[Ctypes] Invdyn structure and python + Solvekin structure

MBsysC/mbs_interface/MBsysPy/mbsysc_loader/MbsSolvekin_c.py

+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+-------------------------------
+(c) Universite catholique de Louvain, 2019
+
+Creation : 2019 by LB
+Last update : 2019
+
+version MBsysC v1.11.2
+
+-------------------------------
+Portable Python interface to MBsysC using Ctypes.
+
+Define the class MbsSolvekin based on the MbsSolvekin structure of MBsysC.
+
+"""
+
+import ctypes
+
+from .forward_decl import MbsSolvekinOptions_c
+from .forward_decl import MbsSolvekin_c
+from .forward_decl import MbsBuffer_c
+from .forward_decl import MbsGrowingBuffer_c
+from .forward_decl import MbsAux_c
+from .forward_decl import MbsLutRes_c
+
+
+#==============================================================================
+# MbsSolvekin_c
+#==============================================================================
+
+
+MbsSolvekin_c._fields_ = [
+        ("options", ctypes.POINTER(MbsSolvekinOptions_c)),
+        ("mbs_aux", ctypes.POINTER(MbsAux_c)), 
+        ("tsim",    ctypes.c_double),
+        ("tindex",  ctypes.c_int),
+        ("buffers", ctypes.POINTER(ctypes.POINTER(MbsBuffer_c))),
+        ("user_buffer", ctypes.POINTER(MbsGrowingBuffer_c)),
+        ("bufferNb", ctypes.c_int),
+        ("savedArrays", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+        ("savePeriodCounter", ctypes.c_int),
+        ("trajectorytype", ctypes.c_int),
+        ("q",       ctypes.POINTER(MbsLutRes_c)),
+        ("qd",      ctypes.POINTER(MbsLutRes_c)),
+        ("qdd",     ctypes.POINTER(MbsLutRes_c))]
\ No newline at end of file

MBsysC/mbs_interface/MBsysPy/mbsysc_loader/__init__.py

@@ -26,3 +26,5 @@ from .mbs_equil_c import *
 from .mbs_modal_c import *
 from .mbs_sensor_c import *
 from .mbs_infos_c import *
+from .mbs_invdyn_c import *
+from .mbs_solvekin_c import *

MBsysC/mbs_interface/MBsysPy/mbsysc_loader/forward_decl.py

@@ -87,6 +87,14 @@ class MbsDirdyn_c(ctypes.Structure):
     pass
 class MbsDirdynOptions_c(ctypes.Structure):
     pass
+class MbsInvdyn_c(ctypes.Structure):
+    pass
+class MbsLutRes_c(ctypes.Structure):
+    pass
+class MbsSolvekinOptions_c(ctypes.Structure):
+    pass
+class MbsSolvekin_c(ctypes.Structure):
+    pass
 class MbsBuffer_c(ctypes.Structure):
     pass
 class MbsGrowingBuffer_c(ctypes.Structure):

MBsysC/mbs_interface/MBsysPy/mbsysc_loader/mbs_functions_c.py

@@ -30,6 +30,7 @@ from .forward_decl import MbsPart_c
 from .forward_decl import MbsDirdyn_c
 from .forward_decl import MbsEquil_c
 from .forward_decl import MbsModal_c
+from .forward_decl import MbsInvdyn_c
 
 
 
@@ -103,6 +104,7 @@ libmodules.mbs_run_part.restype  = None
 libmodules.mbs_delete_part.argtypes =[ctypes.POINTER(MbsPart_c)]
 libmodules.mbs_delete_part.restype  = None
 
+
 libmodules.mbs_new_dirdyn.argtypes =[ctypes.POINTER(MbsData_c)]
 libmodules.mbs_new_dirdyn.restype  = ctypes.POINTER(MbsDirdyn_c)
 
@@ -121,6 +123,7 @@ libmodules.mbs_dirdyn_finish.restype  = None
 libmodules.mbs_delete_dirdyn.argtypes =[ctypes.POINTER(MbsDirdyn_c), ctypes.POINTER(MbsData_c)]
 libmodules.mbs_delete_dirdyn.restype  = None
 
+
 libmodules.mbs_new_equil.argtypes =[ctypes.POINTER(MbsData_c)]
 libmodules.mbs_new_equil.restype  = ctypes.POINTER(MbsEquil_c)
 
@@ -130,5 +133,16 @@ libmodules.mbs_run_equil.restype  = None
 libmodules.mbs_delete_equil.argtypes =[ctypes.POINTER(MbsEquil_c), ctypes.POINTER(MbsData_c)]
 libmodules.mbs_delete_equil.restype  = None
 
+
 libmodules.mbs_new_modal.argtypes =[ctypes.POINTER(MbsData_c)]
-libmodules.mbs_new_modal.restype  = ctypes.POINTER(MbsModal_c)
\ No newline at end of file
+libmodules.mbs_new_modal.restype  = ctypes.POINTER(MbsModal_c)
+
+
+libmodules.mbs_new_invdyn.argtypes =[ctypes.POINTER(MbsData_c)]
+libmodules.mbs_new_invdyn.restype  = ctypes.POINTER(MbsInvdyn_c)
+
+libmodules.mbs_run_invdyn.argtypes =[ctypes.POINTER(MbsInvdyn_c), ctypes.POINTER(MbsData_c)]
+libmodules.mbs_run_invdyn.restype  = None
+
+libmodules.mbs_delete_invdyn.argtypes =[ctypes.POINTER(MbsInvdyn_c), ctypes.POINTER(MbsData_c)]
+libmodules.mbs_delete_invdyn.restype  = None
\ No newline at end of file

MBsysC/mbs_interface/MBsysPy/mbsysc_loader/mbs_invdyn_c.py

+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+-------------------------------
+(c) Universite catholique de Louvain, 2019
+
+Creation : 2019 by LB
+Last update : 2019
+
+version MBsysC v1.11.2
+
+-------------------------------
+Portable Python interface to MBsysC using Ctypes.
+
+Define the class MbsInvdyn based on the MbsInvdyn structure of MBsysC.
+
+"""
+
+import ctypes
+
+from .forward_decl import MbsInvdyn_c
+from .forward_decl import MbsSolvekinOptions_c
+from .forward_decl import MbsLutRes_c
+from .forward_decl import MbsBuffer_c
+from .forward_decl import MbsGrowingBuffer_c
+from .forward_decl import MbsAux_c
+
+
+#==============================================================================
+# MbsInvdyn_c
+#==============================================================================
+
+# copy of Solvekin
+MbsInvdyn_c._fields_ = [
+        ("options", ctypes.POINTER(MbsSolvekinOptions_c)),
+        ("mbs_aux", ctypes.POINTER(MbsAux_c)), 
+        ("tsim",    ctypes.c_double),
+        ("tindex",  ctypes.c_int),
+        ("buffers", ctypes.POINTER(ctypes.POINTER(MbsBuffer_c))),
+        ("user_buffer", ctypes.POINTER(MbsGrowingBuffer_c)),
+        ("bufferNb", ctypes.c_int),
+        ("savedArrays", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+        ("savePeriodCounter", ctypes.c_int),
+        ("trajectorytype", ctypes.c_int),
+        ("q",       ctypes.POINTER(MbsLutRes_c)),
+        ("qd",      ctypes.POINTER(MbsLutRes_c)),
+        ("qdd",     ctypes.POINTER(MbsLutRes_c))]
\ No newline at end of file

MBsysC/mbs_interface/MBsysPy/mbsysc_loader/mbs_solvekin_c.py

+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+-------------------------------
+(c) Universite catholique de Louvain, 2019
+
+Creation : 2019 by LB
+Last update : 2019
+
+version MBsysC v1.11.2
+
+-------------------------------
+Portable Python interface to MBsysC using Ctypes.
+
+Define the class MbsSolvekin based on the MbsSolvekin structure of MBsysC.
+
+"""
+
+import ctypes
+
+from .forward_decl import MbsSolvekinOptions_c
+from .forward_decl import MbsSolvekin_c
+from .forward_decl import MbsBuffer_c
+from .forward_decl import MbsGrowingBuffer_c
+from .forward_decl import MbsAux_c
+from .forward_decl import MbsLutRes_c
+
+
+#==============================================================================
+# MbsSolvekin_c
+#==============================================================================
+
+
+MbsSolvekin_c._fields_ = [
+        ("options", ctypes.POINTER(MbsSolvekinOptions_c)),
+        ("mbs_aux", ctypes.POINTER(MbsAux_c)), 
+        ("tsim",    ctypes.c_double),
+        ("tindex",  ctypes.c_int),
+        ("buffers", ctypes.POINTER(ctypes.POINTER(MbsBuffer_c))),
+        ("user_buffer", ctypes.POINTER(MbsGrowingBuffer_c)),
+        ("bufferNb", ctypes.c_int),
+        ("savedArrays", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+        ("savePeriodCounter", ctypes.c_int),
+        ("trajectorytype", ctypes.c_int),
+        ("q",       ctypes.POINTER(MbsLutRes_c)),
+        ("qd",      ctypes.POINTER(MbsLutRes_c)),
+        ("qdd",     ctypes.POINTER(MbsLutRes_c))]
+
+
+#==============================================================================
+# MbsSolvekinOptions_c
+#==============================================================================
+
+
+MbsSolvekinOptions_c._fields_ = [
+        ("motion",      ctypes.c_int),
+        ("trajectoryqname", ctypes.c_char_p),
+        ("trajectoryqdname", ctypes.c_char_p),
+        ("trajectoryqddname", ctypes.c_char_p),
+        ("t0",          ctypes.c_double),
+        ("tf",          ctypes.c_double),
+        ("dt",          ctypes.c_double),
+        ("save2file",   ctypes.c_int),
+        ("resfilename", ctypes.c_char_p),		
+        ("respath",     ctypes.c_char_p),	
+        ("animpath",    ctypes.c_char_p),
+        ("save_anim",   ctypes.c_int),
+        ("framerate",   ctypes.c_int),
+        ("saveperiod",  ctypes.c_int),
+        ("max_save_user", ctypes.c_int),
+        ("buffersize",  ctypes.c_int),
+        ("verbose",     ctypes.c_int)]
\ No newline at end of file

MBsysC/mbs_interface/MBsysPy/mbsyspy/__init__.py

@@ -17,5 +17,6 @@ from .mbs_sensor import *
 from .mbs_data import *
 from .mbs_part import *
 from .mbs_dirdyn import *
+from .mbs_invdyn import *
 from .mbs_equil import *
 from .mbs_modal import *

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_data.py

@@ -866,6 +866,28 @@ class MbsData(object):
         else:
             libutilities.mbs_set_qv(self.mbs_data_ptr, indices)
             
+    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)
+        
     def __del__(self):
         
         libloadXML.mbs_delete_infos(self.mbs_infos_ptr)