[Ctypes] MBsysPy, python side

MBsysC/mbs_interface/MBsysPy/mbsyspy/__init__.py

+# -*- coding: utf-8 -*-
+"""
+-------------------------------
+(c) Universite catholique de Louvain, 2019
+
+Creation : 2019 by O. Lantsoght
+Last update : 2019
+
+version MBsysC v1.11.2
+
+-------------------------------
+Portable Python interface to MBsysC using Ctypes.
+
+"""
+
+from .mbs_sensor import *
+from .mbs_data import *
+from .mbs_part import *
+from .mbs_dirdyn import *
\ No newline at end of file

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_dirdyn.py

+# -*- coding: utf-8 -*-
+"""
+-------------------------------
+(c) Universite catholique de Louvain, 2019
+
+Creation : 2019 by O. Lantsoght
+Last update : 2019
+
+version MBsysC v1.11.2
+
+-------------------------------
+Portable Python interface to MBsysC using Ctypes.
+
+Define the class MbsDirdyn based on the MbsDirdyn structure of MBsysC.
+This class has the functions required to manipulate the direct dynamic module.
+This include setting the options, running an (or multiple) analysis and freeing
+the memory.
+"""
+
+import os
+import imp
+
+import numpy as np
+
+# importing MbsysPy classes
+
+# importing libraries
+from ..mbsysc_loader.loadlibs import libmodules
+
+# importing wrapping function
+from ..mbsysc_loader.callback import user_cons_hJ_wrap
+from ..mbsysc_loader.callback import user_cons_jdqd_wrap
+from ..mbsysc_loader.callback import user_dirdyn_init_wrap
+from ..mbsysc_loader.callback import user_dirdyn_loop_wrap
+from ..mbsysc_loader.callback import user_dirdyn_finish_wrap
+
+from ..mbsysc_loader.callback import mbs_cons_hJ_wrap
+from ..mbsysc_loader.callback import mbs_cons_jdqd_wrap
+from ..mbsysc_loader.callback import mbs_invdyna_wrap
+from ..mbsysc_loader.callback import mbs_dirdyna_wrap
+
+
+#==============================================================================
+# Global parameter of the current module
+#==============================================================================
+__DEBUG__ = True
+__MODULE_DIR__ = os.path.dirname(os.path.abspath(__file__))
+
+
+#==============================================================================
+# Defining Python MbsDirdyn class
+#==============================================================================
+
+class MbsDirdyn(object):
+        
+    def __init__(self, mbs, user_path=None, symbolic_path=None):
+        if __DEBUG__ : print( "DEBUG>>  Creating MbsDirdyn struct for "+mbs.mbs_name+"' MBS.")
+        self.mbs_dirdyn_ptr = libmodules.mbs_new_dirdyn(mbs.mbs_data_ptr)
+        if __DEBUG__ : print( "DEBUG>>  MbsDirdyn structure loaded")
+        self.mbs = mbs
+
+        #Test
+        if __DEBUG__ :
+            print( "DEBUG>>  MbsDirdyn created.")
+            print( "     >>  options->tf (5.0): ", self.mbs_dirdyn_ptr.contents.options.contents.tf)
+            print( "     >>  options->dt_max (1e-3): ", self.mbs_dirdyn_ptr.contents.options.contents.dt_max)
+            print( "     >>  mbs_aux->NRerr (-): ", self.mbs_dirdyn_ptr.contents.mbs_aux.contents.NRerr)
+            print( "     >>  mbs_aux->nquc (-): ", self.mbs_dirdyn_ptr.contents.mbs_aux.contents.nquc)
+            print( "     >>  mbs_aux->M[1:3][1:3]: ", 
+                  self.mbs_dirdyn_ptr.contents.mbs_aux.contents.M[1][1], 
+                  self.mbs_dirdyn_ptr.contents.mbs_aux.contents.M[1][2], 
+                  self.mbs_dirdyn_ptr.contents.mbs_aux.contents.M[2][1], 
+                  self.mbs_dirdyn_ptr.contents.mbs_aux.contents.M[2][2])
+        # Path to user function used by partitionning modue
+        self.user_path = self.mbs.user_path
+        if not (user_path==None):
+            project_path  = (self.mbs.project_path).decode("utf-8")
+            user_path = os.path.join(project_path, user_path)
+            # Error handeling
+            if not os.path.isdir(user_path):
+                print ('The user function directory for direct dynamic module does not exist: "'+ user_path+'"')
+                print ('The current root folder is: "'+os.getcwd()+'"')
+                print ('The following directory is used instead: "'+self.user_path+'".')
+            else:
+                self.user_path = user_path
+        # Path to user function used by partitionning modue
+        self.symbolic_path = self.mbs.symbolic_path
+        if not (user_path==None):
+            project_path  = (self.mbs.project_path).decode("utf-8")
+            symbolic_path = os.path.join(project_path, symbolic_path)
+            # Error handeling
+            if not os.path.isdir(symbolic_path):
+                print ('Thesymbolic function directory for direct dynamic module does not exist: "'+ symbolic_path+'"')
+                print ('The current root folder is: "'+os.getcwd()+'"')
+                print ('The following directory is used instead: "'+self.symbolic_path+'".')
+            else:
+                self.symbolic_path = symbolic_path
+        
+        # pointers list to avoid garbage collecting
+        self.ptrs_to_fcts = []
+        # [0]: user_cons_hJ
+        # [1]: user_cons_jdqd
+        # [2]: user_dirdyn_init
+        # [3]: user_dirdyn_loop
+        # [4]: user_dirdyn_finish
+        # [5]: mbs_cons_hJ
+        # [6]: mbs_cons_jdqd
+        # [6]: mbs_invdyna
+        # [6]: mbs_dirdyna
+        
+        # Storing project function pointer
+        self.user_cons_hJ = None
+        self.user_cons_jdqd = None
+        self.user_dirdyn_init = None
+        self.user_dirdyn_loop = None
+        self.user_dirdyn_finish = None
+        self.mbs_cons_hJ = None
+        self.mbs_cons_jdqd = None
+        self.mbs_invdyna = None
+        self.mbs_dirdyna = None
+        
+        # Exposing some memory
+        if __DEBUG__ : print( "DEBUG>>  Exposing MbsDirdyn fields")
+        # Constraints
+        self._h = self._Jac = self._jdqd = None
+        if self.mbs.Ncons>0:
+            self._h = np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.mbs_aux.contents.h, (self.mbs.Ncons+1,))
+            self._Jac = np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.mbs_aux.contents.Jac[0], (self.mbs.Ncons+1,self.mbs.njoint+1))
+            self._jdqd = np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.mbs_aux.contents.jdqd, (self.mbs.Ncons+1,))
+        self._huserc = self._Juserc = self._jdqduserc = None
+        if self.mbs.Nuserc>0:
+            self._huserc = np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.mbs_aux.contents.huserc, (self.mbs.Nuserc+1,))
+            self._Juserc = np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.mbs_aux.contents.Juserc[0], (self.mbs.Nuserc+1,self.mbs.njoint+1))
+            self._jdqduserc = np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.mbs_aux.contents.jdqduserc, (self.mbs.Nuserc+1,))
+        # Fields from equation of motion
+        self._M = np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.mbs_aux.contents.M[0], (self.mbs.njoint+1,self.mbs.njoint+1))
+        self._c = np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.mbs_aux.contents.c, (self.mbs.njoint+1,))
+        self._F = np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.mbs_aux.contents.F, (self.mbs.njoint+1,))
+        
+        # Loading user function
+        if __DEBUG__ : print( "DEBUG>>  Loading user functions")
+        self.__load_user_fct__(self.user_path)
+        # Loading symbolic function
+        if __DEBUG__ : print( "DEBUG>>  Loading symbolic functions")
+        self.__load_symbolic_fct__(self.symbolic_path)
+        
+
+    def __str__(self):
+        if __DEBUG__ : print( "DEBUG>>  start of __str")
+        
+        return "MbsDirdyn instance has nothing to be printed from C library!"
+    
+    def __load_user_fct__(self, user_path):
+        """ 
+            Load user function where some args depend on MbsDirdyn module.
+            
+            Load the user functions in which some of the arguments are  
+            dependent of MbsDirdyn module instance. The functions will be 
+            assigned to the MbsData instance when the 'run' functions is called 
+            and unassigned at the end.
+            
+            The loader user functions are :
+             - user_cons_hJ (from cons_hJ.py)
+             - user_cons_jdqd (from cons_hJ.py)
+             - user_dirdyn_init (from user_dirdyn.py)
+             - user_dirdyn_loop (from user_dirdyn.py)
+             - user_dirdyn_finish (from user_dirdyn.py)
+        """
+        # cons_hJ
+        user_file = "cons_hJ.py"
+        path = os.path.abspath(os.path.join(user_path, user_file))
+        if os.path.isfile(path):
+            module = imp.load_source(user_file[:-3], path)
+            self.user_cons_hJ = module.user_cons_hJ
+            self.ptrs_to_fcts.append(user_cons_hJ_wrap(lambda h,Jac,mbs,tsim : self.user_cons_hJ(self._huserc, self._Juserc, self.mbs, tsim)))
+        else:
+            if __DEBUG__ : print( "DEBUG>>  file '"+user_file+"' not found in folder '"+os.path.dirname(path))
+            self.ptrs_to_fcts.append(user_cons_hJ_wrap(lambda h,Jac,mbs,tsim : None))
+            self.user_cons_hJ = lambda *args: None
+        
+        # cons_jdqd
+        user_file = "cons_jdqd.py"
+        path = os.path.abspath(os.path.join(user_path, user_file))
+        if os.path.isfile(path):
+            module = imp.load_source(user_file[:-3], path)
+            self.user_cons_jdqd = module.user_cons_jdqd
+            self.ptrs_to_fcts.append(user_cons_jdqd_wrap(lambda h,Jac,mbs,tsim : self.user_cons_jdqd(self._jdqduserc, self.mbs, tsim)))
+        else:
+            if __DEBUG__ : print( "DEBUG>>  file '"+user_file+"' not found in folder '"+os.path.dirname(path))
+            self.ptrs_to_fcts.append(user_cons_jdqd_wrap(lambda h,Jac,mbs,tsim : None))
+            self.user_cons_jdqd = lambda *args: None
+
+        # user_dirdyn
+        user_file = "user_dirdyn.py"
+        path      = os.path.abspath(os.path.join(user_path, user_file))
+        if os.path.isfile(path):
+            if __DEBUG__ : print( "DEBUG>>  loading file '"+user_file+"' in folder '"+os.path.dirname(path))
+            module = imp.load_source(user_file[:-3], path)
+            self.user_dirdyn_init   = module.user_dirdyn_init
+            self.user_dirdyn_loop   = module.user_dirdyn_loop
+            self.user_dirdyn_finish = module.user_dirdyn_finish
+            self.ptrs_to_fcts.append(user_dirdyn_init_wrap(lambda mbs, dd : self.mbs.user_dirdyn_init(self.mbs, self)))
+            self.ptrs_to_fcts.append(user_dirdyn_loop_wrap(lambda mbs, dd : self.mbs.user_dirdyn_loop(self.mbs, self)))
+            self.ptrs_to_fcts.append(user_dirdyn_finish_wrap(lambda mbs, dd : self.mbs.user_dirdyn_finish(self.mbs, self)))
+        else:
+            print ("file '"+user_file+"' not found in folder '"+os.path.dirname(path))
+            self.ptrs_to_fcts.append(user_dirdyn_init_wrap(lambda mbs, dd : None))
+            self.ptrs_to_fcts.append(user_dirdyn_loop_wrap(lambda mbs, dd : None))
+            self.ptrs_to_fcts.append(user_dirdyn_finish_wrap(lambda mbs, dd : None))
+            self.mbs.user_dirdyn_init = lambda *args: None
+            self.mbs.user_dirdyn_loop = lambda *args: None
+            self.mbs.user_dirdyn_finish = lambda *args: None
+        return
+        
+    def __load_symbolic_fct__(self, symbolic_path):
+        """ 
+            Load symbolic function where some args depend on MbsDirdyn module.
+            
+            Load the symb functions in which some of the arguments are  
+            dependent of MbsDirdyn module instance. The functions will be 
+            assigned to the MbsData instance when the 'run' functions is called 
+            and unassigned at the end.
+            
+            The loader user functions are :
+             - cons_hJ (from mbs_cons_hJ_MBSNAME.py)
+             - cons_jdqd (from mbs_cons_jdqd_MBSNAME.py)
+             - dirdyna (from mbs_dirdyna_MBSNAME.py)
+             - invdyna (from mbs_invdyna_MBSNAME.py)
+        """
+        mbs_name = self.mbs.mbs_name
+        # mbs_cons_hJ
+        symb_file = "mbs_cons_hJ_"+mbs_name+".py"
+        path = os.path.abspath(os.path.join(symbolic_path, symb_file))
+        if os.path.isfile(path):
+            module = imp.load_source(symb_file[:-3], path)
+            self.mbs_cons_hJ = module.cons_hJ
+            self.ptrs_to_fcts.append(mbs_cons_hJ_wrap(lambda h,Jac,mbs,tsim : self.mbs_cons_hJ(self._h, self._Jac, self.mbs)))
+        else:
+            if __DEBUG__ : print( "DEBUG>>  file '"+symb_file+"' not found in folder '"+os.path.dirname(path))
+            self.ptrs_to_fcts.append(mbs_cons_hJ_wrap(lambda h,Jac,mbs,tsim : None))
+            self.mbs_cons_hJ = lambda *args: None
+        
+        # mbs_cons_jdqd
+        symb_file = "mbs_cons_jdqd_"+mbs_name+".py"
+        path = os.path.abspath(os.path.join(symbolic_path, symb_file))
+        if os.path.isfile(path):
+            module = imp.load_source(symb_file[:-3], path)
+            self.mbs_cons_jdqd = module.cons_jdqd
+            self.ptrs_to_fcts.append(mbs_cons_jdqd_wrap(lambda jdqd,mbs,tsim : self.mbs_cons_jdqd(self._jdqd, self.mbs)))
+        else:
+            if __DEBUG__ : print( "DEBUG>>  file '"+symb_file+"' not found in folder '"+os.path.dirname(path))
+            self.ptrs_to_fcts.append(mbs_cons_jdqd_wrap(lambda jdqd,mbs,tsim : None))
+            self.mbs_cons_jdqd = lambda *args: None
+        
+        # invdyna
+        symb_file = "mbs_invdyna_"+mbs_name+".py"
+        path = os.path.abspath(os.path.join(symbolic_path, symb_file))
+        if os.path.isfile(path):
+            module = imp.load_source(symb_file[:-3], path)
+            self.mbs_invdyna = module.invdyna
+            self.ptrs_to_fcts.append(mbs_invdyna_wrap(lambda Q,mbs,tsim : self.mbs_invdyna(self.mbs, tsim, None)))
+        else:
+            if __DEBUG__ : print( "DEBUG>>  file '"+symb_file+"' not found in folder '"+os.path.dirname(path))
+            self.ptrs_to_fcts.append(mbs_invdyna_wrap(lambda Q,mbs,tsim : None))
+            self.mbs_invdyna = lambda *args: None
+        
+        # dirdyna
+        symb_file = "mbs_dirdyna_"+mbs_name+".py"
+        path = os.path.abspath(os.path.join(symbolic_path, symb_file))
+        if os.path.isfile(path):
+            module = imp.load_source(symb_file[:-3], path)
+            self.mbs_dirdyna = module.dirdyna
+            self.ptrs_to_fcts.append(mbs_dirdyna_wrap(lambda M,c,mbs,tsim : self.mbs_dirdyna(self._M, self._c, self.mbs, tsim)))
+        else:
+            if __DEBUG__ : print( "DEBUG>>  file '"+symb_file+"' not found in folder '"+os.path.dirname(path))
+            self.ptrs_to_fcts.append(mbs_dirdyna_wrap(lambda M,c,mbs,tsim : None))
+            self.mbs_dirdyna = lambda *args: None
+        return
+    
+    def run(self):
+        # [0]: user_cons_hJ
+        # [1]: user_cons_jdqd
+        # [2]: user_dirdyn_init
+        # [3]: user_dirdyn_loop
+        # [4]: user_dirdyn_finish
+        # [5]: mbs_cons_hJ
+        # [6]: mbs_cons_jdqd
+        # [6]: mbs_invdyna
+        # [6]: mbs_dirdyna
+        # Assing required user functions
+        self.mbs.user_cons_hJ = self.user_cons_hJ
+        self.mbs.mbs_data_ptr.contents.user_cons_hJ = self.ptrs_to_fcts[0]
+        self.mbs.user_cons_jdqd = self.user_cons_jdqd
+        self.mbs.mbs_data_ptr.contents.user_cons_jdqd = self.ptrs_to_fcts[1]
+        self.mbs.user_dirdyn_init = self.user_dirdyn_init
+        self.mbs.mbs_data_ptr.contents.user_dirdyn_init = self.ptrs_to_fcts[2]
+        self.mbs.user_dirdyn_loop = self.user_dirdyn_loop
+        self.mbs.mbs_data_ptr.contents.user_dirdyn_loop = self.ptrs_to_fcts[3]
+        self.mbs.user_dirdyn_finish = self.user_dirdyn_finish
+        self.mbs.mbs_data_ptr.contents.user_dirdyn_finish = self.ptrs_to_fcts[4]
+        # Assing required symbolic functions
+        self.mbs.mbs_cons_hJ = self.mbs_cons_hJ
+        self.mbs.mbs_data_ptr.contents.mbs_cons_hJ = self.ptrs_to_fcts[5]
+        self.mbs.mbs_cons_jdqd = self.mbs_cons_jdqd
+        self.mbs.mbs_data_ptr.contents.mbs_cons_jdqd = self.ptrs_to_fcts[6]
+        self.mbs.mbs_invdyna = self.mbs_invdyna
+        self.mbs.mbs_data_ptr.contents.mbs_invdyna = self.ptrs_to_fcts[7]
+        self.mbs.mbs_dirdyna = self.mbs_dirdyna
+        self.mbs.mbs_data_ptr.contents.mbs_dirdyna = self.ptrs_to_fcts[8]
+        
+        libmodules.mbs_run_dirdyn(self.mbs_dirdyn_ptr, self.mbs.mbs_data_ptr)
+    
+        
+        
+    
+    #==========================================================================
+    # Defining properties
+    #==========================================================================
+    @property
+    def mbs_filename(self):
+        return self.mbs.mbs_filename
+    
+    @property
+    def project_path(self):
+        return self.mbs.project_path
+    
+    @property
+    def mbs_name(self):
+        return self.mbs.mbs_name
\ No newline at end of file

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_part.py

+# -*- coding: utf-8 -*-
+"""
+-------------------------------
+(c) Universite catholique de Louvain, 2019
+
+Creation : 2019 by O. Lantsoght
+Last update : 2019
+
+version MBsysC v1.11.2
+
+-------------------------------
+Portable Python interface to MBsysC using Ctypes.
+
+Define the class MbsPart based on the MbsPart structure of MBsysC.
+This class has the functions required to manipulate the coordinate 
+partitionning module (options, run, delete)
+"""
+
+import os
+import imp
+
+import numpy as np
+
+# importing MbsysPy classes
+
+# importing libraries
+from ..mbsysc_loader.loadlibs import libmodules
+
+# importing wrapping function
+from ..mbsysc_loader.callback import user_cons_hJ_wrap
+
+from ..mbsysc_loader.callback import mbs_cons_hJ_wrap
+
+
+#==============================================================================
+# Global parameter of the current module
+#==============================================================================
+__DEBUG__ = True
+__MODULE_DIR__ = os.path.dirname(os.path.abspath(__file__))
+
+
+#==============================================================================
+# Defining Python MbsPart class
+#==============================================================================
+
+class MbsPart(object):
+        
+    def __init__(self, mbs, user_path=None, symbolic_path=None):
+        if __DEBUG__ : print( "DEBUG>>  Creating MbsPart struct for "+mbs.mbs_name+"' MBS.")
+        self.mbs_part_ptr = libmodules.mbs_new_part(mbs.mbs_data_ptr)
+        if __DEBUG__ : print( "DEBUG>>  MbsPartmbs_ structure loaded")
+        self.mbs = mbs
+        
+        # Path to user function used by partitionning modue
+        self.user_path = self.mbs.user_path
+        if not (user_path==None):
+            project_path  = (self.mbs.project_path).decode("utf-8")
+            user_path = os.path.join(project_path, user_path)
+            # Error handeling
+            if not os.path.isdir(user_path):
+                print ('The partitionning user function directory does not exist: "'+ user_path+'"')
+                print ('The current root folder is: "'+os.getcwd()+'"')
+                print ('The following directory is used instead: "'+self.user_path+'".')
+            else:
+                self.user_path = user_path
+        # Path to user function used by partitionning modue
+        self.symbolic_path = self.mbs.symbolic_path
+        if not (user_path==None):
+            project_path  = (self.mbs.project_path).decode("utf-8")
+            symbolic_path = os.path.join(project_path, symbolic_path)
+            # Error handeling
+            if not os.path.isdir(symbolic_path):
+                print ('The partitionning symbolic function directory does not exist: "'+ symbolic_path+'"')
+                print ('The current root folder is: "'+os.getcwd()+'"')
+                print ('The following directory is used instead: "'+self.symbolic_path+'".')
+            else:
+                self.symbolic_path = symbolic_path
+        
+        # pointers list to avoid garbage collecting
+        self.ptrs_to_fcts = []
+        # [0]: user_cons_hJ
+        # [1]: mbs_cons_hJ
+        
+        # Storing project function pointer
+        self.user_cons_hJ = None
+        self.mbs_cons_hJ = None
+        
+        # Exposing some memory
+        if __DEBUG__ : print( "DEBUG>>  Exposing MbsPart fields")
+        self.__q_closed = np.ctypeslib.as_array(self.mbs_part_ptr.contents.q_closed, (self.mbs.njoint,))
+        
+        # Loading user function
+        if __DEBUG__ : print( "DEBUG>>  Loading user functions")
+        self.__load_user_fct__(self.user_path)
+        # Loading symbolic function
+        if __DEBUG__ : print( "DEBUG>>  Loading symbolic functions")
+        self.__load_symbolic_fct__(self.symbolic_path)
+        
+
+    def __str__(self):
+        if __DEBUG__ : print( "DEBUG>>  start of __str")
+        
+        return "MbsPart instance has nothing to be printed from C library!"
+        
+    def __load_user_fct__(self, user_path):
+        """ 
+            Load user function where some args depend on MbsPart module.
+            
+            Load the user functions in which some of the arguments are  
+            dependent of MbsPart module instance. The functions will be 
+            assigned to the MbsData instance when the 'run' functions is called 
+            and unassigned at the end.
+            
+            The loader user functions are :
+             - user_cons_hJ (from cons_hJ.py)
+        """
+        # cons_hJ
+        user_file = "cons_hJ.py"
+        path = os.path.abspath(os.path.join(user_path, user_file))
+        if os.path.isfile(path):
+            module = imp.load_source(user_file[:-3], path)
+            self.user_cons_hJ = module.user_cons_hJ
+            self.ptrs_to_fcts.append(user_cons_hJ_wrap(lambda h,Jac,mbs,tsim : self.__callback_user_cons_hJ(self.user_cons_hJ,h,Jac,tsim)))
+        else:
+            if __DEBUG__ : print( "DEBUG>>  file '"+user_file+"' not found in folder '"+os.path.dirname(path))
+            self.ptrs_to_fcts.append(user_cons_hJ_wrap(lambda h,Jac,mbs,tsim : None))
+            self.user_cons_hJ = None
+        return
+        
+    def __load_symbolic_fct__(self, symbolic_path):
+        """ 
+            Load symbolic function where some args depend on MbsPart module.
+            
+            Load the symb functions in which some of the arguments are  
+            dependent of MbsPart module instance. The functions will be 
+            assigned to the MbsData instance when the 'run' functions is called 
+            and unassigned at the end.
+            
+            The loader user functions are :
+             - cons_hJ (from mbs_cons_hJ_MBSNAME.py)
+        """
+        mbs_name = self.mbs.mbs_name
+        # mbs_cons_hJ
+        symb_file = "mbs_cons_hJ_"+mbs_name+".py"
+        path = os.path.abspath(os.path.join(symbolic_path, symb_file))
+        if os.path.isfile(path):
+            module = imp.load_source(symb_file[:-3], path)
+            self.mbs_cons_hJ = module.cons_hJ
+            self.ptrs_to_fcts.append(mbs_cons_hJ_wrap(lambda h,Jac,mbs,tsim : self.__callback_mbs_cons_hJ(self.mbs_cons_hJ,h,Jac)))
+        else:
+            if __DEBUG__ : print( "DEBUG>>  file '"+symb_file+"' not found in folder '"+os.path.dirname(path))
+            self.ptrs_to_fcts.append(mbs_cons_hJ_wrap(lambda h,Jac,mbs,tsim : None))
+            self.mbs_cons_hJ = None
+        return
+    
+    # Callback function for function with advanced arguments
+    def __callback_user_cons_hJ(self, fun, h, Jac, tsim):
+        __h = np.ctypeslib.as_array(h, (self.mbs.Nuserc+1,))
+        __Jac = np.ctypeslib.as_array(Jac[0], (self.mbs.Nuserc+1,self.mbs.njoint+1))
+        fun(__h,__Jac,self.mbs,tsim)
+        
+    def __callback_mbs_cons_hJ(self, fun, h, Jac):
+        if __DEBUG__ : print( "DEBUG>>  callback_mbs_cons_hJ")
+        __h = np.ctypeslib.as_array(h, (self.mbs.Ncons+1,))
+        __Jac = np.ctypeslib.as_array(Jac[0], (self.mbs.Ncons+1,self.mbs.njoint+1))
+        fun(__h,__Jac,self.mbs)
+    
+    def run(self):
+        # Assing required user functions
+        self.mbs.user_cons_hJ = self.user_cons_hJ
+        self.mbs.mbs_data_ptr.contents.user_cons_hJ = self.ptrs_to_fcts[0]
+        # Assing required symbolic functions
+        self.mbs.mbs_cons_hJ = self.mbs_cons_hJ
+        self.mbs.mbs_data_ptr.contents.mbs_cons_hJ = self.ptrs_to_fcts[1]
+        
+        libmodules.mbs_run_part(self.mbs_part_ptr, self.mbs.mbs_data_ptr)
+        # Anassign functions
+        self.mbs.user_cons_hJ = None
+        self.mbs.mbs_data_ptr.user_cons_hJ = None
+        # Assing required symbolic functions
+        self.mbs.mbs_cons_hJ = None
+        self.mbs.mbs_data_ptr.user_cons_hJ = None
+    
+    def set_options(self, **kwargs):
+        for key, value in kwargs.items():
+            if key == "rowperm":
+                self.mbs_part_ptr.contents.options.contents.rowperm = value
+            elif key == "visualise":
+                self.mbs_part_ptr.contents.options.contents.visualise = value
+            elif key == "drivers":
+                self.mbs_part_ptr.contents.options.contents.drivers = value
+            elif key == "verbose":
+                self.mbs_part_ptr.contents.options.contents.verbose = value
+            elif key == "clearmbsglobal":
+                self.mbs_part_ptr.contents.options.contents.clearmbsglobal = value
+            else:
+                print(">>PART>> The option "+key+ " is not defined in this module")
+
+    def get_options(self, *args):
+        options = []
+        for key in args:
+            if key == "rowperm":
+                options.append(self.mbs_part_ptr.contents.options.contents.rowperm)
+            elif key == "visualise":
+                options.append(self.mbs_part_ptr.contents.options.contents.visualise)
+            elif key == "drivers":
+                options.append(self.mbs_part_ptr.contents.options.contents.drivers)
+            elif key == "verbose":
+                options.append(self.mbs_part_ptr.contents.options.contents.verbose)
+            elif key == "clearmbsglobal":
+                options.append(self.mbs_part_ptr.contents.options.contents.clearmbsglobal)
+            else:
+                print(">>PART>> The option "+key+ " is not defined in this module")
+        if len(options) == 0:
+            return
+        return tuple(options)
+
+
+    #==========================================================================
+    # Defining properties
+    #==========================================================================
+    @property
+    def n_qu(self):
+        return self.mbs_part_ptr.contents.n_qu
+    
+    @property