Commit 76e3f901 authored by Sebastien Timmermans's avatar Sebastien Timmermans 🎹

[Update] move functions explanation in mbs_dirdyn.h

parent 859d3137
......@@ -590,15 +590,8 @@ void mbs_dirdyn_write_buffers(MbsDirdyn* dd){
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
/*! \brief direct dynamics derivative computation
*
* \param[in] tsim current simulation time [s]
* \param[in] y state vector of size n
* \param[out] dydt derivative
* \param[in,out] s Robotran main structure
* \param[in,out] dd direct dynamic main module structure
*/
void mbs_fct_dirdyn(double tsim, double y[], double dydt[], MbsData *s, MbsDirdyn *dd)
int mbs_fct_dirdyn(double tsim, double y[], double dydt[], MbsData *s, MbsDirdyn *dd)
{
int i;
......@@ -669,11 +662,6 @@ void mbs_fct_dirdyn(double tsim, double y[], double dydt[], MbsData *s, MbsDirdy
}
}
/*! \brief update the real-time and saving modules if requested
*
* \param[in] dd direct dynamics module
* \param[in] mbs_data Robotran main structure
*/
void save_realtime_update(MbsDirdyn* dd, MbsData* mbs_data)
{
#ifdef REAL_TIME
......
......@@ -125,12 +125,23 @@ void mbs_delete_dirdyn(MbsDirdyn* dirdyn, MbsData* mbs_data);
*
* \p dd the MbsDirdyn struct for which the buffers must be written
*/
void mbs_dirdyn_write_buffers(MbsDirdyn* dd);
void mbs_fct_dirdyn(double t, double y[], double dydt[], MbsData *s, MbsDirdyn *dd);
/*! \brief direct dynamics derivative computation
*
* \param[in] tsim current simulation time [s]
* \param[in] y state vector of size n
* \param[out] dydt derivative
* \param[in,out] s Robotran main structure
* \param[in,out] dd direct dynamic main module structure
*/
int mbs_fct_dirdyn(double t, double y[], double dydt[], MbsData *s, MbsDirdyn *dd);
/*! \brief update the real-time and saving modules if requested
*
* \param[in] dd direct dynamics module
* \param[in] mbs_data Robotran main structure
*/
void save_realtime_update(MbsDirdyn* dd, MbsData* mbs_data);
// double loop_dopri5(double cur_t0, double cur_tf, double dt0, double **dopri5_alloc_tab, MbsData *s, MbsDirdyn *dd, FILE *fileout_dopri5); old stuff
// double loop_rosenbrock(double t0, double tf, double dt0, MbsData *s, MbsDirdyn *dd, FILE *fileout_dopri5); old stuff
#endif
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