[Ctypes] replace extra equil variable

ExampleProjects/TutorialProjects/analysisModules/equilibrium_CI/workR/main_MBsysPy.py

@@ -107,7 +107,8 @@ mbs_equil.print_equil()
 mbs_data.mbs_reset_data()
 mbs_data.set_qa(mbs_data.joint_id["R2_pendulum"])
 mbs_equil = Robotran.MbsEquil(mbs_data)
-mbs_equil.add_extra_variable(mbs_data.Qa,mbs_data.joint_id["R2_pendulum"])
+mbs_equil.add_extra_variable_um("mylink","L0")
+mbs_equil.replace_extra_variable(mbs_data.Qa,mbs_data.joint_id["R2_pendulum"],1)
 mbs_equil.set_options(senstol = 1e-6, compute_uxd = 0, resfilename = "equil6")
 mbs_equil.set_options(grad_lpk = 1)
 mbs_equil.run()

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_equil.py

@@ -47,7 +47,7 @@ from ..mbsysc_loader.callback import mbs_invdyna_wrap
 #==============================================================================
 # Global parameter of the current module
 #==============================================================================
-__DEBUG__ = True
+__DEBUG__ = False
 __MODULE_DIR__ = os.path.dirname(os.path.abspath(__file__))
 
 
@@ -447,9 +447,9 @@ class MbsEquil(object):
             ----------
             
             ptr : ndarray
-                Array containing the extra variable
+                Array containing the extra variable to add to the equilibrium variables
             index : int
-                Index in ptr of the extra variable
+                Index in ptr of the extra variable to add to the equilibrium variables
             
         """
         if self.get_options("nxe"):
@@ -459,7 +459,7 @@ class MbsEquil(object):
             return
         address = ptr.ctypes.data + ctypes.sizeof(ctypes.c_double)*index
         if ptr.ctypes.data == self.mbs.q.ctypes.data:
-            print(">>EQUIL>> variable exchange : Warning ! Generalized coordinates have to be used with caution as exchange variables")
+            print(">>EQUIL>> extra exchange : Warning ! Generalized coordinates have to be used with caution as extra variables")
         
         if len(self.addition_list) == 0:
             self.addition_list = [address]
@@ -484,9 +484,9 @@ class MbsEquil(object):
             ----------
             
             user_model : str
-                Name of the user model to be added
+                Name of the user model to add to the equilibrium variables
             param : str
-                Parameter of the user model to be added
+                Parameter of the user model to add to the equilibrium variables
             
         """
         if self.get_options("nxe"):
@@ -596,8 +596,63 @@ class MbsEquil(object):
             print(">>EQUIL>> variable exchange : There is no exchange variable at this index :" + str(id_exchanged))
         else:
             self.exchange_list[id_exchanged-1][0] = ptr.ctypes.data + ctypes.sizeof(ctypes.c_double)*index
+            
+    def replace_extra_variable(self, ptr, index, id_extra):
+        """ Replace an existing extra variable with another one
+        
+            This function can be called between two 'MbsEquil::run()' as it
+            does not change the number of equilibrium variables
+            
+            
+            Parameters
+            ----------
+            
+            ptr : ndarray
+                Array containing the extra variable
+            index : int
+                Index in ptr of the extra variable
+            id_exchanged : int
+                Index in the list of extra variable of the variable to be 
+                replaced
+            
+        """
+        if ptr.ctypes.data == self.mbs.q.ctypes.data:
+            print(">>EQUIL>> extra exchange : Warning   generalized coordinates have to be used with caution as extra variables")
+        
+        if id_extra > len(self.addition_list) or id_extra <=0 :
+            print(">>EQUIL>> extra exchange : There is no extra variable at this index :" + str(id_extra))
+        else:
+            self.addition_list[id_extra-1] = ptr.ctypes.data + ctypes.sizeof(ctypes.c_double)*index
        
         
+    def replace_extra_variable_um(self, user_model, param, id_extra):
+        """ Replace an existing extra variable with a user model
+        
+            This function can be called between two 'MbsEquil::run()' as it
+            does not change the number of equilibrium variables
+            
+            
+            Parameters
+            ----------
+            
+            user_model : str
+                Name of the user model to add to the equilibrium variables
+            param : str
+                Parameter of the user model to add to the equilibrium variables
+            id_exchanged : int
+                Index in the list of extra variable of the variable to be 
+                replaced
+            
+        """
+        if self.mbs.user_model[user_model]._type[param] != 1 and self.mbs.user_model[user_model]._type[param] != 7:
+            print(">>EQUIL>> extra exchange : This function does not handle this type of user model (only float and int)")
+            return
+        if id_extra > len(self.addition_list) or id_extra <=0 :
+            print(">>EQUIL>> extra exchange : There is no extra variable at this index :" + str(id_extra))
+        else:
+            self.addition_list[id_extra-1][0] = self.mbs.user_model[user_model].__getarray__(param)[0].ctypes.data     
+    
+    
     def replace_exchange_um(self, user_model, param, id_exchanged):
         """ Replace an existing exchanged variable with a user model
         
@@ -778,12 +833,6 @@ class MbsEquil(object):
                 self.mbs_equil_ptr.contents.options.contents.visualize = value
             elif key == "clearmbsglobal":
                 self.mbs_equil_ptr.contents.options.contents.clearmbsglobal = value
-            elif key == "nxe":
-                print(">>EQUIL>>  Option " + key + " not yet implemented in python")
-            elif key == "xe_ptr":
-                print(">>EQUIL>>  Option " + key + " not yet implemented in python")
-            elif key == "xe_index":
-                print(">>EQUIL>>  Option " + key + " not yet implemented in python")
             elif key == "save_anim":
                 self.mbs_equil_ptr.contents.options.contents.save_anim = value
             elif key == "framerate":
@@ -868,10 +917,6 @@ class MbsEquil(object):
                 options.append(self.mbs_equil_ptr.contents.options.contents.nquch)
             elif key == "nxe":
                 options.append(self.mbs_equil_ptr.contents.options.contents.nxe)
-            elif key == "xe_ptr":
-                print(">>EQUIL>>  Option " + key + " not yet implemented in python")
-            elif key == "xe_index":
-                print(">>EQUIL>>  Option " + key + " not yet implemented in python")
             elif key == "save_anim":
                 options.append(self.mbs_equil_ptr.contents.options.contents.save_anim)
             elif key == "framerate":