Merge branch 'Issue253_Doc_Typos' into 'dev'

[MBsysPy][Equil][Doc] Some fix related to #253

See merge request robotran/mbsysc!398

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_equil.py

@@ -300,9 +300,8 @@ class MbsEquil(object):
         """
         self.mbs.__set_user_fct_from_ptr__(function_name, user_fct_ptr)
 
-    def add_exchange(self, ptr, index, replaced_var_id, ptr_name="??"):
-        """
-        Add a new equilibrium variable that replaces the specified one.
+    def add_exchange(self, ptr, index, exchange_var_id, ptr_name=None):
+        """Add a new equilibrium variable that will replace the specified one.
 
         Exchanged variables are stored and will be set in the memory of the
         external library when 'MbsEquil::run()' is called. Between two run()
@@ -314,31 +313,40 @@ class MbsEquil(object):
         Parameters
         ----------
         ptr: ndarray
-            Array containing the variable to be exchanged
+            Array containing the new equilibrium variable to be used.
         index: int
-            Index in ptr of the variable to be exchanged
-        replaced_var_id: int
-            Index of the default variable that will be replaced
-        ptr_name: str
-           (optionnal) Name of the variable to be exchanged
+            Index in 'ptr' of the new equilibrium variable to be used.
+        exchange_var_id: int
+            Index of the default equilibrium variable that will be replaced by
+            'ptr[index]'.
+        ptr_name: str, optionnal
+           Name of the variable to be exchanged.
+           If not set a generic name will be assigned.
         """
         if self.get_options("nquch"):
-            mbs_msg("As the number of equilibrium variables is locked in the external memory after the first call of run(), this function can not be called between two run()")
+            mbs_msg("As the number of equilibrium variables is locked in the external "
+                    "memory after the first call of run(), this function can not "
+                    "be called between two run()")
         if index > np.size(ptr) - 1:
             mbs_msg(">>EQUIL>> variable exchange: Index out of bound")
             return
         address = ptr.ctypes.data + ctypes.sizeof(ctypes.c_double) * index
         if ptr.ctypes.data == self.mbs.q.ctypes.data:
-            mbs_msg(">>EQUIL>> variable exchange: Warning ! Generalized coordinates have to be used with caution as exchange variables")
+            mbs_msg(">>EQUIL>> variable exchange: Warning ! Generalized coordinates "
+                    "have to be used with caution as exchange variables")
+
+        if not ptr_name:
+            ptr_name = "exchange_{:d}".format(len(self.exchange_list) + 1)
 
         if len(self.exchange_list) == 0:
-            self.exchange_list = [[address, replaced_var_id, ptr_name]]
+            if not ptr_name:
+            self.exchange_list = [[address, exchange_var_id, ptr_name]]
         else:
             for element in self.exchange_list:
                 if element[0] == address:
                     mbs_msg(">>EQUIL>> variable exchange: Exchange variable is already an equilibrium variable")
                 else:
-                    self.exchange_list.append([address, replaced_var_id, ptr_name])
+                    self.exchange_list.append([address, exchange_var_id, ptr_name])
                     return
 
     def add_extra_variable(self, ptr, index, ptr_name=None):