Commit f04d4d66 authored by Sébastien Timmermans's avatar Sébastien Timmermans
Browse files

[Format] replacing all the tabs by four spaces

parent feb665aa
......@@ -6,7 +6,7 @@
* **Requires to generate again user files (and user file generation application)**
* Check `user IO` and `user model` size coherence between loaded `.mbs` file and compiled project (Error -900). Do not check type coherence.
* [User derivative] [Dirdyn] The option "compute_all_uxd" is added during direct dynamic module.
The user can choose between the time-integration of all user_derivative or none. Per default, the flag is ON (= 1 = all are computed).
The user can choose between the time-integration of all user_derivative or none. Per default, the flag is ON (= 1 = all are computed).
* [Integrators] Euler Implicit and W-Methods are now functional but have not been extensively tested.
## Robotran v1.11.2
......
......@@ -26,7 +26,7 @@ MbsDirdyn* mbs_new_dirdyn(MbsData* mbs_data)
/*------------------------------------------*/
/* TO DELIMIT A BIGGER PART OF THE CODE */
/*------------------------------------------*/
return mbs_new_dirdyn_aux(mbs_data, mbs_aux);
}
......@@ -35,11 +35,11 @@ endif (UNIX)
# * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
if ( FLAG_SEPARATE_SYMBOLIC )
set(CMAKE_AUX ${ROBOTRAN_SOURCE_DIR}/cmake_aux)
set(CMAKE_AUX_BIN ${PROJECT_BINARY_DIR}/cmake_aux)
set(CMAKE_AUX ${ROBOTRAN_SOURCE_DIR}/cmake_aux)
set(CMAKE_AUX_BIN ${PROJECT_BINARY_DIR}/cmake_aux)
add_subdirectory ( ${CMAKE_AUX}/flags/ ${CMAKE_AUX_BIN}/flags/ )
add_subdirectory ( ${CMAKE_AUX}/listing/ ${CMAKE_AUX_BIN}/listing/ )
add_subdirectory ( ${CMAKE_AUX}/flags/ ${CMAKE_AUX_BIN}/flags/ )
add_subdirectory ( ${CMAKE_AUX}/listing/ ${CMAKE_AUX_BIN}/listing/ )
endif ( )
# release of debug
......@@ -75,7 +75,7 @@ if( FLAG_SHARED_LIB OR FLAG_SEPARATE_SYMBOLIC )
# Windows, copy dll next to executable
if((NOT UNIX) AND (NOT FLAG_SEPARATE_SYMBOLIC))
add_custom_command(TARGET ${SYMBOLIC_LIB_NAME} POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy
COMMAND ${CMAKE_COMMAND} -E copy
${CMAKE_CURRENT_BINARY_DIR}/$<CONFIGURATION>/${SYMBOLIC_LIB_NAME}.dll
${CMAKE_CURRENT_BINARY_DIR}/../$<CONFIGURATION>/${SYMBOLIC_LIB_NAME}.dll
)
......
//
//-------------------------------------------------------------
//
// ROBOTRAN - Version 6.6 (build : february 22, 2008)
// ROBOTRAN - Version 6.6 (build : february 22, 2008)
//
// Copyright
// Universite catholique de Louvain
// Departement de Mecanique
// Unite de Production Mecanique et Machines
// 2, Place du Levant
// 1348 Louvain-la-Neuve
// http://www.robotran.be//
// Copyright
// Universite catholique de Louvain
// Departement de Mecanique
// Unite de Production Mecanique et Machines
// 2, Place du Levant
// 1348 Louvain-la-Neuve
// http://www.robotran.be//
//
// ==> Generation Date : Wed Feb 13 13:58:10 2019
// ==> Generation Date : Wed Feb 13 13:58:10 2019
//
// ==> Project name : CartPendulum
// ==> using XML input file
// ==> Project name : CartPendulum
// ==> using XML input file
//
// ==> Number of joints : 3
// ==> Number of joints : 3
//
// ==> Function : F 1 : Direct Dynamics (Semi-Explicit formulation) : RNEA
// ==> Flops complexity : 60
// ==> Function : F 1 : Direct Dynamics (Semi-Explicit formulation) : RNEA
// ==> Flops complexity : 60
//
// ==> Generation Time : 0.000 seconds
// ==> Post-Processing : 0.000 seconds
// ==> Generation Time : 0.000 seconds
// ==> Post-Processing : 0.000 seconds
//
//-------------------------------------------------------------
//
......
//
//-------------------------------------------------------------
//
// ROBOTRAN - Version 6.6 (build : february 22, 2008)
// ROBOTRAN - Version 6.6 (build : february 22, 2008)
//
// Copyright
// Universite catholique de Louvain
// Departement de Mecanique
// Unite de Production Mecanique et Machines
// 2, Place du Levant
// 1348 Louvain-la-Neuve
// http://www.robotran.be//
// Copyright
// Universite catholique de Louvain
// Departement de Mecanique
// Unite de Production Mecanique et Machines
// 2, Place du Levant
// 1348 Louvain-la-Neuve
// http://www.robotran.be//
//
// ==> Generation Date : Wed Feb 13 13:58:10 2019
// ==> Generation Date : Wed Feb 13 13:58:10 2019
//
// ==> Project name : CartPendulum
// ==> using XML input file
// ==> Project name : CartPendulum
// ==> using XML input file
//
// ==> Number of joints : 3
// ==> Number of joints : 3
//
// ==> Function : F19 : External Forces
// ==> Flops complexity : 89
// ==> Function : F19 : External Forces
// ==> Flops complexity : 89
//
// ==> Generation Time : 0.000 seconds
// ==> Post-Processing : 0.000 seconds
// ==> Generation Time : 0.000 seconds
// ==> Post-Processing : 0.000 seconds
//
//-------------------------------------------------------------
//
......
//
//-------------------------------------------------------------
//
// ROBOTRAN - Version 6.6 (build : february 22, 2008)
// ROBOTRAN - Version 6.6 (build : february 22, 2008)
//
// Copyright
// Universite catholique de Louvain
// Departement de Mecanique
// Unite de Production Mecanique et Machines
// 2, Place du Levant
// 1348 Louvain-la-Neuve
// http://www.robotran.be//
// Copyright
// Universite catholique de Louvain
// Departement de Mecanique
// Unite de Production Mecanique et Machines
// 2, Place du Levant
// 1348 Louvain-la-Neuve
// http://www.robotran.be//
//
// ==> Generation Date : Wed Feb 13 13:58:10 2019
// ==> Generation Date : Wed Feb 13 13:58:10 2019
//
// ==> Project name : CartPendulum
// ==> using XML input file
// ==> Project name : CartPendulum
// ==> using XML input file
//
// ==> Number of joints : 3
// ==> Number of joints : 3
//
// ==> Function : F 6 : Sensors Kinematical Informations (sens)
// ==> Flops complexity : 20
// ==> Function : F 6 : Sensors Kinematical Informations (sens)
// ==> Flops complexity : 20
//
// ==> Generation Time : 0.000 seconds
// ==> Post-Processing : 0.000 seconds
// ==> Generation Time : 0.000 seconds
// ==> Post-Processing : 0.000 seconds
//
//-------------------------------------------------------------
//
......
//
//-------------------------------------------------------------
//
// ROBOTRAN - Version 6.6 (build : february 22, 2008)
// ROBOTRAN - Version 6.6 (build : february 22, 2008)
//
// Copyright
// Universite catholique de Louvain
// Departement de Mecanique
// Unite de Production Mecanique et Machines
// 2, Place du Levant
// 1348 Louvain-la-Neuve
// http://www.robotran.be//
// Copyright
// Universite catholique de Louvain
// Departement de Mecanique
// Unite de Production Mecanique et Machines
// 2, Place du Levant
// 1348 Louvain-la-Neuve
// http://www.robotran.be//
//
// ==> Generation Date : Wed Feb 13 13:58:10 2019
// ==> Generation Date : Wed Feb 13 13:58:10 2019
//
// ==> Project name : CartPendulum
// ==> using XML input file
// ==> Project name : CartPendulum
// ==> using XML input file
//
// ==> Number of joints : 3
// ==> Number of joints : 3
//
// ==> Function : F 2 : Inverse Dynamics : RNEA
// ==> Flops complexity : 58
// ==> Function : F 2 : Inverse Dynamics : RNEA
// ==> Flops complexity : 58
//
// ==> Generation Time : 0.000 seconds
// ==> Post-Processing : 0.000 seconds
// ==> Generation Time : 0.000 seconds
// ==> Post-Processing : 0.000 seconds
//
//-------------------------------------------------------------
//
......
//
//-------------------------------------------------------------
//
// ROBOTRAN - Version 6.6 (build : february 22, 2008)
// ROBOTRAN - Version 6.6 (build : february 22, 2008)
//
// Copyright
// Universite catholique de Louvain
// Departement de Mecanique
// Unite de Production Mecanique et Machines
// 2, Place du Levant
// 1348 Louvain-la-Neuve
// http://www.robotran.be//
// Copyright
// Universite catholique de Louvain
// Departement de Mecanique
// Unite de Production Mecanique et Machines
// 2, Place du Levant
// 1348 Louvain-la-Neuve
// http://www.robotran.be//
//
// ==> Generation Date : Wed Feb 13 13:58:10 2019
// ==> Generation Date : Wed Feb 13 13:58:10 2019
//
// ==> Project name : CartPendulum
// ==> using XML input file
// ==> Project name : CartPendulum
// ==> using XML input file
//
// ==> Number of joints : 3
// ==> Number of joints : 3
//
// ==> Function : F 6 : Sensors Kinematical Informations (sens)
// ==> Flops complexity : 58
// ==> Function : F 6 : Sensors Kinematical Informations (sens)
// ==> Flops complexity : 58
//
// ==> Generation Time : 0.000 seconds
// ==> Post-Processing : 0.000 seconds
// ==> Generation Time : 0.000 seconds
// ==> Post-Processing : 0.000 seconds
//
//-------------------------------------------------------------
//
......
......@@ -30,7 +30,7 @@
*/
void user_realtime_plot(MbsData* mbs_data)
{
set_plot(mbs_data->q[1], "q1");
set_plot(mbs_data->q[1], "q1");
}
#endif
......@@ -35,15 +35,15 @@
*/
void user_realtime_visu(MbsData* mbs_data, int nb_models, int *nb_q, double **q_vec)
{
int i, j;
int i, j;
for(i=0; i<nb_models; i++)
{
for(j=1; j<=nb_q[i]; j++)
{
q_vec[i][j-1] = i ? 0.0 : mbs_data->q[j];
}
}
for(i=0; i<nb_models; i++)
{
for(j=1; j<=nb_q[i]; j++)
{
q_vec[i][j-1] = i ? 0.0 : mbs_data->q[j];
}
}
}
#endif
......@@ -64,10 +64,10 @@ void user_equil_finish(MbsData *mbs_data, MbsEquil *mbs_equil)
*/
void user_equil_fxe(MbsData *mbs_data, double* f)
{
//f[x] must be zero at the equilibrium, (x = 1 2 ... nxe)
//f[x] must be zero at the equilibrium, (x = 1 2 ... nxe)
//f[1]= mbs_data->q[1] - mbs_data->q[2] // write down your equation here
//f[2]= ... ;
//...
//f[nxe]= ;
//f[1]= mbs_data->q[1] - mbs_data->q[2] // write down your equation here
//f[2]= ... ;
//...
//f[nxe]= ;
}
......@@ -25,11 +25,11 @@ project (CartPendulum)
# Variable for storing the path to Robotran common files (should be adapted depending on the location of those source)
if(NOT DEFINED ROBOTRAN_SOURCE_DIR)
set(TRIAL_PATHS_MBSYSC
set(TRIAL_PATHS_MBSYSC
${PROJECT_SOURCE_DIR}/../../../MBsysC
${PROJECT_SOURCE_DIR}/../mbsysCopy
)
find_path(ROBOTRAN_SOURCE_DIR mbs_common ${TRIAL_PATHS_MBSYSC} DOC "Path to the Robotran-MBsysC common files")
${PROJECT_SOURCE_DIR}/../mbsysCopy
)
find_path(ROBOTRAN_SOURCE_DIR mbs_common ${TRIAL_PATHS_MBSYSC} DOC "Path to the Robotran-MBsysC common files")
endif ( )
# message to display the project name
......@@ -49,12 +49,12 @@ endif ( )
if (WIN32)
## --- WIN32 or WIN64 DETECTION --- ##
if( CMAKE_SIZEOF_VOID_P EQUAL 8 ) # 64bit Windows
SET(WIN_LIB_DIRECTORY win64_include_lib)
else( ) # 32bit Windows
# 32 is no longer supported, an error message is printed and the process stops.
if( CMAKE_SIZEOF_VOID_P EQUAL 8 ) # 64bit Windows
SET(WIN_LIB_DIRECTORY win64_include_lib)
else( ) # 32bit Windows
# 32 is no longer supported, an error message is printed and the process stops.
message( FATAL_ERROR "\n !!! MbsysC is no longer supported in Windows 32 bit. Please use 64 bit or contact the development team for further informations." )
endif( )
endif( )
## ---- WINDOWS DLL FILES ---- ##
......@@ -251,22 +251,22 @@ include_directories(${LIB_MBSYSC_INCLUDE_DIRS})
# symbolic files
if ( FLAG_SEPARATE_SYMBOLIC )
if( UNIX )
file(COPY ${PROJECT_SOURCE_DIR}/../symbolicR/build/libProject_symbolic.so DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/symbolicR)
else() # Windows (to be tested)
file(COPY ${PROJECT_SOURCE_DIR}/../symbolicR/build/Debug/libProject_symbolic.dll DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/Debug)
endif()
if( UNIX )
file(COPY ${PROJECT_SOURCE_DIR}/../symbolicR/build/libProject_symbolic.so DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/symbolicR)
else() # Windows (to be tested)
file(COPY ${PROJECT_SOURCE_DIR}/../symbolicR/build/Debug/libProject_symbolic.dll DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/Debug)
endif()
else ( )
add_subdirectory( ${PROJECT_SOURCE_DIR}/../symbolicR ${CMAKE_CURRENT_BINARY_DIR}/symbolicR)
endif ( )
# user fonction files
if ( FLAG_SEPARATE_USER_FCT )
if( UNIX )
file(COPY ${PROJECT_SOURCE_DIR}/../userfctR/build/libProject_userfct.so DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/userfctR)
else() # Windows (to be tested)
file(COPY ${PROJECT_SOURCE_DIR}/../userfctR/build/Debug/libProject_userfct.dll DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/Debug)
endif()
if( UNIX )
file(COPY ${PROJECT_SOURCE_DIR}/../userfctR/build/libProject_userfct.so DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/userfctR)
else() # Windows (to be tested)
file(COPY ${PROJECT_SOURCE_DIR}/../userfctR/build/Debug/libProject_userfct.dll DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/Debug)
endif()
else ( )
add_subdirectory( ${PROJECT_SOURCE_DIR}/../userfctR ${CMAKE_CURRENT_BINARY_DIR}/userfctR)
endif ( )
......
......@@ -31,11 +31,11 @@ endif (UNIX)
# * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
if ( FLAG_SEPARATE_SYMBOLIC )
set(CMAKE_AUX ${ROBOTRAN_SOURCE_DIR}/cmake_aux)
set(CMAKE_AUX_BIN ${PROJECT_BINARY_DIR}/cmake_aux)
set(CMAKE_AUX ${ROBOTRAN_SOURCE_DIR}/cmake_aux)
set(CMAKE_AUX_BIN ${PROJECT_BINARY_DIR}/cmake_aux)
add_subdirectory ( ${CMAKE_AUX}/flags/ ${CMAKE_AUX_BIN}/flags/ )
add_subdirectory ( ${CMAKE_AUX}/listing/ ${CMAKE_AUX_BIN}/listing/ )
add_subdirectory ( ${CMAKE_AUX}/flags/ ${CMAKE_AUX_BIN}/flags/ )
add_subdirectory ( ${CMAKE_AUX}/listing/ ${CMAKE_AUX_BIN}/listing/ )
endif ( )
# release of debug
......@@ -71,7 +71,7 @@ if( FLAG_SHARED_LIB OR FLAG_SEPARATE_SYMBOLIC )
# Windows, copy dll next to executable
if((NOT UNIX) AND (NOT FLAG_SEPARATE_SYMBOLIC))
add_custom_command(TARGET Project_symbolic POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy
COMMAND ${CMAKE_COMMAND} -E copy
${CMAKE_CURRENT_BINARY_DIR}/$<CONFIGURATION>/Project_symbolic.dll
${CMAKE_CURRENT_BINARY_DIR}/../$<CONFIGURATION>/Project_symbolic.dll
)
......
//
//-------------------------------------------------------------
//
// ROBOTRAN - Version 6.6 (build : february 22, 2008)
// ROBOTRAN - Version 6.6 (build : february 22, 2008)
//
// Copyright
// Universite catholique de Louvain
// Departement de Mecanique
// Unite de Production Mecanique et Machines
// 2, Place du Levant
// 1348 Louvain-la-Neuve
// http://www.robotran.be//
// Copyright
// Universite catholique de Louvain
// Departement de Mecanique
// Unite de Production Mecanique et Machines
// 2, Place du Levant
// 1348 Louvain-la-Neuve
// http://www.robotran.be//
//
// ==> Generation Date : Tue Apr 5 14:31:16 2016
// ==> Generation Date : Tue Apr 5 14:31:16 2016
//
// ==> Project name : MultiplePendulum
// ==> using XML input file
// ==> Project name : MultiplePendulum
// ==> using XML input file
//
// ==> Number of joints : 3
// ==> Number of joints : 3
//
// ==> Function : F 1 : Direct Dynamics (Semi-Explicit formulation) : RNEA
// ==> Flops complexity : 145
// ==> Function : F 1 : Direct Dynamics (Semi-Explicit formulation) : RNEA
// ==> Flops complexity : 145
//
// ==> Generation Time : 0.000 seconds
// ==> Post-Processing : 0.000 seconds
// ==> Generation Time : 0.000 seconds
// ==> Post-Processing : 0.000 seconds
//
//-------------------------------------------------------------
//
......
//
//-------------------------------------------------------------
//
// ROBOTRAN - Version 6.6 (build : february 22, 2008)
// ROBOTRAN - Version 6.6 (build : february 22, 2008)
//
// Copyright
// Universite catholique de Louvain
// Departement de Mecanique
// Unite de Production Mecanique et Machines
// 2, Place du Levant
// 1348 Louvain-la-Neuve
// http://www.robotran.be//
// Copyright
// Universite catholique de Louvain
// Departement de Mecanique
// Unite de Production Mecanique et Machines
// 2, Place du Levant
// 1348 Louvain-la-Neuve
// http://www.robotran.be//
//
// ==> Generation Date : Tue Apr 5 14:31:16 2016
// ==> Generation Date : Tue Apr 5 14:31:16 2016
//
// ==> Project name : MultiplePendulum
// ==> using XML input file
// ==> Project name : MultiplePendulum
// ==> using XML input file
//
// ==> Number of joints : 3
// ==> Number of joints : 3
//
// ==> Function : F19 : External Forces
// ==> Flops complexity : 0
// ==> Function : F19 : External Forces
// ==> Flops complexity : 0
//
// ==> Generation Time : 0.000 seconds
// ==> Post-Processing : 0.000 seconds
// ==> Generation Time : 0.000 seconds
// ==> Post-Processing : 0.000 seconds
//
//-------------------------------------------------------------
//
......
//
//-------------------------------------------------------------
//
// ROBOTRAN - Version 6.6 (build : february 22, 2008)
// ROBOTRAN - Version 6.6 (build : february 22, 2008)
//
// Copyright
// Universite catholique de Louvain
// Departement de Mecanique
// Unite de Production Mecanique et Machines
// 2, Place du Levant
// 1348 Louvain-la-Neuve
// http://www.robotran.be//
// Copyright
// Universite catholique de Louvain
// Departement de Mecanique
// Unite de Production Mecanique et Machines
// 2, Place du Levant
// 1348 Louvain-la-Neuve
// http://www.robotran.be//
//
// ==> Generation Date : Tue Apr 5 14:31:16 2016
// ==> Generation Date : Tue Apr 5 14:31:16 2016
//
// ==> Project name : MultiplePendulum
// ==> using XML input file
// ==> Project name : MultiplePendulum
// ==> using XML input file
//
// ==> Number of joints : 3
// ==> Number of joints : 3
//
// ==> Function : F 6 : Sensors Kinematical Informations (sens)
// ==> Flops complexity : 70
// ==> Function : F 6 : Sensors Kinematical Informations (sens)
// ==> Flops complexity : 70
//
// ==> Generation Time : 0.000 seconds
// ==> Post-Processing : 0.000 seconds
// ==> Generation Time : 0.000 seconds
// ==> Post-Processing : 0.000 seconds
//
//-------------------------------------------------------------
//
......
//
//-------------------------------------------------------------
//
// ROBOTRAN - Version 6.6 (build : february 22, 2008)
// ROBOTRAN - Version 6.6 (build : february 22, 2008)
//
// Copyright
// Universite catholique de Louvain
// Departement de Mecanique
// Unite de Production Mecanique et Machines
// 2, Place du Levant
// 1348 Louvain-la-Neuve
// http://www.robotran.be//
// Copyright
// Universite catholique de Louvain
// Departement de Mecanique
// Unite de Production Mecanique et Machines
// 2, Place du Levant
// 1348 Louvain-la-Neuve
// http://www.robotran.be//
//
// ==> Generation Date : Tue Apr 5 14:31:16 2016
// ==> Generation Date : Tue Apr 5 14:31:16 2016
//
// ==> Project name : MultiplePendulum
// ==> using XML input file
// ==> Project name : MultiplePendulum
// ==> using XML input file
//
// ==> Number of joints : 3
// ==> Number of joints : 3
//
// ==> Function : F 2 : Inverse Dynamics : RNEA
// ==> Flops complexity : 101
// ==> Function : F 2 : Inverse Dynamics : RNEA
// ==> Flops complexity : 101
//
// ==> Generation Time : 0.000 seconds
// ==> Post-Processing : 0.000 seconds
// ==> Generation Time : 0.000 seconds
// ==> Post-Processing : 0.000 seconds
//