[MBsysPy][MbsDirdyn] Add Oneshot behavior.

MBsysC/mbs_interface/MBsysPy/_mbsysc_loader/mbs_dirdyn_c.py

@@ -38,6 +38,7 @@ MbsDirdynOptions_c._fields_ = [
         ("buffersize", ctypes.c_int),
         ("realtime", ctypes.c_int),
         ("accelred", ctypes.c_int),
+        ("flag_oneshot", ctypes.c_int),
         ("flag_compute_Qc", ctypes.c_int),
         ("compute_all_uxd", ctypes.c_int),
         ("compute_Qc", ctypes.POINTER(ctypes.c_int)),
@@ -78,6 +79,11 @@ MbsDirdyn_c._fields_ = [
         ("user_buffer", ctypes.POINTER(MbsGrowingBuffer_c)),
         ("bufferNb", ctypes.c_int),
         ("savedArrays", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
-        ("SavePeriodCounter", ctypes.c_int)
-        # Pointer to integrator related functions are not exposed
-        ]
\ No newline at end of file
+        ("SavePeriodCounter", ctypes.c_int),
+        ("flag_ongoing_jac_computation", ctypes.c_int),
+        # Access to integrator related functions are not implemented
+        ("integrator_struct", ctypes.c_void_p),
+        ("initialize_integrator_ptr", ctypes.c_void_p),
+        ("loop_integrator_ptr", ctypes.c_void_p),
+        ("finish_integrator_ptr", ctypes.c_void_p),
+       ]

MBsysC/mbs_interface/MBsysPy/_mbsysc_loader/mbs_functions_c.py

 # -*- coding: utf-8 -*-
 """Set the arguments and return type of functions from MBsysC libraries."""
+# Author: Robotran Team
 # (c) Universite catholique de Louvain, 2019
 
 import ctypes
@@ -156,6 +157,11 @@ libmodules.mbs_dirdyn_init.restype = ctypes.c_int
 libmodules.mbs_dirdyn_loop.argtypes = [ctypes.POINTER(MbsDirdyn_c), ctypes.POINTER(MbsData_c)]
 libmodules.mbs_dirdyn_loop.restype = ctypes.c_int
 
+libmodules.mbs_fct_dirdyn.argtypes = [ctypes.c_float, ctypes.POINTER(ctypes.c_float),
+                                      ctypes.POINTER(ctypes.c_float),
+                                      ctypes.POINTER(MbsData_c), ctypes.POINTER(MbsDirdyn_c)]
+libmodules.mbs_fct_dirdyn.restype = ctypes.c_int
+
 libmodules.mbs_dirdyn_finish.argtypes = [ctypes.POINTER(MbsDirdyn_c), ctypes.POINTER(MbsData_c)]
 libmodules.mbs_dirdyn_finish.restype = None
 

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_dirdyn.py

@@ -220,7 +220,15 @@ class MbsDirdyn(object):
             self.set_options(save2file=1)
             error = libmodules.mbs_dirdyn_init(self.mbs_dirdyn_ptr, self.mbs.mbs_data_ptr)
             if (error >= 0):
-                error = libmodules.mbs_dirdyn_loop(self.mbs_dirdyn_ptr, self.mbs.mbs_data_ptr)
+                if not self.get_options('flag_oneshot'):
+                    error = libmodules.mbs_dirdyn_loop(self.mbs_dirdyn_ptr, self.mbs.mbs_data_ptr)
+                else:
+                    error = libmodules.mbs_fct_dirdyn(self.mbs_dirdyn_ptr.contents.tsim,
+                                                      self.mbs_dirdyn_ptr.contents.y,
+                                                      self.mbs_dirdyn_ptr.contents.yd,
+                                                      self.mbs_dirdyn_ptr,
+                                                      self.mbs.mbs_data_ptr
+                                                      )
 
             if (error >= 0 and self.get_options("save2file")):
                 # Results(buffer) memory is kept BUT FILES WILL BE WRITTEN LATER
@@ -381,7 +389,8 @@ class MbsDirdyn(object):
              - 0: results are not saved
             default is 1
         resfilename: str
-            The keyword used for determining the name of result files.
+            The keyword used for determining the name of result files. The default
+            value is set to 'oneshot' (instead of 'dirdyn') if 'flag_oneshot' is True.
             default is 'dirdyn'
         respath: str
             Path in which result file are saved. This is the full path or the
@@ -422,6 +431,11 @@ class MbsDirdyn(object):
         accelred: int
             1 to use accelred, 0 otherwise.
             default is 0
+        flag_oneshot: int
+            Set to 1 to compute the derivative function only once (no time integration).
+            Then default resfilename is set to 'oneshot'.
+            The time is the value found in the option t0 (used by user functions).
+            default is 0
         flag_compute_Qc: int
             If 1 it computes the forces/torques applied in each driven joints in
             order to follow the specified trajectory. Otherwhise the forces/torques
@@ -665,6 +679,7 @@ class MbsDirdyn(object):
                    'buffersize': {'convert': int, 'c_name': 'buffersize'},
                    'realtime': {'convert': int, 'c_name': 'realtime'},
                    'accelred': {'convert': int, 'c_name': 'accelred'},
+                   'flag_oneshot': {'convert': int, 'c_name': 'flag_oneshot'},
                    'flag_compute_Qc': {'convert': int, 'c_name': 'flag_compute_Qc'},
                    'compute_all_uxd': {'convert': int, 'c_name': 'compute_all_uxd'},
                    'compute_Qc': {'convert': 'list or numpy.ndarray', 'c_name': 'compute_Qc'},
@@ -746,7 +761,10 @@ class MbsDirdyn(object):
                 options.append(self.mbs_dirdyn_ptr.contents.options.contents.save2file)
             elif key == "resfilename":
                 address = self.mbs_dirdyn_ptr.contents.options.contents.resfilename
-                defaut = "dirdyn"
+                if self.get_options('flag_oneshot'):
+                    defaut = "oneshot"
+                else:
+                    defaut = "dirdyn"
                 options.append(str_from_c_pointer(address, defaut))
             elif key == "respath":
                 address = self.mbs_dirdyn_ptr.contents.options.contents.respath
@@ -772,6 +790,8 @@ class MbsDirdyn(object):
                 options.append(self.mbs_dirdyn_ptr.contents.options.contents.realtime)
             elif key == "accelred":
                 options.append(self.mbs_dirdyn_ptr.contents.options.contents.accelred)
+            elif key == "flag_oneshot":
+                options.append(self.mbs_dirdyn_ptr.contents.options.contents.flag_oneshot)
             elif key == "flag_compute_Qc":
                 options.append(self.mbs_dirdyn_ptr.contents.options.contents.flag_compute_Qc)
             elif key == "compute_all_uxd":