ARYSUB
ModelingCalculates the values for a userdefined input array element.
Use
<Reference_Array
id = "30100100"
type = "U"
num_element = "6"
usrsub_param_string = "USER(502,11401020,11701100,339.3,207)"
usrsub_dll_name = "NULL"
usrsub_fnc_name = "ARYSUB"
/>
Format
 Fortran Calling Syntax

SUBROUTINE ARYSUB (ID, TIME, PAR, NPAR, DFLAG, IFLAG, NVALUE, VALUE)
 C/C++ Calling Syntax

void STDCALL ARYSUB (int *id, double *time, double *par, int *npar, int *dflag, int *iflag, int *nvalue, double *value)
 Python Calling Syntax

def ARYSUB(id, time, par, npar, dflag, iflag, nvalue):
 MATLAB Calling Syntax

function value = ARYSUB(id, time, par, npar, dflag, iflag, nvalue)
Attributes
 ID
 [integer]
 TIME
 [double precision]
 PAR
 [double precision]
 NPAR
 [integer]
 DFLAG
 [logical]
 IFLAG
 [logical]
 NVALUES
 The number of values the userdefined Reference_Array contains.
Output
 VALUES
 [double precision]
Example
This example describes how ARYSUB is used to calculate six statedependent quantities that obey the following mathematical law:
$X$ is a 3x1 matrix that represents the displacement vector from the origin of a J Marker to the origin of the I Marker as measured in the global coordinate system.
$V$ is a 3x1 matrix that represents the time derivative of {X}.
$Y$ is a 3x1 matrix that represents the small angle rotation of the I Marker with respect to the J Marker.
$\omega $ is a 3x1 matrix that represents angular velocity of the I Marker with respect to the J Marker as measured in the ground coordinate system.
$C,{K}_{T},{C}_{T}$ are 3x3 diagonal matrices that are passed in to ARYSUB through the PAR array.
$F\left(X\right)$ is a 3x1 matrix whose entries are defined as spline functions of the displacement X.
def ARYSUB(id, time, par, npar, dflag, iflag, nvalue)
# Initialize outputs first
errflg =0
value = 6*[0.0]
# Get I/J, the spline ids and [K]/[C] matrices from PAR
Ipar = []
ipar.append(int(par[1]))
ipar.append(int(par[2]))
kx_spl_id=int(par[3])
ky_spl_id=int(par[4])
kz_spl_id=int(par[5])
ktx=par[6]
kty=par[7]
ktz=par[8]
cx=par[9]
cy=par[10]
cz=par[11]
ctx=par[12]
cty=par[13]
ctz=par[14]
# Calculate AX(I,J),AY(I,J),AZ(I,J)
[ax,errflg]=py_sysfnc("ax",ipar)
[ay,errflg]=py_sysfnc("ay",ipar)
[az,errflg]=py_sysfnc("az",ipar)
#CalculateDX(I,J,J),DY(I,J,J),DZ(I,J,J)
ipar.append(int(par[2]))
[dx,errflg]=py_sysfnc("dx",ipar)
[dy,errflg]=py_sysfnc("dy",ipar)
[dz,errflg]=py_sysfnc("dz",ipar)
#CalculateWX(I,J,J),WY(I,J,J),WZ(I,J,J)
[wx,errflg]=py_sysfnc("wx",ipar)
[wy,errflg]=py_sysfnc("wy",ipar)
[wz,errflg]=py_sysfnc("wz",ipar)
#CalculateVX(I,J,J,J),VY(I,J,J,J),VZ(I,J,J,J)
ipar.append(int(par[2]))
[vx,errflg]=py_sysfnc("vx",ipar)
[vy,errflg]=py_sysfnc("vy",ipar)
[vz,errflg]=py_sysfnc("vz",ipar)
#Calculate{F(x)}
[fx,errflg]=py_akispl(dx,0.0,kx_spl_id,0)
[fy,errflg]=py_akispl(dy,0.0,ky_spl_id,0)
[fz,errflg]=py_akispl(dz,0.0,kz_spl_id,0)
#{a}
value[0]=fxcx*vx
value[1]=fycy*vy
value[2]=fzcz*vz
#{b}
value[3]=ktx*axctx*wx
value[4]=kty*aycty*wy
value[5]=ktz*azctz*wz
return value
Comments
 ARYSUB can only be defined for an input array element. For example: Reference_Array with type="U".
 The ID of
the Reference_Array, defined with ARYSUB, may be
referenced as the u_array_id in Control_StateEqn or
Force_StateEqn element. For
example:
<Control_StateEqn id = "301001" type = "USERSUB" x_array_id = "30100200" y_array_id = "30100300" u_array_id = "30100100" num_state = "2" num_output = "1" is_static_hold = "FALSE" usrsub_param_string = "USER(998,0,1,10,.1,10,0,0,1)" usrsub_dll_name = "NULL" usrsub_fnc_name = "GSESUB" usrsub_der1_name = "GSEXX" usrsub_der2_name = "GSEXU" usrsub_der3_name = "GSEYX" /> <Force_StateEqn id = "301001" type = "USERSUB" x_array_id = "535050504" y_array_id = "535050508" u_array_id = "535050505" num_state = "2" num_output = "6" usrsub_param_string = "USER(1001,100.,0.31625,0.0004,1.,5.,5,3,0.5,0.3,0.)" usrsub_dll_name = "ms_csubdll" usrsub_fnc_name = "YFOSUB" is_static_hold = "FALSE" i_marker_id = "30101020" j_floating_marker_id= "30102020" ref_marker_id = "30102020" />