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Commit 33e98f7f authored by Olivier Lantsoght's avatar Olivier Lantsoght
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[MBsysPy][MbsResults] Implement specific class into dirdyn, invdyn and solvekin

parent c78f7350
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MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_dirdyn.py
View file @ 33e98f7f
......@@ -29,6 +29,9 @@ from ..mbs_utilities import mbs_msg
from .._mbsysc_loader.loadlibs import libmodules
from .._mbsysc_loader.loadlibs import libutilities
# Import MBsysPy class
from .mbs_results import MbsResult
# =============================================================================
# Global parameter of the current module
......@@ -51,7 +54,7 @@ class MbsDirdyn(object):
Current integration step size.
mbs: MbsData
Instance of MbsData related to the analysis.
results: MbsResult
results: MBsysPy.MbsResult
Instance of MbsResult containing the results of the direct dynamics analysis.
symbolic_path: str
Path to the folder containing the symbolic functions(python modules)
......@@ -212,6 +215,7 @@ class MbsDirdyn(object):
self.set_options(**kwargs)
error2 = 0
if not self.store_results:
error = libmodules.mbs_run_dirdyn(self.mbs_dirdyn_ptr, self.mbs.mbs_data_ptr)
else:
......@@ -230,28 +234,15 @@ class MbsDirdyn(object):
self.mbs_dirdyn_ptr
)
if (error >= 0 and self.get_options("save2file")):
# Results(buffer) memory is kept BUT FILES WILL BE WRITTEN LATER
# Arrays are initialized to the time pointer so as to start index of joints at 1.
nb_joint = self.mbs_dirdyn_ptr.contents.buffers[0].contents.nx + 1
nb_steps = self.mbs_dirdyn_ptr.contents.buffers[0].contents.index
if nb_steps == 0:
# nb_steps is the number of steps not (yet) save to disk.
# If the value is 0 it means that all has been saved to disk.
# But all is also still in memory.
nb_steps = self.mbs_dirdyn_ptr.contents.buffers[0].contents.size
# Load the joint coordinates to test if the whole integration is in memory
self.results.q = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[0].contents.tx, (nb_steps, nb_joint)))
# get time array from the q buffer
self.results.t = self.results.q[:, 0]
if self.results.t[0] != self.get_options("t0"):
results_loaded = False
# Clear loaded data
self.results.q = []
self.results.t = []
# Results have to be loaded from file, extract files names.
if error >= 0:
if self.get_options("save2file"):
# Results(buffer) memory is kept BUT FILES WILL BE WRITTEN LATER.
results_loaded = self.results.load_results_from_buffer(self.mbs_dirdyn_ptr,
self.get_options("t0"),
self.get_options("resfilename"))
# If failed to load from buffer, save the user output (and vector) name
if not results_loaded:
results_filename = bytes_to_str(ctypes.string_at(self.mbs_dirdyn_ptr.contents.buffers[0].contents.filename))
# Check if user vector output have been defined
user_output_vector_filenames = []
......@@ -260,6 +251,7 @@ class MbsDirdyn(object):
for i in range(nb_user_output_vector):
vector_name = bytes_to_str(self.mbs_dirdyn_ptr.contents.buffers[first_buffer_id + i].contents.filename)
user_output_vector_filenames.append(os.path.basename(vector_name))
# Check if user auto output have been used
user_output_filenames = []
nbOutput = self.mbs_dirdyn_ptr.contents.user_buffer.contents.nx
......@@ -267,63 +259,14 @@ class MbsDirdyn(object):
name = bytes_to_str(self.mbs_dirdyn_ptr.contents.user_buffer.contents.names[i])
user_output_filenames.append(self.get_options("resfilename") + '_' + name + '.res')
else:
results_loaded = True
# The whole integration is in the memory, load all results.
self.results.qd = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[1].contents.tx, (nb_steps, nb_joint)))
self.results.qdd = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[2].contents.tx, (nb_steps, nb_joint)))
self.results.Qq = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[3].contents.tx, (nb_steps, nb_joint)))
buffer_id = 4
if self.mbs.Nux and self.get_options("compute_all_uxd"):
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, (nb_steps, size2)))
self.results.uxd = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id + 1].contents.tx, (nb_steps, 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, (nb_steps, size2)))
self.results.Zd = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id + 1].contents.tx, (nb_steps, size2)))
self.results.Fl = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id + 2].contents.tx, (nb_steps, size2)))
buffer_id = buffer_id + 3
if self.mbs.nqc:
self.results.Qc = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.tx, (nb_steps, nb_joint)))
buffer_id = buffer_id + 1
if self.mbs.nhu:
self.results.Lambda = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.tx, (nb_steps, nb_joint)))
buffer_id = buffer_id + 1
nb_user_output_vector = libutilities.get_output_vector_nb()
for i in range(nb_user_output_vector):
vector_size = self.mbs_dirdyn_ptr.contents.buffers[buffer_id + i].contents.nx + 1
user_out = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id + i].contents.tx, (nb_steps, vector_size)))
# Name of the output vector should be recoverable with function
# 'libutilities.get_output_vector_label(i)' returning char*.
# However on MacOs (see comments of merge request !383) this
# does not work (pointer seems to be random).
name = bytes_to_str(os.path.basename(self.mbs_dirdyn_ptr.contents.buffers[buffer_id + i].contents.filename)[:-4])
len_prefix = len(self.get_options("resfilename"))
name = name[len_prefix + 1:]
self.results.outputs[name] = user_out
if self.mbs_dirdyn_ptr.contents.user_buffer.contents.nx:
size = self.mbs_dirdyn_ptr.contents.user_buffer.contents.index
if not size:
size = self.mbs_dirdyn_ptr.contents.user_buffer.contents.size
nbOutput = self.mbs_dirdyn_ptr.contents.user_buffer.contents.nx
for i in range(nbOutput):
user_out = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.user_buffer.contents.X[i], (1, size)))
name = bytes_to_str(self.mbs_dirdyn_ptr.contents.user_buffer.contents.names[i])
self.results.outputs[name] = user_out[0]
if (error >= 0):
libmodules.mbs_dirdyn_finish(self.mbs_dirdyn_ptr, self.mbs.mbs_data_ptr)
# Finalize the simulation (includes writing results files to disk)
error2 = libmodules.mbs_dirdyn_finish(self.mbs_dirdyn_ptr, self.mbs.mbs_data_ptr)
if self.get_options("save2file") and not results_loaded:
# Load results from file if required
if error2 >= 0 and self.get_options("save2file") and not results_loaded:
mbs_msg("The beginning of the integration is not available in the buffer.\n"
"The complete results are loaded from files.\n")
self.results.load_results_from_file(results_filename, module=6,
self.results.load_results_from_file(results_filename,
user_output=user_output_filenames,
user_vector=user_output_vector_filenames)
......@@ -352,6 +295,7 @@ class MbsDirdyn(object):
" Excessive force can generate infinte acceleration.\n"
" - The parameters of the integrator are not compatible with the system dynamics.\n"
" - The integrator is not adapted to the current system dynamics;\n"
" - The outputs folders does not exists (by default 'resultsR' and 'animationR');\n"
"\n"
"If the simulation runs a little you should:\n"
" - In all cases, open the results/animation file and check the motion of the \n"
......@@ -361,6 +305,15 @@ class MbsDirdyn(object):
"\n--------------------------------------------------\n"
"\n--------------------------------------------------\n")
raise RuntimeError("MbsDirdyn.run() failed, read previous messages.")
if error2 < 0:
mbs_msg("\n--------------------------------------------------\n"
"READ CAREFULLY !!!\n"
"--------------------------------------------------\n\n"
"An error occurs during direct dynamic module finalization process.\n"
"It means that one or more results files (or animation file) was not saved to disk.\n"
"The messages above give deeper informations on what went wrong.\n"
"Check the existence of outputs folders, writing wrigth and free space.\n")
raise RuntimeError("MbsDirdyn.run() failed during mbs_dirdyn_finish, read previous messages.")
return self.results
......@@ -911,229 +864,3 @@ class MbsDirdyn(object):
def buffer_nb(self):
"""Access to `bufferNb` attribute (read-only)."""
return self.mbs_dirdyn_ptr.contents.bufferNb
class MbsResult(object):
"""
Class containing results.
The user-specified vector are not available.
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
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.
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
"""
def __init__(self, mbs):
"""Initialize the fields to empty list or dict."""
self.q = []
self.qd = []
self.qdd = []
self.Fl = []
self.Z = []
self.Zd = []
self.Qq = []
self.Qa = []
self.t = []
self.ux = []
self.uxd = []
self.Qc = []
self.outputs = {}
self.mbs = mbs
def load_results_from_file(self, filename, result_path="resultsR", module=0,
user_output=None, user_vector=None):
"""
Load the results from the files into a MbsResult instance.
This function is called if the buffers don not contain the full simulation.
Parameters
----------
filename : str
The resfilename containing the results to load. The required suffix
(ie. "_q.res") will be added automatically
result_path : str, optional
The relative path of the result folder from the project folder.
default is "resultsR"
module : int
The module in which this function is called. In some modules, some
results files don't exist. Module ids corresponds to the
'MbsData.process' value. If set to 0 we try to load all files
default is 0
user_output : list
List containing the user output files to be loaded if not None.
default is None.
user_vector : list
List containing the user vector output files to be loaded if not None.
default is None.
"""
project_path = self.mbs.project_path
baseFileName = os.path.basename(filename)
baseFileName = baseFileName[:-6]
result_path = os.path.join(project_path, result_path)
# Error handeling
if not os.path.isdir(result_path):
if __DEBUG__:
mbs_msg('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)):
self.q = np.loadtxt(path)
if np.array(self.q).ndim > 1:
self.t = self.q[:, 0]
else:
self.t = self.q[0]
else:
if __DEBUG__:
mbs_msg("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)):
self.qd = np.loadtxt(path)
else:
if __DEBUG__:
mbs_msg("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)):
self.qdd = np.loadtxt(path)
else:
if __DEBUG__:
mbs_msg("DEBUG>> file '" + CurFile + "' not found in folder '" + os.path.dirname(path))
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__:
mbs_msg("DEBUG>> file '" + CurFile + "' not found in folder '" + os.path.dirname(path))
# Generalized user state
if self.mbs.Nux and (module != 5 and module != 6):
CurFile = baseFileName + '_ux.res'
path = os.path.abspath(os.path.join(result_path, CurFile))
if(os.path.isfile(path)):
self.ux = np.loadtxt(path)
else:
if __DEBUG__:
mbs_msg("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)):
self.uxd = np.loadtxt(path)
else:
if __DEBUG__:
mbs_msg("DEBUG>> file '" + CurFile + "' not found in folder '" + os.path.dirname(path))
# Link
if self.mbs.Nlink and module != 5:
CurFile = baseFileName + '_linkF.res'
path = os.path.abspath(os.path.join(result_path, CurFile))
if(os.path.isfile(path)):
self.Fl = np.loadtxt(path)
else:
if __DEBUG__:
mbs_msg("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)):
self.Z = np.loadtxt(path)
else:
if __DEBUG__:
mbs_msg("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)):
self.Zd = np.loadtxt(path)
else:
if __DEBUG__:
mbs_msg("DEBUG>> file '" + CurFile + "' not found in folder '" + os.path.dirname(path))
# Qc
if self.mbs.nqc and module != 5:
CurFile = baseFileName + '_Qc.res'
path = os.path.abspath(os.path.join(result_path, CurFile))
if(os.path.isfile(path)):
self.Qc = np.loadtxt(path)
else:
if __DEBUG__:
mbs_msg("DEBUG>> file '" + CurFile + "' not found in folder '" + os.path.dirname(path))
# 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)):
self.Qa = np.loadtxt(path)
else:
if __DEBUG__:
mbs_msg("DEBUG>> file '" + CurFile + "' not found in folder '" + os.path.dirname(path))
if user_output:
for CurFile in user_output:
path = os.path.abspath(os.path.join(result_path, CurFile))
name = CurFile[len(baseFileName) + 1:-4]
if(os.path.isfile(path)):
self.outputs[name] = np.loadtxt(path)[:, 1:]
else:
if __DEBUG__:
mbs_msg("DEBUG>> file '" + CurFile + "' not found in folder '" + os.path.dirname(path))
if user_vector:
for CurFile in user_vector:
path = os.path.abspath(os.path.join(result_path, CurFile))
name = CurFile[len(baseFileName) + 1:-4]
if(os.path.isfile(path)):
self.outputs[name] = np.loadtxt(path)
else:
if __DEBUG__:
mbs_msg("DEBUG>> file '" + CurFile + "' not found in folder '" + os.path.dirname(path))
MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_invdyn.py
View file @ 33e98f7f
......@@ -25,10 +25,11 @@ from ..mbs_utilities import str_to_bytes
from ..mbs_utilities import mbs_msg
# importing MbsysPy classes
from .mbs_dirdyn import MbsResult
from .mbs_results import MbsResult
# importing libraries
from .._mbsysc_loader.loadlibs import libmodules
from .._mbsysc_loader.loadlibs import libutilities
# =============================================================================
# Global parameter of the current module
......@@ -197,9 +198,10 @@ class MbsInvdyn(object):
self.set_options(**kwargs)
error2 = 0 # Default value
if not self.store_results:
error = libmodules.mbs_run_invdyn(self.mbs_invdyn_ptr, self.mbs.mbs_data_ptr)
error2 = 0 # Unused for this module
else:
# save2file forced to 1 because if buffers don't have the complete
# results, results are loaded from files.
......@@ -210,17 +212,39 @@ class MbsInvdyn(object):
results_loaded = False
# Results(buffer) memory is kept BUT FILES WILL BE WRITTEN LATER
if error >= 0 and self.get_options("save2file"):
results_loaded = self._load_results()
if error >= 0:
if self.get_options("save2file"):
results_loaded = self.results.load_results_from_buffer(self.mbs_invdyn_ptr,
self.get_options("t0"),
self.get_options("resfilename"))
# If failed to load from buffer, save the user output (and vector) name
if not results_loaded:
results_filename = bytes_to_str(ctypes.string_at(self.mbs_dirdyn_ptr.contents.buffers[0].contents.filename))
# Check if user vector output have been defined
user_output_vector_filenames = []
nb_user_output_vector = libutilities.get_output_vector_nb()
first_buffer_id = self.buffer_nb - nb_user_output_vector
for i in range(nb_user_output_vector):
vector_name = bytes_to_str(self.mbs_dirdyn_ptr.contents.buffers[first_buffer_id + i].contents.filename)
user_output_vector_filenames.append(os.path.basename(vector_name))
# Check if user auto output have been used
user_output_filenames = []
nbOutput = self.mbs_dirdyn_ptr.contents.user_buffer.contents.nx
for i in range(nbOutput):
name = bytes_to_str(self.mbs_dirdyn_ptr.contents.user_buffer.contents.names[i])
user_output_filenames.append(self.get_options("resfilename") + '_' + name + '.res')
# finish function is required to close the module and write the results to disk.
error2 = libmodules.mbs_invdyn_finish(self.mbs_invdyn_ptr, self.mbs.mbs_data_ptr)
if error2 >= 0 and error >= 0 and not results_loaded:
if error2 >= 0 and self.get_options("save2file") and not results_loaded:
mbs_msg("The beginning of the integration is not available in the buffer.\n"
"The complete results are loaded from files.\n")
filename = bytes_to_str(ctypes.string_at(self.mbs_invdyn_ptr.contents.buffers[0].contents.filename))
self.results.load_results_from_file(filename, module=6)
self.results.load_results_from_file(results_filename,
user_output=user_output_filenames,
user_vector=user_output_vector_filenames)
# Unassign user functions
if self.mbs.opt_load_c < 2:
......@@ -252,69 +276,6 @@ class MbsInvdyn(object):
return self.results
def _load_results(self):
"""
Load the results from the buffers.
If the beginning of the integration is not available in the buffers,
the complete results are loaded from files.
Returns
-------
bool
True if the results have been fully loaded from memory.
False if the results must be loaded from files.
"""
# c_mbs_invdyn_write_buffers(self.mbs_invdyn_ptr)
size1 = self.mbs_invdyn_ptr.contents.buffers[0].contents.index
if size1 == 0:
size1 = self.mbs_invdyn_ptr.contents.buffers[0].contents.size
size2 = self.mbs_invdyn_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_invdyn_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"):
self.results.q = []
self.results.t = []
return False
# get qd and qdd buffer
self.results.qd = np.copy(np.ctypeslib.as_array(self.mbs_invdyn_ptr.contents.buffers[1].contents.tx, (size1, size2)))
self.results.qdd = np.copy(np.ctypeslib.as_array(self.mbs_invdyn_ptr.contents.buffers[2].contents.tx, (size1, size2)))
size2 = self.mbs_invdyn_ptr.contents.buffers[3].contents.nx + 1
self.results.Qq = np.copy(np.ctypeslib.as_array(self.mbs_invdyn_ptr.contents.buffers[3].contents.tx, (size1, size2)))
if self.module_name == "MbsInvdyn":
size2 = self.mbs_invdyn_ptr.contents.buffers[4].contents.nx + 1
self.results.Qa = np.copy(np.ctypeslib.as_array(self.mbs_invdyn_ptr.contents.buffers[4].contents.tx, (size1, size2)))
buffer_id = 5
else:
buffer_id = 4
if self.mbs.Nlink:
size2 = self.mbs_invdyn_ptr.contents.buffers[buffer_id].contents.nx + 1
self.results.Z = np.copy(np.ctypeslib.as_array(self.mbs_invdyn_ptr.contents.buffers[buffer_id].contents.tx, (size1, size2)))
self.results.Zd = np.copy(np.ctypeslib.as_array(self.mbs_invdyn_ptr.contents.buffers[buffer_id + 1].contents.tx, (size1, size2)))
self.results.Fl = np.copy(np.ctypeslib.as_array(self.mbs_invdyn_ptr.contents.buffers[buffer_id + 2].contents.tx, (size1, size2)))
buffer_id = buffer_id + 3
if self.mbs.nqc:
size2 = self.mbs_invdyn_ptr.contents.buffers[buffer_id].contents.nx + 1
self.results.Qc = np.copy(np.ctypeslib.as_array(self.mbs_invdyn_ptr.contents.buffers[buffer_id].contents.tx, (size1, size2)))
buffer_id = buffer_id + 1
if self.mbs.nhu:
size2 = self.mbs_invdyn_ptr.contents.buffers[buffer_id].contents.nx + 1
self.results.Lambda = np.copy(np.ctypeslib.as_array(self.mbs_invdyn_ptr.contents.buffers[buffer_id].contents.tx, (size1, size2)))
if self.mbs_invdyn_ptr.contents.user_buffer.contents.nx:
size = self.mbs_invdyn_ptr.contents.user_buffer.contents.index
nbOutput = self.mbs_invdyn_ptr.contents.user_buffer.contents.nx
user_out = np.copy(np.ctypeslib.as_array(self.mbs_invdyn_ptr.contents.user_buffer.contents.X[0], (nbOutput, size)))
for i in range(nbOutput):
name = bytes_to_str(self.mbs_invdyn_ptr.contents.user_buffer.contents.names[i])
self.results.outputs[name] = user_out[i, :]
return True
def set_user_fct_from_file(self, function_name, user_path, user_file):
"""
Load a user function from a file chosen by the user instead of the default one in the userfctR folder.
......@@ -329,8 +290,6 @@ class MbsInvdyn(object):
path to the new user function file.
user_file : str
name of the new user function file.
"""
self.mbs.__set_user_fct_from_file__(function_name, user_path, user_file)
......@@ -346,7 +305,6 @@ class MbsInvdyn(object):
name of the user function to replace.
user_fct_ptr : ptr
new user function pointer.
"""
self.mbs.__set_user_fct_from_ptr__(function_name, user_fct_ptr)
......
MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_solvekin.py
View file @ 33e98f7f
......@@ -25,12 +25,13 @@ from ..mbs_utilities import str_to_bytes
from ..mbs_utilities import mbs_msg
# importing MbsysPy classes
from .mbs_dirdyn import MbsResult
from .mbs_results import MbsResult
from .mbs_invdyn import MbsInvdyn
# importing libraries
from .._mbsysc_loader.loadlibs import libmodules
from .._mbsysc_loader.loadlibs import libutilities
# =============================================================================
# Global parameter of the current module
......@@ -162,9 +163,9 @@ class MbsSolvekin(MbsInvdyn):
self.set_options(**kwargs)
error_2 = 0 # Default value
if not self.store_results:
error_1 = libmodules.mbs_run_solvekin(self.mbs_solvekin_ptr, self.mbs.mbs_data_ptr)
error_2 = 0 # Unused for this path
else:
# save2file forced to 1 because if buffers don't have the complete
# results, results are loaded from files.
......@@ -175,16 +176,38 @@ class MbsSolvekin(MbsInvdyn):
# Results (buffer) memory is kept BUT FILES WILL BE WRITTEN LATER
results_loaded = False