[Ctypes] doc

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_data.py

@@ -243,6 +243,33 @@ class MbsData(object):
     Zd : ndarray
         Numpy array containing the current values of the speed (spreading) 
         between of the points of a link.
+        
+    
+    Example
+    -------
+        
+    >>> mbs_data = robotran.MbsData("../dataR/UExampleProject.mbs")
+    >>> mbs_data.user_model["MyUserModel"]["MyScalar"] = 3.0
+    >>> print(mbs_data.user_model["MyUserModel"]["MyScalar"])
+        3.0    
+    >>> #get a copy of the scalar
+    >>> a = mbs_data.user_model["MyUserModel"]["MyScalar"]
+    >>> a = 2
+    >>> print(mbs_data.user_model["MyUserModel"]["MyScalar"])
+        3.0
+    >>> print(mbs_data.user_model["MyUserModel"]["MyVector"])
+        array([1.0, 3.0])
+    >>> mbs_data.user_model["MyUserModel"]["MyVector"] = [1.0, 2.0]
+    >>> print(mbs_data.user_model["MyUserModel"]["MyVector"])
+        array([1.0, 2.0])
+    >>> b = mbs_data.user_model["MyUserModel"]["MyVector"]
+    >>> b[1] = 10.0
+    >>> print(mbs_data.user_model["MyUserModel"]["MyVector"])
+        array([1.0, 10.0])
+    >>> b = np.array([2.0, 4.0])
+    >>> print(mbs_data.user_model["MyUserModel"]["MyVector"])
+        array([1.0, 10.0])
+    
     """
     
     def __init__(self, name, user_path=None, symbolic_path=None):
@@ -390,7 +417,7 @@ class MbsData(object):
         self.__generate_id__()
         
         #UserModel
-        self.user_model = _StrictDict()
+        self.user_model = _UserModelDict()
         self.__load_user_model__()
         
         
@@ -412,11 +439,14 @@ class MbsData(object):
     
     def __load_user_fct__(self, user_path=None):
         """ 
-            Load all user function where arguments are in MbsData instance.
+            Load all user functions where arguments are in MbsData instance.
             
             Only load the user functions in which the arguments are not 
             dependent of another module instance (ie. MbsPart, MbsDirdyn...).
-            The other user function will be loaded when a module is created.
+            The other user functions will be loaded when a module is created.
+            The functions will be assigned to the MbsData instance when 
+            the 'run' function in other modules is called and unassigned 
+            at the end.
             
             The loader user functions are :
              - user_derivatives (from derivatives.py)
@@ -499,12 +529,15 @@ class MbsData(object):
     
     def __load_symb_fct__(self, symb_path=None):
         """ 
-            Load all symbolic function if all args are in MbsData instance.
+            Load all symbolic functions if all args are in MbsData instance.
             
             Only load the symbolic functions in which the arguments are not 
             dependent of another module instance (ie. MbsPart, MbsDirdyn...).
-            The other symbolic function will be loaded when a module is 
+            The other symbolic functions will be loaded when a module is 
             instancied.
+            The functions will be assigned to the MbsData instance when 
+            the 'run' function in other modules is called and unassigned 
+            at the end.
             
             The loader symbolic functions are :
              - mbs_accelred (from mbs_accelred_MBSNAME.py)
@@ -594,15 +627,14 @@ class MbsData(object):
         
     def __assign_user_fct__(self):
         """ 
-            Assign all user function where arguments are in MbsData instance.
-            
-            Only assign the user functions in which the arguments are not 
-            dependent of another module instance (ie. MbsPart, MbsDirdyn...).
-            The other user function will be assigned when a module is created.
+            Assign all user functions if all args are in MbsData instance.
             
-            The functions will be assigned to the MbsData instance when 
-            the 'run' function in other modules is called and unassigned 
-            at the end.
+            Assign and wrap python user functions in which the arguments are 
+            not dependent of another module instance (ie. MbsPart, MbsDirdyn...).
+            Store the functions in the MbsData instance and assign the pointer 
+            of functions in the C structure. 
+            The other user functions will be assigned when a module is
+            instancied.
         """
         data_c_ptr=self.mbs_data_ptr.contents
 
@@ -635,22 +667,15 @@ class MbsData(object):
     
     def __assign_symb_fct__(self):
         """ 
-            Assign all symbolic function if all args are in MbsData instance.
+            Assign all symbolic functions if all args are in MbsData instance.
             
-            Only assign the symbolic functions in which the arguments are not 
-            dependent of another module instance (ie. MbsPart, MbsDirdyn...).
-            The other symbolic function will be assigned when a module is 
+            Assign and wrap python symbolic functions in which the arguments are 
+            not dependent of another module instance (ie. MbsPart, MbsDirdyn...).
+            Store the functions in the MbsData instance and assign the pointer 
+            of functions in the C structure. 
+            The other user functions will be assigned when a module is
             instancied.
             
-            Assign and wrap python user functions in which the arguments are not 
-            dependent of another module instance (ie. MbsPart, MbsDirdyn...).
-            Store the functions in the MbsData instance 
-            and assign the pointer of functions in the C structure
-            
-            The functions will be assigned to the MbsData instance when 
-            the 'run' function in other modules is called and unassigned 
-            at the end.
-            
         """
         data_c_ptr=self.mbs_data_ptr.contents
             
@@ -780,7 +805,7 @@ class MbsData(object):
         for i in range(infos_c_ptr.user_models.contents.n_user_model):
             user_model_list = infos_c_ptr.user_models.contents.user_model_list[i].contents
             name = user_model_list.name.decode('utf-8')
-            self.user_model[name] = _StrictDict()
+            self.user_model[name] = _UserModelDict()
             self.user_model[name]._parent_key = name
             self.user_model[name]._locked = False
             self.user_model[name]._type = dict()
@@ -1205,18 +1230,27 @@ class MbsData(object):
         return ctypes.string_at(self.mbs_data_ptr.contents.mbs_name).decode("utf-8")
     
     
-class _StrictDict(dict):
+class _UserModelDict(dict):
+    """
+        Class defined for user models, inherites from dict
+        
+        
+        setitem and getitem function were updated
+    """
         
     def __init__(self, *args, **kwargs):
         dict.__init__(self, *args, **kwargs)
         self._locked = True 
+        "flag that locks the addition of a new item"
         self._parent_key = None
-        self._type = None 
+        "key of the parent dict, None if not"
+        self._type = None
+        "type of the parameter, None if not"
         
     def __setitem__(self, key, value):
             
         if self._locked == True:
-            
+            # if it is a parameter
             if not (self._type is None):
                 if self._type[key] == 1:
                     if type(value) is float:

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_dirdyn.py

@@ -47,7 +47,7 @@ from ..mbsysc_loader.callback import mbs_dirdyna_wrap
 #==============================================================================
 # Global parameter of the current module
 #==============================================================================
-__DEBUG__ = False
+__DEBUG__ = True
 __MODULE_DIR__ = os.path.dirname(os.path.abspath(__file__))
 
 
@@ -130,7 +130,7 @@ class MbsDirdyn(object):
         
         # Storing Results
         self.results = MbsResult(self.mbs)
-        self.get_results = True
+        self.store_results = True
         
         # Exposing some memory
         if __DEBUG__ : print( "DEBUG>>  Exposing MbsDirdyn fields")
@@ -277,7 +277,9 @@ class MbsDirdyn(object):
     
     def __assign_user_fct__(self):
         """ 
-            Assign user function where some args depend on MbsDirdyn module.
+            Assign and wrap python user function where some args depend 
+            on MbsDirdyn module. Store the functions in the MbsData instance 
+            and assign the pointer of functions in the C structure
         """
         # cons_hJ
         self.ptrs_to_user_fcts["user_cons_hJ"] = user_cons_hJ_wrap(lambda h,Jac,mbs,tsim : self.user_cons_hJ(self._huserc, self._Juserc, self.mbs, tsim))
@@ -303,7 +305,9 @@ class MbsDirdyn(object):
         
     def __assign_symbolic_fct__(self):
         """ 
-            Assign symbolic function where some args depend on MbsDirdyn module.
+            Assign and wrap python symbolic function where some args depend 
+            on MbsDirdyn module. Store the functions in the MbsData instance 
+            and assign the pointer of functions in the C structure
         """
         
         # mbs_cons_hJ
@@ -377,7 +381,24 @@ class MbsDirdyn(object):
         if __DEBUG__ : print("DEBUG>>  MbsDirdyn pointer deleted")
         
     def run(self):
-       
+        """
+            Run a direct dynamics analysis
+            
+            Options can be setted with set_options 
+            Options can be retrieved with get_options
+            
+            Results are stored in the field results (if store_results == True)
+            
+            Examples
+            --------
+            >>> mbs_data = robotran.MbsData("../dataR/ExampleProject.mbs")
+            >>> mbs_dirdyn = robotran.MbsDirdyn(mbs_data)
+            >>> mbs_dirdyn.set_options(t0 = 5, tf = 10)
+            >>> mbs_dirdyn.get_options("t0", "tf")
+                (5.0, 10.0)
+            >>> mbs_dirdyn.run()
+        
+        """
         # Assing required user functions
         self.__assign_user_fct__()
         self.mbs.__assign_user_fct__()
@@ -387,7 +408,7 @@ class MbsDirdyn(object):
         self.mbs.__assign_symb_fct__()
         
         
-        if not self.get_results:   
+        if not self.store_results:   
             libmodules.mbs_run_dirdyn(self.mbs_dirdyn_ptr, self.mbs.mbs_data_ptr)
         else:
             #save2file forced to 1 because if buffers don't have the complete results, results are loaded from files
@@ -560,7 +581,7 @@ class MbsDirdyn(object):
         n_freeze : int 
             number of time step when the jacobian is freezed (computed once at the start of the n_freeze time steps)
             default = 0
-        get_results : boolean
+        store_results : boolean
             1 to save a copy of the results from the buffers
             default = 1
             
@@ -658,8 +679,8 @@ class MbsDirdyn(object):
                 self.mbs_dirdyn_ptr.contents.options.contents.dt_max = value
             elif key == "n_freeze":
                 self.mbs_dirdyn_ptr.contents.options.contents.n_freeze = value
-            elif key == "get_results":
-                self.get_results = value
+            elif key == "store_results":
+                self.store_results = value
             else:
                 print(">>DIRDYN>> The option "+key+ " is not defined in this module")
                 
@@ -760,8 +781,8 @@ class MbsDirdyn(object):
                 options.append(self.mbs_dirdyn_ptr.contents.options.contents.dt_max)
             elif key == "n_freeze":
                 options.append(self.mbs_dirdyn_ptr.contents.options.contents.n_freeze)
-            elif key == "get_results":
-                options.append(self.get_results)
+            elif key == "store_results":
+                options.append(self.store_results)
             else:
                 print(">>DIRDYN>> The option "+key+ " is not defined in this module")
                 

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_part.py

@@ -173,7 +173,9 @@ class MbsPart(object):
     
     def __assign_user_fct__(self):
         """ 
-            Assign user function where some args depend on MbsPart module.
+           Assign and wrap python user function where some args depend 
+            on MbsPart module. Store the functions in the MbsData instance 
+            and assign the pointer of functions in the C structure
             
         """
         
@@ -184,7 +186,9 @@ class MbsPart(object):
         
     def __assign_symbolic_fct__(self):
         """ 
-            Assign symbolic function where some args depend on MbsPart module.
+            Assign and wrap python symbolic function where some args depend 
+            on MbsPart module. Store the functions in the MbsData instance 
+            and assign the pointer of functions in the C structure
             
         """
         self.ptrs_to_symb_fcts["mbs_cons_hJ"] = mbs_cons_hJ_wrap(lambda h,Jac,mbs,tsim : self.__callback_mbs_cons_hJ(self.mbs_cons_hJ,h,Jac))
@@ -232,6 +236,23 @@ class MbsPart(object):
         return
     
     def run(self):
+        """
+            Run a coordinate partitioning
+            
+            Options can be setted with set_options 
+            Options can be retrieved with get_options
+            
+            Examples
+            --------
+            >>> mbs_data = robotran.MbsData("../dataR/ExampleProject.mbs")
+            >>> mbs_part = robotran.MbsPart(mbs_data)
+            >>> mbs_part.set_options(rowperm = 1, verbose = 0)
+            >>> mbs_part.get_options("rowperm", "verbose")
+                (1, 0)
+            >>> mbs_part.run()
+        
+            
+        """
         # Assing required user functions
         self.__assign_user_fct__()
         self.mbs.__assign_user_fct__()