    
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class MbsResult(object):
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    """
    Class containing results.
    
    Attributes
    ----------
    q : ndarray
        Numpy array containing the current values of the generalized 
        coordinates.
    qd : ndarray
        Numpy array containing the current values of the generalized 
        velocities.
    qdd : ndarray
        Numpy array containing the current values of the generalized 
        accelerations.
    Qq : ndarray
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        Numpy array containing the values of the joint forces.
    Qc : ndarray
        Numpy array containing the value of joint force introduced in driven 
        joints to respect the user function
    qa : ndarray of int
        Numpy array of integers containing the indices of actuated 
        articulations (only for inverse dynamic). Those articulations are 
        controlled by an actuator.
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    t : ndarray
        Numpy array containing the values of the time vector
    ux : ndarray
        Numpy array containing the values of the user variables.
    uxd : ndarray
        Numpy array containing the values of the time derivative of the user 
        variables.
    Fl : ndarray
        Numpy array containing the current values of the forces between of 
        the points of a link.
    Z : ndarray
        Numpy array containing the current values of the distances between of 
        the points of a link.
    Zd : ndarray
        Numpy array containing the current values of the speed (spreading) 
        between of the points of a link.
    outputs : dict
        Dict containing the names and the values of the user outputs
    mbs : MbsData
        instance of MbsData from where results come from
    """
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    def __init__(self,mbs):
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        """
            
        """
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        self.q=[]
        self.qd=[]
        self.qdd=[]
        self.Fl=[]
        self.Z=[]
        self.Zd=[]
        self.Qq=[]
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        self.Qa=[]
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        self.t=[]
        self.ux=[]
        self.uxd=[]
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        self.Qc=[]
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        self.outputs={}
        self.mbs=mbs
    
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    def load_results_from_file(self, filename, result_path="resultsR", module=0):
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        """
            Load results from files into a MbsResult instance
            
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            :param filename     The path and resfilename containing the state to load..
                                
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            :param result_path  The relative path of the result folder from the project folder
                                default = "resultsR" if not specified
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            :param module       The module in which this function is called
                                In some modules, some results files don't exist
                                default = 0, all files are loaded
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        """
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        project_path = self.mbs.project_path
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        baseFileName = os.path.basename(filename)    
        baseFileName = baseFileName[:-6]
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        result_path = os.path.join(project_path, result_path)
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        # Error handeling
        if not os.path.isdir(result_path):
            if __DEBUG__ : print ('DEBUG>> The result directory does not exist: "'+ result_path+'"')
            
        # Generalized coordinates
        CurFile = baseFileName+'_q.res'
        path = os.path.abspath(os.path.join(result_path, CurFile))
        if (os.path.isfile(path) ):
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            self.q = np.loadtxt(path)
            if np.array(self.q).ndim > 1:
                self.t = self.q[:,0]
            else:
                self.t = self.q[0]
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        else:
            if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
        
        # Generalized velocities
        CurFile = baseFileName+'_qd.res'
        path = os.path.abspath(os.path.join(result_path, CurFile))
        if (os.path.isfile(path)):
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            self.qd = np.loadtxt(path)
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        else:
             if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
             
        # Generalized accelerations   
        CurFile = baseFileName+'_qdd.res'
        path = os.path.abspath(os.path.join(result_path, CurFile))
        if (os.path.isfile(path)):
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            self.qdd = np.loadtxt(path)
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        else:
             if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
             
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        if module != 5: 
            CurFile = baseFileName+'_Qq.res'
            path = os.path.abspath(os.path.join(result_path, CurFile))
            if (os.path.isfile(path)):
                self.Qq = np.loadtxt(path)
            else:
                 if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
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        # Generalized user state
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        if self.mbs.Nux and (module != 5 and module != 6):
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            CurFile = baseFileName+'_ux.res'
            path = os.path.abspath(os.path.join(result_path, CurFile))
            if (os.path.isfile(path) ):
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                self.ux = np.loadtxt(path)
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            else:
                if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
            
            CurFile = baseFileName+'_uxd.res'
            path = os.path.abspath(os.path.join(result_path, CurFile))
            if (os.path.isfile(path)):
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                self.uxd = np.loadtxt(path)
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            else:
                if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
                
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        # Link        
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        if self.mbs.Nlink and module != 5: 
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            CurFile = baseFileName+'_linkF.res'
            path = os.path.abspath(os.path.join(result_path, CurFile))
            if (os.path.isfile(path) ):
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                self.Fl = np.loadtxt(path)
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            else:
                if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
            
            CurFile = baseFileName+'_linkZ.res'
            path = os.path.abspath(os.path.join(result_path, CurFile))
            if (os.path.isfile(path)):
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                self.Z = np.loadtxt(path)
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            else:
                if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
            
            CurFile = baseFileName+'_linkZd.res'
            path = os.path.abspath(os.path.join(result_path, CurFile))
            if (os.path.isfile(path)):
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                self.Zd = np.loadtxt(path)
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            else:
                if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
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        # Qc
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        if self.mbs.nqc and module != 5:
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            CurFile = baseFileName+'_Qc.res'
            path = os.path.abspath(os.path.join(result_path, CurFile))
            if (os.path.isfile(path) ):
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                self.Qc = np.loadtxt(path)
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            else:
                if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
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        # Qa
        if self.mbs.nqa and (module != 5 and module != 3):
            CurFile = baseFileName+'_Qa.res'
            path = os.path.abspath(os.path.join(result_path, CurFile))
            if (os.path.isfile(path) ):