cuikequations.c File Reference

Main body of the cuikequations application. More...

#include "parameters.h"
#include "defines.h"
#include "world.h"
#include "error.h"
#include "filename.h"
#include <stdlib.h>
#include <string.h>

Go to the source code of this file.

Functions
int	main (int argc, char **arg)
	Main body of the cuikequations application.

---

Detailed Description

Takes as input a world description and generates a cuik file

• A _kin.cuik with the equations derived from the kinematic constraints.

If the world file includes obstacle avoidance information several additional cuik files are generated. Namelly

• A _global.cuik with all the equations, i.e., the kinematic ones and the collision related ones.
• A set of _link_X_body_Y_link_Z_body_W.cuik and _link_X_body_Y_obs_Z.cuik files with the kinematic constraints plus the collision related constraints for the a particular pair of objects (either parts of a link or obstacles).

With minimal modifications you can use the equations in the .cuik file as inputs for other general solvers.

See also:

world.c

Definition in file cuikequations.c.

---

Function Documentation

int main	(	int	argc,
		char **	arg
	)

Main body of the cuikequations application.

Use:

• cuikequations problem_name.world

where

• problem_name is the world file from which to generate the equations.

Parameters:

	argc	Number of elements in the command line that starts the application (i.e., the cuikequations command itself and its arguments).
	arg	Strings with the arguments.

Returns:

EXIT_SUCCESS (0) if the execution worked out fine and EXIT_FAILURE if not.

Definition at line 53 of file cuikequations.c.

References CreateFileName(), DeleteFileName(), DeleteParameters(), DeleteWorld(), GetFileFullName(), InitParametersFromFile(), InitWorldFromFile(), PARAM_EXT, PrintWorldCS(), and WORLD_EXT.

Here is the call graph for this function: