Commit fba013fb authored by Olivier Lantsoght's avatar Olivier Lantsoght 🏁
Browse files

[NewErr] Various modifications

parent 33ab6bd3
......@@ -24,6 +24,15 @@
int dirdynared(MbsAux *mbs_aux,MbsData *s);
/**
* \brief Compute the required forces ont the actuated joints in a configuration
*
* \param[in,out] mbs_aux the local computation structure, where the result is stored in the variable Mr.
* \param[in,out] s the MbsData of the system, where q(iqv),qd(iqv) and qdd(iqv) are updated.
*
* \return Error status, <0 in case of failure.
*/
int invdynared(MbsAux *mbs_aux, MbsData *s);
/**
......
......@@ -216,6 +216,17 @@ extern "C" {
* -17 :
* -18 : ThetaSC (unused)
* -19 :
*
* Inverse dynamics:
* -11 : Interpolation of trajectories
* -12 : Not compatible options detected during the run (should not occurs)
* -13 :
* -14 :
* -15 :
* -16 :
* -17 :
* -18 :
* -19 :
*/
#ifdef __cplusplus
......
......@@ -294,7 +294,7 @@ int mbs_lut_res_interp(MbsLutRes *lut, double t, double *coord)
// Checking, only possible if twice the same time.
if (!(isnormal(coord[i])) && !(coord[i] == 0.0)) { // Error management
mbs_warning_msg("Interpolated coordinate value is not a real number!");
return -1;
return _MBS_ERR_LOW_NAN;
}
}
return 2;
......
......@@ -149,7 +149,8 @@ double mbs_lut_2D_interp(MbsLut2D *lut, double x, double y);
* \param[in] lut Results LUT structure
* \param[in] t The time at which the output has to be interpolate
* \param[out] coord The array (allocated, first index is 1) to store the interpolated value
* \return 1 if time is found in results file, 2 if the coordinates are interpolated, -1 if Nan, -2 if time is out of range.
*
* \return 1 if time is found in results file, 2 if the coordinates are interpolated, \p _MBS_ERR_LOW_NAN if Nan, -2 if time is out of range.
*/
int mbs_lut_res_interp(MbsLutRes *lut, double t, double *coord);
/*! \brief Interpolate the output from a 1Dvec Look Up Table (extrapolation is allowed).
......
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