Utility Subroutines

There are two types of Utility subroutines:

•	Analysis control subroutines, which are built-in subroutines provided by MotionSolve that allow a user-written subroutine to perform various types of analysis, generate output and modify the model defined in the XML input file.

•	Data Access subroutines, which are built-in subroutines provided by MotionSolve that allow a user-written subroutine to access model parameter or information state.

These are listed below with a brief description of each. See each subroutine’s documentation for more details on its use.

Analysis Control Subroutines

Name	Purpose
ANALYS	Performs a specified MotionSolve analysis.
DATOUT	Writes simulation information to all the output files.
MODIFY	Allows modification of a model attribute.

Data Access Subroutines

Name	Purpose
ADD_MASS_PROPERTY	Returns aggregate mass data for a set of bodies.
AKISPL	Uses the AKIMA method to interpolate values defined in a REFERENCE_SPLINE element.
BISTOP	Evaluates a BITSTOP function (gap element).
BODY_MASS_PROPERTY	Returns the mass, c.g., and inertia tensor for a body or the entire model.
CHEBY	Evaluates a CHEBYSHEV polynomial function.
CUBSPL	Uses the cubic spline method to interpolate values defined in a REFERENCE_SPLINE element.
ERRMES	Outputs error messages from user subroutines during MotionSolve execution.
FITSPL	Uses the FITSPL method to interpolate values defined in a REFERENCE_SPLINE element.
FMIN_SLSQP	SLSQP optimizer is a sequential least squares programming algorithm for nonlinear, constrained gradient-based optimization
FORCOS	Evaluates a Fourier Cosine series.
FORSIN	Evaluates a Fourier Sine series.
GET_CONTACT_POST	Used to extract rigid body contact results.
GET_FULL_MATRIX_DATA	Returns the data defined in a full REFERENCE_MATRIX element.
GET_GRAVITY	Returns the gravitational acceleration specified in the FORCE_ GRAVITY modeling element.
GET_MATRIX_INFO	Returns information about a REFERENCE_MATRIX element.
GET_NCONTACTS	Used to extract the number of rigid body contacts during the simulation.
GET_POST_STATES	Extracts state variables in a MotionSolve model.
GET_SPARSE_MATRIX_DATA	Returns the data from a sparse REFERENCE_MATRIX element.
GETCPU	Returns the CPU time used up during MotionSolve execution.
GETINM	Returns the mode that MotionSolve is in – interactive or batch.
GETINT	Returns the integrator type during a MotionSolve run.
GETMOD	Returns the analysis mode during MotionSolve execution.
GETSLV	Returns the active linear solver.
GETSTM	Returns the current MotionSolve simulation time.
GETVER	Returns the MotionSolve version number.
GTARAY	Returns values stored in an IC REFERENCE_ARRAY entity.
GTCMAT	Returns the compliance matrix between “N” REFERENCE_MARKERS in a MotionSolve model.
GTCURV	Returns the coordinates of a point on a B-spline or user-written curve created with the REFERENCE_SPLINE entity.
GTINAM	Returns the base-name of the MotionSolve input XML file.
GTONAM	Returns the base-name of the MotionSolve output file.
GTSTRG	Retrieves values stored in a REFERENCE_STRING entity.
GTUNTS	Returns model UNITS information from MotionSolve.
HAVSIN	Evaluates a Haversine function.
IMPACT	Models a contact force or collision phenomena.
ISTRNG	Converts an integer to a string.
MODFNC	Retrieves model data specified in the XML input file.
MODINF	Retrieves the mode numbers and the corresponding mode frequencies of a BODY_FLEXIBLE element.
MODSET	Modifies model data specified in the XML input file.
NMODES	Returns the number of modal coordinates corresponding in a BODY_FLEXIBLE element.
POLY	Evaluates a generic polynomial.
PUT_SPLINE	Used in conjunction with SPLINE_READ. It is used to store data read by SPLINE_READ within MotionSolve.
QUISPL	Returns the interpolated values for data in a REFERENCE_SPLINE element, with interpolation being performed by a fifth order spline.
RCNVRT	Convert rotational coordinates between the various supported representations.
RELOAD_MODEL	Loads a model defined in a MotionSolve XML input file into memory and makes it the current model.
RELPAR	Returns the user-defined work array data.
RSTRNG	Converts a double precision variable to a string.
SAVE_MODEL	Saves the current model from a user-written CONSUB.
SAVPAR	Saves the user-defined work array data.
SET_ATTRIBUTE	Modifies the attribute accessed by the last MODFNC or MODSET call.
SET_DISCRETE_INTERFACE	Instructs the solver to call the user-written subroutine discretely and only after successful integration steps.
SET_GSE_ALGEBRAIC_EQN	Used in a GSESUB to specify the implicit, algebraic equations in the CONTROL_STATEEQN element.
SET_GSE_NONZERO_ENTRY	Used in a GSESUB to specify the nonzero entries of the Jacobian matrix associated with the GSE XX, XU, YX and YU matrices.
SHF	Evaluates a Simple Harmonic Function.
STEP	Evaluates a Step function via cubic polynomial approximation.
STEP5	Evaluates a Step function via polynomial of the fifth order approximation.
STR2DBLARY	Converts string data into double or double array.
STR2INTARY	Converts string data into integer or integer array.
SUBTRACT_MASS_PROPERTY	Returns mass data for one set of bodies minus another set of bodies.
SYSARY	Returns state dependent information to a user subroutine.
SYSFNC	Returns state dependent information to a user subroutine.
TCNVRT	Converts translational coordinates between the various supported representations.
TIMGET	Returns the time corresponding to the last successful simulations step.
UCOMAR	Specifies the MARKER states used by UCOSUB to define a user defined constraint.
UCOVAR	Specifies the PART states used by UCOSUB to define a user defined constraint.
USRMES	Outputs user messages during MotionSolve execution.

Utility Subroutines

Utility Subroutines

Utility Subroutines

Analysis Control Subroutines

Name

Purpose

Data Access Subroutines

Name

Purpose