| ... | ... | @@ -15,10 +15,10 @@ In mbsysC/Py, a new flag is added in `mbs_data`, along with new fields: |
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- `s->qrot` => vector containing the indices of the rotational joints
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- `s->q_sin` => vector that contains the values of the joint sine (-2.0 if the joint is translational)
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- `s->q_cos` => vector that contains the values of the joint cosine (-2.0 if the joint is translational)
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- `s->flag_opti_symb_sin_cos` => a flag to activate the feature
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- `s->flag_optim_symb_sin_cos` => a flag to activate the feature
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## How to use
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The user should generate the symbolic files with the OptimSinCos(Rtime) option ON. Besides, the user must put `mbs_data->flag_opti_symb_sin_cos= 1;`just after the loading of the `.mbs` file in the main.c/.py
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The user should generate the symbolic files with the OptimSinCos(Rtime) option ON. Besides, the user must put `mbs_data->flag_optim_symb_sin_cos= 1;`just after the loading of the `.mbs` file in the main.c/.py
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# Warnings
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**Warning, it only works with the corresponding symbolic files (on dev-symbolic for now, should be included in next release)**
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