Merge branch '207-mbsyspy-seg-fault-during-close-geo-in-part' into 'dev'

Resolve "[MBsysPy] seg fault during close geo in part"

Closes #207

See merge request robotran/mbsysc!325

CHANGELOG.md

@@ -2,6 +2,8 @@
  * To be defined
  
  * **For user: Requires to generate again user files (and user file generation application)**
+ * [Partitionning] Option `visualize` is used to generate failed loop closing procedure (default is no generation)
+ * [Fix] Failing loop closing procedure was always trying to generate animation whatever was the option.
  * [Python]
     * **For user: update your MBsysPy project as previous indexing was starting at 0.**
     * **function `MbsData.mbs_load_from_file` renamed to `MbsData.load_state`

MBsysC/mbs_common/mbs_module/mbs_close_loops.c

@@ -47,6 +47,9 @@ int mbs_close_geo(MbsData *s, MbsAux *mbs_aux)
     if (iter >= mbs_aux->MAX_NR_ITER) // Error management
     {
         mbs_msg("\t \t >CLOSE GEO> Impossible to close the geometry after %d iterations \n", iter);
+        if (mbs_aux->close_anim) {
+            mbs_anim_close_geo(s, mbs_aux);
+        }
         mbs_anim_close_geo(s, mbs_aux);
         return -50;
     }

MBsysC/mbs_common/mbs_module/mbs_part.c

@@ -491,6 +491,9 @@ void mbs_run_part(MbsPart*  mbs_part, MbsData* mbs_data)
         }
         mbs_aux = initMbsAux(mbs_data);
 
+        // Options (set by the user)
+        mbs_aux->close_anim = mbs_part->options->visualise;
+
         nbiter = mbs_close_geo(mbs_data, mbs_aux); // on essaie de fermer
         nbiterMax = mbs_aux->MAX_NR_ITER;
         freeMbsAux(mbs_aux, mbs_data);

MBsysC/mbs_common/mbs_module/mbs_part.h

@@ -13,7 +13,8 @@
 typedef struct MbsPartOptions
 {
     int rowperm;       //!< 1 to allow line permutation; 0 otherwise, defaut = 0
-    int visualise; // no = 0, yes = 1, defaut = 0
+    int visualise;     //!< In case of loop closure failing, set to 1 to plot the
+                       //!< closing procedure iteration, default = 0.
     int drivers; // no = 0, yes = 1, defaut = 0
     int verbose;       //!< 1 to get print indications related partitioning module; 0 otherwise, defaut = 1
     int clearmbsglobal; // inout = 1, out = 2, none = 3, all = 4, defaut = 1

MBsysC/mbs_common/mbs_module/mbs_solvekin.c

@@ -618,11 +618,12 @@ int mbs_fct_solvekin(MbsData *s, MbsSolvekin *sk)
     }
 
     // Computation of driven variable and independant joints
-    if (s->nqc && sk->trajectorytype != 2) {
+    if (s->nqc && sk->trajectorytype != 2 && sk->options->motion != closeloop) {
         // if there is driven and if they are not defined in trajectory file
+        // if animating a close loop procedure: assumes q_u and q_c are already updated.
         user_DrivenJoints(s, s->tsim);
     }
-    else if (sk->trajectorytype == 2) {
+    else if (sk->trajectorytype == 2 && sk->options->motion != closeloop) {
         // Also compute independant joint
         err1 = mbs_lut_res_interp(sk->q, s->tsim, lutq);
         err2 = mbs_lut_res_interp(sk->qd, s->tsim, lutqd);
@@ -679,6 +680,7 @@ int mbs_fct_solvekin(MbsData *s, MbsSolvekin *sk)
     else {
         // We only do one iteration of N-R
         err = mbs_step_close_geo(s, sk->mbs_aux);
+        return err;
     }
 
     // Kinematic resolution

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_part.py

@@ -100,6 +100,9 @@ class MbsPart(object):
 
         self.mbs = mbs
 
+        # Setting options with different default values in MBsysPy
+        self.set_options(visualise=1)
+
         # Path to user function used by partitionning modue
         self.user_path = self.mbs.user_path
         if user_path is not None:
@@ -321,8 +324,9 @@ class MbsPart(object):
             1 to allow line permutation, 0 to forbid it.
             defaut is 0
         visualise: int
-            Unused but 1 stand for yes, 0 for no.
-            defaut is 0
+            In case of loop closure failing, set to 1 to plot the closing
+            procedure iterations.
+            defaut is 1
         drivers: int
             Unused but 1 stand for yes, 0 for no.
             defaut is 0