void simu_controller_loop(MBSdataStruct *MBSdata)
{
// variables declaration
double tsim;
UserIOStruct *uvs;
ControllerStruct *cvs;
// variables initialization
tsim = MBSdata->tsim;
uvs = MBSdata->user_IO;
cvs = uvs->cvs;
// controller called every milli-second (PERIOD_CTRL)
if (tsim >= uvs->last_t_ctrl + PERIOD_CTRL - TIME_EPSILON)
{
uvs->last_t_ctrl = tsim;
controller_loop_interface(MBSdata);
}
// simulation outputs for simulink (useless for the Standalone version)
simulink_outputs(MBSdata);
// stopping the simulation if needed
stop_simu(MBSdata);
}
void simu_controller_loop(MBSdataStruct *MBSdata)
{
double tsim;
ControllerStruct *cvs;
UserIOStruct *uvs;
uvs = MBSdata->user_IO;
cvs = uvs->cvs;
tsim = MBSdata->tsim;
// controller
if (tsim >= uvs->last_t_ctrl + PERIOD_CTRL - TIME_EPSILON)
{
uvs->last_t_ctrl = tsim;
controller_inputs(MBSdata);
controller_loop(cvs);
controller_outputs(MBSdata);
}
// simulation outputs
simu_outputs(MBSdata);
// objective function
fitness(MBSdata);
// stopping the simulation if needed
stop_simu(MBSdata);
}
