Commit 7c33a21f authored by Sebastien Timmermans's avatar Sebastien Timmermans 🎹
Browse files

[close_anim] verbose changed during close loops

parent 9aab65af
......@@ -108,6 +108,7 @@ int mbs_step_close_geo(MbsData *s, MbsAux *mbs_aux) {
}
int mbs_anim_close_geo(MbsData *mbs_data, MbsAux *mbs_aux) {
int err = 0;
mbs_msg("\t \t > Attempting to generate animation of the failed loop closing procedure.\n");
// Restoring qv
copy_dvec_1(mbs_aux->q_save, mbs_data->q);
......@@ -116,12 +117,21 @@ int mbs_anim_close_geo(MbsData *mbs_data, MbsAux *mbs_aux) {
mbs_solvekin = mbs_new_solvekin(mbs_data);
mbs_solvekin->options->motion = closeloop;
mbs_solvekin->options->framerate = 1;
mbs_solvekin->options->verbose = 0;
mbs_solvekin->options->resfilename = "Failed_loop_closing_procedure";
mbs_solvekin->mbs_aux->MAX_NR_ITER = mbs_aux->MAX_NR_ITER; // Retrieve max iteration from previous module
// Run the solvekin module
mbs_run_solvekin(mbs_solvekin, mbs_data);
err = mbs_run_solvekin(mbs_solvekin, mbs_data);
mbs_delete_solvekin(mbs_solvekin, mbs_data);
mbs_msg("\t \t > Loop closure procedure animated in file \"Failed_loop_closing_procedure_q.anim\".\n");
if (err < 0)
{
mbs_msg("\t > Loop closure procedure: Error during Solvekin module [%d]! \n", err);
return err;
}
else
{
mbs_msg("\t \t > Loop closure procedure saved in the animation file \"Failed_loop_closing_procedure_q.anim\".\n");
}
return 1;
}
......
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