mbs_data.py 54.5 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 MbsData based on the MbsData structure of MBsysC.
This class has the functions required to manipulate the Data (set the number of
user constraints, set the independant or dependant variables...).
"""

import os
import imp
import ctypes

import numpy as np

# importing MbsysPy classes
from .mbs_sensor import MbsSensor
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from .mbs_dirdyn import MbsDirdyn
from .mbs_part import MbsPart
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# importing libraries
from ..mbsysc_loader.loadlibs import libutilities
from ..mbsysc_loader.loadlibs import libloadXML

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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_Derivative_wrap
from ..mbsysc_loader.callback import user_DrivenJoints_wrap
from ..mbsysc_loader.callback import user_ExtForces_wrap
from ..mbsysc_loader.callback import user_JointForces_wrap
from ..mbsysc_loader.callback import user_LinkForces_wrap
from ..mbsysc_loader.callback import user_Link3DForces_wrap

from ..mbsysc_loader.callback import mbs_accelred_wrap
from ..mbsysc_loader.callback import mbs_extforces_wrap
from ..mbsysc_loader.callback import mbs_gensensor_wrap
from ..mbsysc_loader.callback import mbs_link_wrap
from ..mbsysc_loader.callback import mbs_link3D_wrap
from ..mbsysc_loader.callback import mbs_sensor_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 MbsData class
#==============================================================================

class MbsData(object):
    
    """
    Class containing geometrical and dynamical information of robotran Mbs.
    
    Attributes
    ----------
    DonePart : int
        Flag that indicates if the coordinate partitioning module has been 
        executed (default: 0=not done; 1=done).
    dpt : ndarray
        Numpy array containing the coordinates of all anchor points in body 
        fixed frame: [X_i,Y_i,Z_i] = dpt[1:4,i]
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    extforce_id : dict
        Dictionary containing the names of the extforces as keys and their ids 
        as values.
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    Fl : ndarray
        Numpy array containing the current values of the forces on each link.
    frc: ndarray
        Numpy array containing the components of the resultant external forces 
        (in the body fixed frame) applied to the center of mass of each body.
    g : ndarray
        The 3 gravity components in the inertial frame: g[1:4]=[g_x, g_y, g_z]
    In : ndarray
        Numpy array containing the inertia tensor component of each body (in 
        the body fixed frame, relative to the center of mass). For body k:
        In[1:10, k]=[I_11,I_12,I_13,I_21,I_22,I_23,I_31,I_32,I_33]
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    joint_id : dict
        Dictionary containing the names of the joints as keys and their ids as 
        values.
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    l : ndarray
        Numpy array containing the center of mass coordinates in the body fixed
        frame. For body k: l[1:4, k]=[gc_x, gc_y, gc_z]
    lambda_ : ndarray
        Numpy array containing the values of the Lagrange Multipliers related 
        to the constraints.
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    link_id : dict
        Dictionary containing the names of the links as keys and their ids as 
        values.
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    lrod : ndarray
        Numpy array containing the length of each rod.
    m : ndarray
        Numpy array containing the mass of each body.
    mbs_filename : str
        Path to mbs file including the file with the extension (.mbs).
    mbs_name : str
        Filename of the mbs file (excluding path and ".mbs" extension).
    nbody : int
        Number of bodies in the system. The fictious bodies are not taken into 
        account.
    Ncons : int
        Number of algebraic constraints.
    nhu : int
        Number of independent constraints.
    njoint : int
        Number of joints in the system.
    Nlink : int
        Number of forces acting between two points of the system.
    Nloopc : int
        Number of loop constraints.
    npt : int
        Number of anchor points.
    nqa : int
        Number of actuated articulations.
    nqc : int
        Number of driven articulations, it includes qlocked and qdriven..
    nqdriven : int
        Number of driven articulations.
    nqlocked : int
        Number of locked articulations.
    nqu : int
        Number of independent articulations.
    nqv : int
        Number of dependent articulations.
    NRerr : float
        Maximal error on constraint allowed in Newton-Raphson algorithm, 
        default 1.0e-9.
    nrod : int
        Number of rod constraints defined on the system.
    Nsensor : int
        Number of kinematic sensors.
    Nuserc : int
        Number of user constraints.
    Nux : int
        Number of user variable.
    Nxfrc : int
        Number of points where an external force is applied into a body.
    process : int
        Flag that indicate which module is currently running: 
        1=partitioning; 2=equilibrium; 3=direct dynamic; 4=modal
    project_path : str
        Path to the mbs project folder.
    q : ndarray
        Numpy array containing the current values of the generalized 
        coordinates.
    q0 : ndarray
        Numpy array containing the initial values of the generalized 
        coordinates.
    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.
    qc : ndarray of int
        Numpy array of integers containing the indices of driven (locked and 
        driven) articulations.
    Qc : ndarray
        Numpy array containing the value of joint force introduced in driven 
        joints to respect the user function. The driven forces/torques are 
        saved in the entries given by index vector 'qc'.
    qd : ndarray
        Numpy array containing the current values of the generalized 
        velocities.
    qd0 : ndarray
        Numpy array containing the initial values of the generalized 
        velocities.
    qdd : ndarray
        Numpy array containing the current values of the generalized 
        accelerations.
    qdd0 : ndarray
        Numpy array containing the initial values of the generalized 
        accelerations.
    qdriven : ndarray of int
        Numpy array of integers containing the indices of driven articulations.
        Those articulations are controlled by a user function: 
        q[qdriven]=f(tsim)
    qlocked : ndarray of int
        Numpy array of integers containing the indices of locked articulations.
        Those articulations have a constant position defined by the user:
        q[qlocked]=cte
    Qq : ndarray
        Numpy array containing the values of the joint forces.
    qu : ndarray of int
        Numpy array of integers containing the indices of the independent 
        articulations.
    qv : ndarray of int
        Numpy array of integers containing the indices of the dependent 
        articulations.
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    sensor_id : dict
        Dictionary containing the names of the sensors as keys and their ids as 
        values.
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    sensors : list of MbsSensor
        List containing one instance of MbsSensor (without defined id). User 
        can append as many as needed sensor in the list. Sensors defined in 
        this list can be used by the user for various computation.
    SWr : ndarray
        Numpy array containing the Swr vector for each external forces.
        for force k, Swr[k,1:10] = [Fx, Fy, Fz, Mx, My, Mz, dxF] with
          - Force components (expressed in the inertial frame) : Fx,Fy,Fz
          - Pure torque components (expressed in the inertial frame) : Mx,My,Mz
          - Application point local coordinates vector (expressed in the body 
            fixed frame): dxF[1:4]
    t0 : scalar
        Initial time of the simulation [s]. For dirdyn and invdyn only. This 
        parameter is set from dirdyn/invyn option at start of time simulation.
    tf : scalar
        Final time of the simulation [s]. For dirdyn and invdyn only. This 
        parameter is set from dirdyn/invyn option at start of time simulation.
    trq : ndarray
        Numpy array containing the components of the resultant external torques
        (pure torque and couple produced by forces displacement in the body 
        fixed frame) applied to each body.
    tsim : scalar
        The time value.
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    user_model : dict
        Dictionary containing the names of the user models as keys and a second
        dictionary with their parameters as values. The second dictionary
        contains the names of the parameters as keys and their values as values
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    ux : ndarray
        Numpy array containing the values of the user variables.
    ux0 : ndarray
        Numpy array containing the initial values of the user variables.
    uxd : ndarray
        Numpy array containing the values of the time derivative of the user 
        variables.
    xfidpt : ndarray of int
        Numpy array of integers containing the indices of the points defined as
        force application points.
    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.
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    Example
    -------
        
    >>> mbs_data = robotran.MbsData("../dataR/UExampleProject.mbs")
    >>> mbs_data.user_model["MyUserModel"]["MyScalar"] = 3.0
    >>> print(mbs_data.user_model["MyUserModel"]["MyScalar"])
        3.0    
    >>> #get a copy of the scalar
    >>> a = mbs_data.user_model["MyUserModel"]["MyScalar"]
    >>> a = 2
    >>> print(mbs_data.user_model["MyUserModel"]["MyScalar"])
        3.0
    >>> print(mbs_data.user_model["MyUserModel"]["MyVector"])
        array([1.0, 3.0])
    >>> mbs_data.user_model["MyUserModel"]["MyVector"] = [1.0, 2.0]
    >>> print(mbs_data.user_model["MyUserModel"]["MyVector"])
        array([1.0, 2.0])
    >>> b = mbs_data.user_model["MyUserModel"]["MyVector"]
    >>> b[1] = 10.0
    >>> print(mbs_data.user_model["MyUserModel"]["MyVector"])
        array([1.0, 10.0])
    >>> b = np.array([2.0, 4.0])
    >>> print(mbs_data.user_model["MyUserModel"]["MyVector"])
        array([1.0, 10.0])
    
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    """
    
    def __init__(self, name, user_path=None, symbolic_path=None):
        """
        Load a specific *.mbs file into a MbsData class instance.

        Parameters
        ----------
        name : str
            The path to the .mbs file to load, including the file extension.
        user_path : str, optionnal
            The path to the folder containing the user functions if the default
            project structure are not used.
        symbolic_path : str, optionnal
            The path to the folder containing the symbolic functions if the 
            default project structure are not used.
        """
        # Create a byte object from the string
        name_c = name.encode('utf-8')
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        # Load the MbsInfos and keep a copy
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        if __DEBUG__ : print( "DEBUG>>  Loading: '"+name+"' from:'"+os.getcwd()+"'.")
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        self.mbs_infos_ptr = libloadXML.mbs_info_reader(name_c)
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        if __DEBUG__ : print( "DEBUG>>  mbs_infos structure loaded")
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        # Preparing loader and its options for loading 
        loader = libloadXML.mbs_new_loader()
        if __DEBUG__ : print( "DEBUG>>  Loader structure created")
        
        loader.contents.opts.contents.no_project_fct = 1
        if __DEBUG__ : print( "DEBUG>>  flag ignoring project function set")
        
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        loader.contents.mbs_infos = self.mbs_infos_ptr
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        if __DEBUG__ : print( "DEBUG>>  mbs_infos assigned to loader")
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        # Load and retrieve MbsData structure
        self.mbs_data_ptr = libloadXML.mbs_load_with_loader(name_c, None, loader)
        if __DEBUG__ : print( "DEBUG>>  MbsData loaded")
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        libloadXML.mbs_delete_loader(loader)
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        # symbolic and user function folder
        self.user_path = None
        self.symbolic_path = None
        
        # Storing project function pointer
        # User function that only relies on MbsData structure
        self.user_cons_hJ = None
        self.user_cons_jdqd = None
        self.user_derivative = None
        self.user_DrivenJoints = None
        self.user_ExtForces = None
        self.user_JointForces = None
        self.user_LinkForces = None
        self.user_Link3DForces = None
        # User function also related to dirdyn, equil...
        self.user_dirdyn_init = None
        self.user_dirdyn_loop = None
        self.user_dirdyn_finish = None
        
        # Symbolic functions
        self.mbs_accelred = None
        self.mbs_cons_hJ = None
        self.mbs_cons_jdqd = None
        self.mbs_dirdyna = None
        self.mbs_extforces = None
        self.mbs_gensensor = None
        self.mbs_invdyna = None
        self.mbs_link = None
        self.mbs_link3D = None
        self.mbs_sensor = None
        
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        # pointers dict to avoid garbage collecting
        self.ptrs_to_user_fcts = dict()
        self.ptrs_to_symb_fcts = dict()
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        # Exposing some memory
        if __DEBUG__ : print( "DEBUG>>  Exposing MbsData fields")
        # Geometric and dynamic datas
        self.__dpt = np.ctypeslib.as_array(self.mbs_data_ptr.contents.dpt[0], (3+1, self.npt+1))
        self.__l = np.ctypeslib.as_array(self.mbs_data_ptr.contents.l[0], (3+1, self.njoint+1))
        self.__m = np.ctypeslib.as_array(self.mbs_data_ptr.contents.m, (self.njoint+1,))
        self.__In = np.ctypeslib.as_array(self.mbs_data_ptr.contents.In[0], (9+1, self.njoint+1))
        self.__g = np.ctypeslib.as_array(self.mbs_data_ptr.contents.g, (4,))
        
        # Partitioning informations
        self.__qu = np.ctypeslib.as_array(self.mbs_data_ptr.contents.qu, (self.njoint+1,))
        self.__qc = np.ctypeslib.as_array(self.mbs_data_ptr.contents.qc, (self.njoint+1,))
        self.__qlocked = np.ctypeslib.as_array(self.mbs_data_ptr.contents.qlocked, (self.njoint+1,))
        self.__qdriven = np.ctypeslib.as_array(self.mbs_data_ptr.contents.qdriven, (self.njoint+1,))
        self.__qa = np.ctypeslib.as_array(self.mbs_data_ptr.contents.qa, (self.njoint+1,))
        self.__qv = np.ctypeslib.as_array(self.mbs_data_ptr.contents.qv, (self.njoint+1,))
        
        # Generalized coordinates velocities and acceleration
        self.__q = np.ctypeslib.as_array(self.mbs_data_ptr.contents.q, (self.njoint+1,))
        self.__qd = np.ctypeslib.as_array(self.mbs_data_ptr.contents.qd, (self.njoint+1,))
        self.__qdd = np.ctypeslib.as_array(self.mbs_data_ptr.contents.qdd, (self.njoint+1,))
        
        self.__q0 = np.ctypeslib.as_array(self.mbs_data_ptr.contents.q0, (self.njoint+1,))
        self.__qd0 = np.ctypeslib.as_array(self.mbs_data_ptr.contents.qd0, (self.njoint+1,))
        self.__qdd0 = np.ctypeslib.as_array(self.mbs_data_ptr.contents.qdd0, (self.njoint+1,))
        
        # Forces array
        self.__frc = np.ctypeslib.as_array(self.mbs_data_ptr.contents.frc[0], (3+1, self.njoint+1))
        self.__trq = np.ctypeslib.as_array(self.mbs_data_ptr.contents.trq[0], (3+1, self.njoint+1))
        self.__Qq = np.ctypeslib.as_array(self.mbs_data_ptr.contents.Qq, (self.njoint+1,))
        
        # Constraints datas
        self.nrod = 0
        self.__lrod = None
        if (self.mbs_data_ptr.contents.lrod):
            print(self.mbs_data_ptr.contents.lrod)
            print(self.mbs_data_ptr.contents.lrod is None)
            self.nrod = int(round(self.mbs_data_ptr.contents.lrod[0]))
            self.__lrod = np.ctypeslib.as_array(self.mbs_data_ptr.contents.lrod,(self.nrod+1,))
        
        self.__lambda_ = np.ctypeslib.as_array(self.mbs_data_ptr.contents.lambda_,(self.njoint+1,))
        self.__Qc = np.ctypeslib.as_array(self.mbs_data_ptr.contents.Qc,(self.njoint+1,))
        
        # LinksForces
        self.__Z = self.__Zd = self.__Fl = None
        if self.Nlink:
            self.__Z = np.ctypeslib.as_array(self.mbs_data_ptr.contents.Z, (self.Nlink+1,))
            self.__Zd = np.ctypeslib.as_array(self.mbs_data_ptr.contents.Zd, (self.Nlink+1,))
            self.__Fl = np.ctypeslib.as_array(self.mbs_data_ptr.contents.Fl, (self.Nlink+1,))
            
        # ExtForces
        self.__xfidpt = self.__SWr = None
        if self.Nxfrc:
            self.__xfidpt = np.ctypeslib.as_array(self.mbs_data_ptr.contents.xfidpt, (self.Nxfrc+1,))
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            self.__SWr = np.ctypeslib.as_array(self.mbs_data_ptr.contents.SWr[0], (self.Nxfrc+1, 9+1))
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        # User State
        self.__ux = self.__ux0 = self.__uxd = None
        if self.Nux:
            self.__ux = np.ctypeslib.as_array(self.mbs_data_ptr.contents.ux, (self.Nux+1,))
            self.__ux0 = np.ctypeslib.as_array(self.mbs_data_ptr.contents.ux0, (self.Nux+1,))
            self.__uxd = np.ctypeslib.as_array(self.mbs_data_ptr.contents.uxd, (self.Nux+1,))
        
        # Adding internal sensor
        self.sensors = [MbsSensor(self,None)]
        
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        # ID
        self.joint_id = {}
        self.link_id = {}
        self.extforce_id = {}
        self.sensor_id = {}
        self.__generate_id__()
        
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        #UserModel
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        self.user_model = _UserModelDict()
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        self.__load_user_model__()
        
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        # Loading user function
        if __DEBUG__ : print( "DEBUG>>  Loading user functions")
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        self.__load_user_fct__(user_path)
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        # Loading symbolic function
        if __DEBUG__ : print( "DEBUG>>  Loading symbolic functions")
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        self.__load_symb_fct__(symbolic_path)
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    def __str__(self):
        if __DEBUG__ : print( "DEBUG>>  start of __str")
        
        libutilities.mbs_print_data(self.mbs_data_ptr)
        if __DEBUG__ : print( "DEBUG>>  MbsData printed")
        
        return "MbsData instance printed from C library!"
    
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    def __load_user_fct__(self, user_path=None):
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        """ 
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            Load all user functions where arguments are in MbsData instance.
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            Only load the user functions in which the arguments are not 
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            dependent of another module instance (ie. MbsPart, MbsDirdyn...).
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            The other user functions will be loaded when a module is created.
            The functions will be assigned to the MbsData instance when 
            the 'run' function in other modules is called and unassigned 
            at the end.
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            The loader user functions are :
             - user_derivatives (from derivatives.py)
             - user_DrivenJoints (from driven_joints.py)
             - user_ExtForces (from ext_forces.py)
             - user_JointForces (from joint_forces.py)
             - user_LinkForces (from link_forces.py)
             - user_Link3DForces (from link3D_forces.py)
        """
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        template_path = os.path.join(__MODULE_DIR__,'../templates/user')
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        project_path = self.project_path
        
        # Creating user path
        if user_path == None:
            user_path = os.path.join(project_path, "userfctR")
        else:
            user_path = os.path.join(project_path, user_path)
        # Error handeling
        if not os.path.isdir(user_path):
            print ('The user function directory does not exist: "'+ user_path+'"')
            print ('The current root folder is: "'+os.getcwd()+'"')
        self.user_path = user_path

        # derivative
        user_file = "derivatives.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_derivative = module.user_derivatives
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        # drivenJoints
        user_file = "driven_joints.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_DrivenJoints = module.user_DrivenJoints
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        # ext_forces
        user_file = "ext_forces.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_ExtForces = module.user_ExtForces
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        # joint_forces
        user_file = "joint_forces.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_JointForces = module.user_JointForces
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        # link_forces
        user_file = "link_forces.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_LinkForces = module.user_LinkForces
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        # link3D_forces
        user_file = "link3D_forces.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_Link3DForces = module.user_Link3DForces
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        return
        
    
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    def __load_symb_fct__(self, symb_path=None):
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        """ 
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            Load all symbolic functions if all args are in MbsData instance.
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            Only load the symbolic functions in which the arguments are not 
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            dependent of another module instance (ie. MbsPart, MbsDirdyn...).
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            The other symbolic functions will be loaded when a module is 
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            instancied.
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            The functions will be assigned to the MbsData instance when 
            the 'run' function in other modules is called and unassigned 
            at the end.
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            The loader symbolic functions are :
             - mbs_accelred (from mbs_accelred_MBSNAME.py)
             - extforces (from mbs_extforces_MBSNAME.py)
             - sensor (from mbs_gensensor_MBSNAME.py)
             - sensor (from mbs_sensor_MBSNAME.py)
             - link (from mbs_link_MBSNAME.py)
             - link3D (from mbs_link3D_MBSNAME.py)
        """
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        mbs_name = self.mbs_name
        template_path = os.path.join(__MODULE_DIR__,'../templates/symbolic')
        project_path = self.project_path
        
        # Creating user path
        if symb_path == None:
            symb_path = os.path.join(project_path, "symbolicR")
        else:
            symb_path = os.path.join(project_path, symb_path)
        # Error handeling
        if not os.path.isdir(symb_path):
            print ('The symbolic function directory does not exist: "'+ symb_path+'"')
            print ('The current root folder is: "'+os.getcwd()+'"')
        self.symbolic_path = symb_path
            
        # mbs_accelred
        symb_file = "mbs_accelred_"+mbs_name+".py"
        path = os.path.abspath(os.path.join(symb_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))
            symb_file = "mbs_accelred_PRJ.py"
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            path = os.path.abspath(os.path.join(template_path, symb_file))  
        module = imp.load_source(symb_file[:-3], path)
        self.mbs_accelred = module.mbs_accelred
            
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        # mbs_extforces
        symb_file = "mbs_extforces_"+mbs_name+".py"
        path = os.path.abspath(os.path.join(symb_path, symb_file))
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            symb_file = "mbs_extforces_PRJ.py"
            path = os.path.abspath(os.path.join(template_path, symb_file))
        module = imp.load_source(symb_file[:-3], path)
        self.mbs_extforces = module.extforces
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        # mbs_gensensor
        symb_file = "mbs_gensensor_"+mbs_name+".py"
        path = os.path.abspath(os.path.join(symb_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_gensensor_PRJ.py"
            path = os.path.abspath(os.path.join(template_path, symb_file))
        module = imp.load_source(symb_file[:-3], path)
        self.mbs_gensensor = module.sensor
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        # mbs_link
        symb_file = "mbs_link_"+mbs_name+".py"
        path = os.path.abspath(os.path.join(symb_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_link_PRJ.py"
            path = os.path.abspath(os.path.join(template_path, symb_file))
        module = imp.load_source(symb_file[:-3], path)
        self.mbs_link = module.link
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        # mbs_link3D
        symb_file = "mbs_link3D_"+mbs_name+".py"
        path = os.path.abspath(os.path.join(symb_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_link3D_PRJ.py"
            path = os.path.abspath(os.path.join(template_path, symb_file))
        module = imp.load_source(symb_file[:-3], path)
        self.mbs_link3D = module.link3D
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        # mbs_sensor
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        symb_file = "mbs_sensor_"+mbs_name+".py"
        path = os.path.abspath(os.path.join(symb_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_sensor_PRJ.py"
            path = os.path.abspath(os.path.join(template_path, symb_file))
        module = imp.load_source(symb_file[:-3], path)
        self.mbs_sensor = module.sensor
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    def __assign_user_fct__(self):
        """ 
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            Assign all user functions if all args are in MbsData instance.
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            Assign and wrap python user functions in which the arguments are 
            not dependent of another module instance (ie. MbsPart, MbsDirdyn...).
            Store the functions in the MbsData instance and assign the pointer 
            of functions in the C structure. 
            The other user functions will be assigned when a module is
            instancied.
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        """
        data_c_ptr=self.mbs_data_ptr.contents

        # derivative
        self.ptrs_to_user_fcts["user_Derivative"] = user_Derivative_wrap(lambda mbs : self.user_derivative(self))
        data_c_ptr.user_Derivative = self.ptrs_to_user_fcts["user_Derivative"]

        # drivenJoints
        self.ptrs_to_user_fcts["user_DrivenJoints"] = user_DrivenJoints_wrap(lambda mbs,t : self.user_DrivenJoints(self, t))
        data_c_ptr.user_DrivenJoints = self.ptrs_to_user_fcts["user_DrivenJoints"]

        # ext_forces
        self.ptrs_to_user_fcts["user_ExtForces"] = user_ExtForces_wrap(lambda PxF,RxF,VxF,OMxF,AxF,OMPxF,mbs,tsim,ixF : self.__callback_user_ExtForces(self.user_ExtForces,PxF,RxF,VxF,OMxF,AxF,OMPxF,tsim,ixF))
        data_c_ptr.user_ExtForces = self.ptrs_to_user_fcts["user_ExtForces"]

        # joint_forces
        self.ptrs_to_user_fcts["user_JointForces"] = user_JointForces_wrap(lambda mbs,t : self.user_JointForces(self, t))
        data_c_ptr.user_JointForces = self.ptrs_to_user_fcts["user_JointForces"]

        # link_forces
        self.ptrs_to_user_fcts["user_LinkForces"] = user_LinkForces_wrap(lambda Z, Zd, mbs, tsim, ilnk : self.user_LinkForces(Z, Zd, self, tsim, ilnk))
        data_c_ptr.user_LinkForces = self.ptrs_to_user_fcts["user_LinkForces"]

        # link3D_forces
        self.ptrs_to_user_fcts["user_Link3DForces"] = user_Link3DForces_wrap(lambda PxF,RxF,VxF,OMxF,AxF,OMPxF,mbs,tsim,ixF : self.__callback_user_Link3DForces(self.user_Link3DForces,PxF,RxF,VxF,OMxF,AxF,OMPxF,tsim,ixF))
        data_c_ptr.user_Link3DForces = self.ptrs_to_user_fcts["user_Link3DForces"]
            
        return
        
    
    def __assign_symb_fct__(self):
        """ 
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            Assign all symbolic functions if all args are in MbsData instance.
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            Assign and wrap python symbolic functions in which the arguments are 
            not dependent of another module instance (ie. MbsPart, MbsDirdyn...).
            Store the functions in the MbsData instance and assign the pointer 
            of functions in the C structure. 
            The other user functions will be assigned when a module is
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            instancied.
            
        """
        data_c_ptr=self.mbs_data_ptr.contents
            
        # mbs_accelred
        self.ptrs_to_symb_fcts["mbs_accelred"] = mbs_accelred_wrap(lambda mbs,tsim : self.mbs_accelred(self, tsim))
        data_c_ptr.mbs_accelred = self.ptrs_to_symb_fcts["mbs_accelred"]
            
        
        # mbs_extforces
        self.ptrs_to_symb_fcts["mbs_extforces"] = mbs_extforces_wrap(lambda frc,trq,mbs,tsim : self.mbs_extforces(self.frc,self.trq, self, tsim))
        data_c_ptr.mbs_extforces = self.ptrs_to_symb_fcts["mbs_extforces"]
        
        # mbs_gensensor
        self.ptrs_to_symb_fcts["mbs_gensensor"] = mbs_gensensor_wrap(lambda sens,mbs,isens : self.__callback_mbs_sensor(self.mbs_gensensor, sens, isens))
        data_c_ptr.mbs_gensensor = self.ptrs_to_symb_fcts["mbs_gensensor"]
        
        # mbs_link
        self.ptrs_to_symb_fcts["mbs_link"] = mbs_link_wrap(lambda frc,trq,Flnk,Z,Zd,mbs,tsim : self.mbs_link(self.frc,self.trq,self.Fl,self.Z,self.Zd, self, tsim))
        data_c_ptr.mbs_link = self.ptrs_to_symb_fcts["mbs_link"]
        
        # mbs_link3D
        self.ptrs_to_symb_fcts["mbs_link3D"] = mbs_link3D_wrap(lambda frc,trq,mbs,tsim : self.mbs_link3D(self.frc,self.trq,self, tsim))
        data_c_ptr.mbs_link3D = self.ptrs_to_symb_fcts["mbs_link3D"]
        
        # mbs_sensor
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        self.ptrs_to_symb_fcts["mbs_sensor"] = mbs_sensor_wrap(lambda sens,mbs,isens : self.__callback_mbs_sensor(self.mbs_sensor, sens, isens))
        data_c_ptr.mbs_sensor = self.ptrs_to_symb_fcts["mbs_sensor"]
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    def __callback_user_ExtForces(self, fun, PxF,RxF,VxF,OMxF,AxF,OMPxF,tsim,ixF):
        __PxF = np.ctypeslib.as_array(PxF, (4,))
        __RxF = np.ctypeslib.as_array(RxF, (4,4))
        __VxF = np.ctypeslib.as_array(VxF, (4,))
        __OMxF = np.ctypeslib.as_array(OMxF, (4,))
        __AxF = np.ctypeslib.as_array(AxF, (4,))
        __OMPxF = np.ctypeslib.as_array(OMPxF, (4,))
        SWr = fun(__PxF, __RxF, __VxF, __OMxF, __AxF, __OMPxF, self, tsim, ixF)
        self.SWr[ixF,:] = SWr[:]
        
    def __callback_user_Link3DForces(self, fun, PxF,RxF,VxF,OMxF,AxF,OMPxF,tsim,ixF):
        __PxF = np.ctypeslib.as_array(PxF, (4,))
        __RxF = np.ctypeslib.as_array(RxF, (4,4))
        __VxF = np.ctypeslib.as_array(VxF, (4,))
        __OMxF = np.ctypeslib.as_array(OMxF, (4,))
        __AxF = np.ctypeslib.as_array(AxF, (4,))
        __OMPxF = np.ctypeslib.as_array(OMPxF, (4,))
        SWr = fun(__PxF, __RxF, __VxF, __OMxF, __AxF, __OMPxF, self, tsim, ixF)
        self.SWr[ixF,1:7] = SWr[1:7]
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    def __callback_mbs_sensor(self, fun, sens, isens):
        """ callback for gensensor, forcesensor and sensor
        """
        self.__sens.__reassign_memory__(sens)
        fun(self.__sens,self, isens)
    
    def __callback_mbs_invdyna(self, fun,Q, tsim):
        __Q = np.ctypeslib.as_array(Q, (self.njoint+1,))
        fun(self, tsim, __Q)
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    def __unassign_user_fct__(self):
        """
            Unassign all user function if all args are in MbsData instance.
            
            Only unassign the user functions in which the arguments are not 
            dependent of another module instance (ie. MbsPart, MbsDirdyn...).
        """
        #not necessary but if not present, dictionary must be filled in the load 
        #function and not the assign function
        self.ptrs_to_user_fcts = {}
        
        self.mbs_data_ptr.contents.user_Derivative = user_Derivative_wrap(lambda mbs : callback_undefined("user_Derivative"))
        self.mbs_data_ptr.contents.user_DrivenJoints = user_DrivenJoints_wrap(lambda mbs,t : callback_undefined("user_DrivenJoints"))
        self.mbs_data_ptr.contents.user_ExtForces = user_ExtForces_wrap(lambda PxF,RxF,VxF,OMxF,AxF,OMPxF,mbs,tsim,ixF : callback_undefined("user_ExtForces"))
        self.mbs_data_ptr.contents.user_JointForces  = user_JointForces_wrap(lambda mbs,t : callback_undefined("user_JointForces"))
        self.mbs_data_ptr.contents.user_LinkForces = user_LinkForces_wrap(lambda Z, Zd, mbs, tsim, ilnk : callback_undefined("user_LinkForces"))
        self.mbs_data_ptr.contents.user_Link3DForces = user_Link3DForces_wrap(lambda PxF,RxF,VxF,OMxF,AxF,OMPxF,mbs,tsim,ixF : callback_undefined("user_Link3DForces"))
        
    def __unassign_symb_fct__(self):
        """
            Unassign all symbolic function if all args are in MbsData instance.
            
            Only unassign the symbolic functions in which the arguments are not 
            dependent of another module instance (ie. MbsPart, MbsDirdyn...).
        """
        #not necessary but if not present, dictionary must be filled in the load
        #function and not the assign function
        self.ptrs_to_symb_fcts = {}
        
        self.mbs_data_ptr.contents.mbs_accelred = mbs_accelred_wrap(lambda mbs,tsim : callback_undefined("mbs_accelred"))
        self.mbs_data_ptr.contents.mbs_extforces= mbs_extforces_wrap(lambda frc,trq,mbs,tsim : callback_undefined("mbs_extforces"))
        self.mbs_data_ptr.contents.mbs_gensensor = mbs_gensensor_wrap(lambda sens,mbs,isens : callback_undefined("mbs_gensensor"))
        self.mbs_data_ptr.contents.mbs_link = mbs_link_wrap(lambda frc,trq,Flnk,Z,Zd,mbs,tsim : callback_undefined("mbs_link"))
        self.mbs_data_ptr.contents.mbs_link3D = mbs_link3D_wrap(lambda frc,trq,mbs,tsim  : callback_undefined("mbs_link3D"))
        self.mbs_data_ptr.contents.mbs_sensor = mbs_sensor_wrap(lambda sens,mbs,isens : callback_undefined("mbs_sensor"))
        
    def __generate_id__(self):
        """
           Read the id's of the joints, links, sensors and extforces from MbsInfos
           structure and store them into dictionaries in the MbsData instance.
        """
        
        for i in range(self.njoint):
            name = self.mbs_infos_ptr.contents.bodytree.contents.joint_list[i].contents.name.decode('utf-8')
            self.joint_id[name] = i+1
            
        if self.Nlink:
            for i in range(self.Nlink):
                name = self.mbs_infos_ptr.contents.links.contents.link_list[i].contents.name.decode('utf-8')
                self.link_id[name] = i+1
                
        if self.Nsensor:
            for i in range(self.Nsensor):
                index = self.mbs_infos_ptr.contents.sensor_point_list[i]
                name = self.mbs_infos_ptr.contents.point_list[index].contents.sensor.contents.name.decode('utf-8')
                self.sensor_id[name] = i+1
        
        if self.Nxfrc:
            for i in range(self.Nxfrc):
                index = self.mbs_infos_ptr.contents.extforce_point_list[i]
                name = self.mbs_infos_ptr.contents.point_list[index].contents.extforce.contents.name.decode('utf-8')
                self.extforce_id[name] = i+1
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    def __load_user_model__(self):
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        """
            Load user models in 2 nested dictionaries
            
            
            The first one contains the names of the user models as keys and a
            second dictionary for the parameters as values.
            The second one contains the names of the parameters as keys and
            numpy arrays that point toward C memory as values
        """
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        self.user_model._locked = False
        infos_c_ptr=self.mbs_infos_ptr.contents
        for i in range(infos_c_ptr.user_models.contents.n_user_model):
            user_model_list = infos_c_ptr.user_models.contents.user_model_list[i].contents
            name = user_model_list.name.decode('utf-8')
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            self.user_model[name] = _UserModelDict()
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            self.user_model[name]._parent_key = name
            self.user_model[name]._locked = False
            self.user_model[name]._type = dict()
            for j in range(user_model_list.n_parameter):
                parameter_list = user_model_list.parameter_list[j].contents
                name2 = parameter_list.name.decode('utf-8')
                val_ptr = parameter_list.val_ptr
                value_list = parameter_list.value_list
                self.user_model[name]._type[name2] = parameter_list.type
                size = parameter_list.n_value
                UmPy = (ctypes.cast(val_ptr, ctypes.c_void_p).value==ctypes.cast(value_list, ctypes.c_void_p).value)
                if UmPy :
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                    if self.user_model[name]._type[name2] == 5:
                        self.user_model[name][name2] = np.array(np.ctypeslib.as_array(val_ptr, (1,size)), dtype = np.int)
                    else:
                        self.user_model[name][name2] = np.ctypeslib.as_array(val_ptr, (1,size))
                    
                    #in full python project, the C memory is always a double
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                else :
                    #not yet tested, it requires user and symbolic fonctions in C
                    if self.user_model[name]._type[name2] == 5 or self.user_model[name]._type[name2] == 7:
                        self.user_model[name][name2] = np.ctypeslib.as_array(ctypes.cast(val_ptr, ctypes.POINTER(ctypes.c_int)), (1,size))
                    else :
                        self.user_model[name][name2] = np.ctypeslib.as_array(val_ptr, (1,size))
            self.user_model[name]._locked = True
        self.user_model._locked = True
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    def set_nb_userc(self, nb):
        """ Set the number of user constraints.
        """
        libutilities.mbs_set_nb_userc(self.mbs_data_ptr, nb)
    
    def set_qu(self, indices):
        """ Set the specified joints as independent.
        """
        if isinstance(indices,(list,np.ndarray)):
            for index in indices:
                libutilities.mbs_set_qu(self.mbs_data_ptr, index)
        else:
            libutilities.mbs_set_qu(self.mbs_data_ptr, indices)
    
    def set_qv(self, indices):
        """ Set the specified joints as dependent.
        """
        if isinstance(indices,(list,np.ndarray)):
            for index in indices:
                libutilities.mbs_set_qv(self.mbs_data_ptr, index)
        else:
            libutilities.mbs_set_qv(self.mbs_data_ptr, indices)
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    def set_qa(self, indices):
        """ 
        """
        if isinstance(indices,(list,np.ndarray)):
            for index in indices:
                libutilities.mbs_set_qa(self.mbs_data_ptr, index)
        else:
            libutilities.mbs_set_qa(self.mbs_data_ptr, indices)
    
    def unset_qa(self, indices):
        """ 
        """
        if isinstance(indices,(list,np.ndarray)):
            for index in indices:
                libutilities.mbs_unset_qa(self.mbs_data_ptr, index)
        else:
            libutilities.mbs_unset_qa(self.mbs_data_ptr, indices)
            
    def empty_qa(self):
        
        libutilities.mbs_empty_qa(self.mbs_data_ptr)
        
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    def __del__(self):
        
        libloadXML.mbs_delete_infos(self.mbs_infos_ptr)
        libloadXML.mbs_delete_data(self.mbs_data_ptr)
        if __DEBUG__ : print("DEBUG>>  MbsData pointer deleted")
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    def mbs_reset_data(self,verbose=True):
        """
            Reset mbs_data to its inital value
        """
        libutilities.mbs_reset_data(self.mbs_data_ptr)
        if verbose :
           print("mbs_data reseted to initial value")
    
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    def mbs_load_from_file(self, baseFileName="dirdyn", result_path="resultsR", time = -1):
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        """ Load a state to MbsData instance from files for specific time.
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            If the time specified is not found in the file, the last time step 
            lower than the specification is taken.
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            The fieds q, qd, qdd, ux, uxd, q0, qd0, qdd0, ux0 ant tsim are set.
            
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            :param baseFileName The path and resfilename containing the state to load. 
                                The suffix _q, _qd, _ux.res will be added.
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                                default = "dirdyn" if not specified
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            :param result_path  The relative path of the result folder from the project folder
                                default = "resultsR" if not specified
            :param time         The time corresponding to the state to load
                                defaut value is the last state.
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        """
        def find_index(temp, t):
            if (t == -1):
                index = -1
            else:
                # Look the specified time
                index = np.nonzero(temp[:,0]>=t)
                if (np.size(index)):
                    index=index[0][0]
                    if not temp[index,0]==t:
                        if __DEBUG__ : print ("Time specified not found, take the last occurence where t<time")
                        index = index-1
                else:
                    if __DEBUG__ : print ("Time specified greather than time in files, taking the last state.")
                    index = -1
            return(index)
        
        project_path = self.project_path
            
        
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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+'"')
            
        index = -2
        # Generalized coordinates
        CurFile = baseFileName+'_q.res'
        path = os.path.abspath(os.path.join(result_path, CurFile))
        if (os.path.isfile(path) ):
            temp = np.loadtxt(path)
            index = find_index(temp, time)
            self.q[1:] = temp[index, 1:]
            self.q0[1:] = self.q[1:]
            self.tsim = temp[index, 0]
        else:
            if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
        
        # Generalized velocities
        # Assumption: index is still valid
        CurFile = baseFileName+'_qd.res'
        path = os.path.abspath(os.path.join(result_path, CurFile))
        if (os.path.isfile(path)):
            temp = np.loadtxt(path)
            if index == -2:
                index = find_index(temp, time)
            self.qd[1:] = temp[index, 1:]
            self.qd0[1:] = self.qd[1:]
        else:
             if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
             
        # Generalized accelerations
        # Assumption: index is still valid    
        CurFile = baseFileName+'_qdd.res'
        path = os.path.abspath(os.path.join(result_path, CurFile))
        if (os.path.isfile(path)):
            temp = np.loadtxt(path)
            if index == -2:
                index = find_index(temp, time)
            self.qdd[1:] = temp[index, 1:]
            self.qdd0[1:] = self.qdd[1:]
        else:
             if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
        
        # Generalized user state
        # Assumption: index is still valid
        if self.Nux:
            CurFile = baseFileName+'_ux.res'
            path = os.path.abspath(os.path.join(result_path, CurFile))
            if (os.path.isfile(path) ):
                temp = np.loadtxt(path)
                if index == -2:
                    index = find_index(temp, time)              
                self.ux[1:] = temp[index, 1:]
                self.ux0[1:] = self.ux[1:]
            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)):
                temp = np.loadtxt(path)
                if index == -2: