Commit c78ebeda authored by Olivier Lantsoght's avatar Olivier Lantsoght 🏁
Browse files

Merge branch 'Issue253_Doc_Typos' into 'dev'

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

Closes #253

See merge request robotran/mbsysc!395
parents e84ad708 4566ed17
...@@ -477,8 +477,7 @@ class MbsEquil(object): ...@@ -477,8 +477,7 @@ class MbsEquil(object):
return return
def _compute_exchange(self): def _compute_exchange(self):
""" """Set exchanged variables in the memory of the external library.
Set exchanged variables in the memory of the external library.
This function is automatically called when 'MbsEquil::run()' is called. This function is automatically called when 'MbsEquil::run()' is called.
""" """
...@@ -493,10 +492,9 @@ class MbsEquil(object): ...@@ -493,10 +492,9 @@ class MbsEquil(object):
") different from the length of the exchange list(" + str(len(self.exchange_list)) + ")") ") different from the length of the exchange list(" + str(len(self.exchange_list)) + ")")
def _compute_extra_variable(self): def _compute_extra_variable(self):
""" """Set extra variables in the memory of the external library.
Set extra variables in the memory of the external library.
This function is automatically called when 'MbsEquil::run()' is called This function is automatically called when 'MbsEquil::run()' is called.
""" """
if self.get_options("nxe") == 0 and len(self.addition_list) > 0: if self.get_options("nxe") == 0 and len(self.addition_list) > 0:
self.mbs_equil_ptr.contents.options.contents.nxe = len(self.addition_list) self.mbs_equil_ptr.contents.options.contents.nxe = len(self.addition_list)
...@@ -508,24 +506,25 @@ class MbsEquil(object): ...@@ -508,24 +506,25 @@ class MbsEquil(object):
mbs_msg(">>EQUIL>> extra variable: nxe(" + str(self.get_options("nxe")) + mbs_msg(">>EQUIL>> extra variable: nxe(" + str(self.get_options("nxe")) +
") different from the length of the extra variable list(" + str(len(self.addition_list)) + ")") ") different from the length of the extra variable list(" + str(len(self.addition_list)) + ")")
def replace_exchange(self, ptr, index, id_exchanged, ptr_name="??"): def replace_exchange(self, ptr, index, id_exchanged, ptr_name=None):
""" """Replace an existing exchanged variable with another one.
Replace an existing exchanged variable with another one.
This function can be called between two 'MbsEquil::run()' as it This function can be called between two 'MbsEquil::run()' as it does not
does not change the number of equilibrium variables change the number of equilibrium variables.
Parameters Parameters
---------- ----------
ptr: ndarray ptr: ndarray
Array containing the variable to be exchanged Array containing the variable to be exchanged.
index: int index: int
Index in ptr of the variable to be exchanged Index in 'ptr' of the variable to be exchanged.
id_exchanged: int id_exchanged: int
Index in the list of exchanged variable of the variable to be Index in the list of exchanged variable of the variable to be
replaced replaced.
ptr_name: str, optionnal ptr_name: str, optionnal
Name of the variable to be exchanged Name of the variable to be exchanged. If set to None the existing
name is kept.
The default is None.
""" """
if ptr.ctypes.data == self.mbs.q.ctypes.data: if ptr.ctypes.data == self.mbs.q.ctypes.data:
mbs_msg(">>EQUIL>> variable exchange: Warning generalized coordinates" mbs_msg(">>EQUIL>> variable exchange: Warning generalized coordinates"
...@@ -535,23 +534,27 @@ class MbsEquil(object): ...@@ -535,23 +534,27 @@ class MbsEquil(object):
mbs_msg(">>EQUIL>> variable exchange: There is no exchange variable at this index:" + str(id_exchanged)) mbs_msg(">>EQUIL>> variable exchange: There is no exchange variable at this index:" + str(id_exchanged))
else: else:
self.exchange_list[id_exchanged - 1][0] = ptr.ctypes.data + ctypes.sizeof(ctypes.c_double) * index self.exchange_list[id_exchanged - 1][0] = ptr.ctypes.data + ctypes.sizeof(ctypes.c_double) * index
if ptr_name:
self.exchange_list[id_exchanged - 1][2] = ptr_name self.exchange_list[id_exchanged - 1][2] = ptr_name
def replace_extra_variable(self, ptr, index, id_extra, ptr_name="??"): def replace_extra_variable(self, ptr, index, id_extra, ptr_name=None):
""" """Replace an existing extra variable with another one.
Replace an existing extra variable with another one.
This function can be called between two 'MbsEquil::run()' as it does not This function can be called between two 'MbsEquil::run()' as it does not
change the number of equilibrium variables change the number of equilibrium variables.
Parameters Parameters
---------- ----------
ptr: ndarray ptr: ndarray
Array containing the extra variable Array containing the extra variable to be exchanged.
index: int index: int
Index in ptr of the extra variable Index in 'ptr' of the extra variable to be exchanged.
id_exchanged: int id_extra: int
Index in the list of extra variable of the variable to be replaced Index in the list of extra variable of the variable to be replaced.
ptr_name: str, optionnal
Name of the variable to be exchanged. If set to None the existing
name is kept.
The default is None.
""" """
if ptr.ctypes.data == self.mbs.q.ctypes.data: if ptr.ctypes.data == self.mbs.q.ctypes.data:
mbs_msg(">>EQUIL>> extra exchange: Warning generalized coordinates" mbs_msg(">>EQUIL>> extra exchange: Warning generalized coordinates"
...@@ -561,23 +564,25 @@ class MbsEquil(object): ...@@ -561,23 +564,25 @@ class MbsEquil(object):
mbs_msg(">>EQUIL>> extra exchange: There is no extra variable at this index:" + str(id_extra)) mbs_msg(">>EQUIL>> extra exchange: There is no extra variable at this index:" + str(id_extra))
else: else:
self.addition_list[id_extra - 1][0] = ptr.ctypes.data + ctypes.sizeof(ctypes.c_double) * index self.addition_list[id_extra - 1][0] = ptr.ctypes.data + ctypes.sizeof(ctypes.c_double) * index
if ptr_name:
self.addition_list[id_extra - 1][1] = ptr_name self.addition_list[id_extra - 1][1] = ptr_name
def replace_extra_variable_um(self, user_model, param, id_extra): def replace_extra_variable_um(self, user_model, param, id_extra):
""" """Replace an existing extra variable with a user model.
Replace an existing extra variable with a user model.
This function can be called between two 'MbsEquil::run()' as it does not This function can be called between two 'MbsEquil::run()' as it does not
change the number of equilibrium variables change the number of equilibrium variables.
The name of the extra equilibrium variable is replaceb by 'user_model.param'.
Parameters Parameters
---------- ----------
user_model: str user_model: str
Name of the user model to add to the equilibrium variables Name of the user model containing the parameter to be exchanged.
param: str param: str
Parameter of the user model to add to the equilibrium variables Parameter of the user model to be exchanged.
id_exchanged: int id_extra: int
Index in the list of extra variable of the variable to be replaced 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: if self.mbs.user_model[user_model]._type[param] != 1 and self.mbs.user_model[user_model]._type[param] != 7:
mbs_msg(">>EQUIL>> extra exchange: This function does not handle this" mbs_msg(">>EQUIL>> extra exchange: This function does not handle this"
...@@ -590,20 +595,21 @@ class MbsEquil(object): ...@@ -590,20 +595,21 @@ class MbsEquil(object):
self.addition_list[id_extra - 1][1] = user_model + "." + param self.addition_list[id_extra - 1][1] = user_model + "." + param
def replace_exchange_um(self, user_model, param, id_exchanged): def replace_exchange_um(self, user_model, param, id_exchanged):
""" """Replace an existing exchanged variable with a user model.
Replace an existing exchanged variable with a user model.
This function can be called between two 'MbsEquil::run()' as it does not This function can be called between two 'MbsEquil::run()' as it does not
change the number of equilibrium variables. change the number of equilibrium variables.
The name of the exchanged equilibrium variable is replaceb by 'user_model.param'.
Parameters Parameters
---------- ----------
user_model: str user_model: str
Name of the user model to be exchanged Name of the user model containing the parameter to be exchanged.
param: str param: str
Parameter of the user model to be exchanged Parameter of the user model to be exchanged.
id_exchanged: int id_exchanged: int
Index in the list of exchanged variable of the variable to be replaced Index in the list of exchanged 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: if self.mbs.user_model[user_model]._type[param] != 1 and self.mbs.user_model[user_model]._type[param] != 7:
mbs_msg(">>EQUIL>> variable exchange: This function does not handle " mbs_msg(">>EQUIL>> variable exchange: This function does not handle "
......
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