[Fix] remove useless function print matrix vector in mbs_print_data, issue #61

MBsysC/mbs_common/mbs_module/mbs_equil.c

@@ -1039,7 +1039,7 @@ void mbs_print_equil(MbsEquil* eq)
     }
 
     mbs_msg(" nquch . . . .  = %d \n", eq->options->nquch);
-	print_intvector("quch", eq->options->nquch, eq->options->quch);
+    mbs_msg("quch = ");  print_ivec_1(eq->options->quch);
     mbs_msg(" nxe   . . . .  = %d \n", eq->options->nxe);
 
     mbs_msg("Variables \n");

MBsysC/mbs_common/mbs_utilities/mbs_data.c

@@ -11,41 +11,6 @@
     #include "mbs_user_interface.h"
 #endif
 
-/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
-// Those utility functions should be move elsewhere
-// We should use function of useful_functions. h but signature is not the same ... we need to merge that all!
-
-void print_vector(char* prefix, int n, double *vec){
-    int i;
-    mbs_msg(" %s = [", prefix);
-    for(i=1; i <= n ; i++){
-       mbs_msg(" %lf ", vec[i]);
-    }
-    mbs_msg("]\n");
-}
-
-void print_intvector(char* prefix, int n, int *vec){
-    int i;
-    mbs_msg(" %s = [", prefix);
-    for(i=1; i <= n ; i++){
-       mbs_msg(" %d ", vec[i]);
-    }
-    mbs_msg("]\n");
-}
-
-void print_matrix(char* prefix, int r, int c, double **mat){
-    int i, j;
-    mbs_msg(" %s = [", prefix);
-    for(i=1; i <= r ; i++){
-        for(j=1; j <= c ; j++){
-            mbs_msg(" %lf ", mat[i][j]);
-        }
-        mbs_msg(" \n        ");
-    }
-    mbs_msg("]\n");
-}
-/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
-
 void mbs_print_data(MbsData* s){
     mbs_msg("\n MbsData \n");
 
@@ -69,30 +34,28 @@ void mbs_print_data(MbsData* s){
     mbs_msg(" Nuser_model = %d \n", s->Nuser_model);
     mbs_msg(" Nux . . . . = %d \n", s->Nux);
 
-    print_vector("g",  3, s->g);
+    mbs_msg("g = "); print_dvec_0(s->g,3);
 
-    print_vector("q  ", s->njoint, s->q);
-    print_vector("qd ", s->njoint, s->qd);
-    print_vector("qdd", s->njoint, s->qdd);
-    print_vector("Qq",  s->njoint, s->Qq);
+    mbs_msg("q = "); print_dvec_1(s->q);
+    mbs_msg("qd = "); print_dvec_1(s->qd);
+    mbs_msg("qdd = "); print_dvec_1(s->qdd);
+    mbs_msg("Qq = "); print_dvec_1(s->Qq);
 
     mbs_msg("\n");
-    print_intvector("qc  ", s->nqc, s->qc);
-    print_intvector("qu  ", s->nqu, s->qu);
-    print_intvector("qa  ", s->nqa, s->qa);
-    print_intvector("qv  ", s->nqv, s->qv);
-    print_intvector("hu  ", s->nhu, s->hu);
 
-    print_matrix("dpt ", 3, s->npt, s->dpt);
-    print_vector("m",  s->njoint, s->m);
-    print_matrix("In ", 9, s->njoint, s->In);
-    print_matrix("l ", 3, s->njoint, s->l);
+    mbs_msg("qc = "); print_ivec_1(s->qc);
+    mbs_msg("qu = "); print_ivec_1(s->qu);
+    mbs_msg("qa = "); print_ivec_1(s->qa);
+    mbs_msg("qv = "); print_ivec_1(s->qv);
+    mbs_msg("hu = "); print_ivec_1(s->hu);
 
-    mbs_print_user_model(s->user_model);
-    /*printUserModel(s->usrMod);
-     
+    mbs_msg("dpt = "); print_dmat_0(s->dpt,s->npt, s->npt);
+    mbs_msg("m = "); print_dvec_1(s->m);
+    mbs_msg("In = "); print_dmat_0(s->In, 9, s->njoint);
+    mbs_msg("l = "); print_dmat_0(s->l,3, s->njoint);
+    mbs_msg("\n");
 
-    printUserIO(s->userIO);*/
+    mbs_print_user_model(s->user_model);
 }
 
 void mbs_copy_data(MbsData* s, MbsData* s_copy)

MBsysC/mbs_common/mbs_utilities/useful_functions.h

@@ -522,9 +522,6 @@ void scale_matrix(double** matrix, int* n, int* initzeros);
 extern "C" {
 #endif
     void mbs_print_data(MbsData *mbs_data);
-    void print_vector(char* prefix, int n, double *vec);
-    void print_intvector(char* prefix, int n, int *vec);
-    void print_matrix(char* prefix, int r, int c, double **mat);
     void mbs_copy_data(MbsData* s, MbsData* s_copy);
     /*! \brief Reset all fields of a MbsData structure to initial values
     *