Institut de Robòtica i Informàtica Industrial
KRD Group

The CuikSuite Project

TCuikSystem Struct Reference

A cuiksystem, i.e., a set of variables and equations defining a position analysis problem. More...

#include <cuiksystem.h>

Collaboration diagram for TCuikSystem:
Collaboration graph
[legend]

Data Fields

boolean updated
boolean empty
Tstatistics st
Tmapping * simplification
unsigned int searchMode
Tequation orig_eqMin
Tequation eqMin
Tmapping * orig2sd
Tequations equations
Tvariables variables
unsigned int nequations
unsigned int nvariables
boolean * systemVar
boolean * notDummyVar
unsigned int * varType
Tmapping * orig2s
Tequations simp_equations
Tvariables simp_variables
unsigned int simp_nequations
unsigned int simp_nvariables
unsigned int simp_nee
Tequation ** J
Tequations orig_equations
Tvariables orig_variables
unsigned int orig_nequations
unsigned int orig_nvariables
boolean * orig_systemVar
boolean * orig_notDummyVar
char ** orig_varNames

Detailed Description

This structure includes all the information defining a position analysis problem, that is, a set of varaibles and a set of equations using these variables.
We store the variables/equations as defined by the user, a simplified version where some variables/equations are removed (because they are constant or they can be defined in function of other variables), and a simplified+dummified version where equations that can not be directly handled by linear relaxations are re-wrote into simpler equations.
Note that the two simplified cuiksystems are for internal use and its existence is transparent: all function calls refer to the original variables and equations.
Finally, this structure also includes information about variables and equations that is cached to speed up the process. Everytime there is a change in the system this information must be recomputed.

See also:
cuiksystem.h cuiksystem.c Tmapping

Definition at line 98 of file cuiksystem.h.

Field Documentation

boolean TCuikSystem::updated

TRUE if the cached information is up to date.

Definition at line 99 of file cuiksystem.h.

Referenced by AddEquation2CS(), AddVariable2CS(), CopyCuikSystem(), CuikSystemMerge(), DeleteSimpCuikSystemJacobian(), InitCuikSystem(), ReduceBox(), SampleCuikSystemInBox(), SetCSVariableRange(), UnUpdateCuikSystem(), and UpdateCuikSystem().

boolean TCuikSystem::empty

TRUE if the system includes no equations.

Definition at line 100 of file cuiksystem.h.

Referenced by CopyCuikSystem(), CuikSystemMerge(), DeleteCuikSystem(), InitCuikSystem(), ReduceBox(), and UpdateCuikSystem().

Tstatistics TCuikSystem::st

Set of statistics including information about the last attempt to solve the problem

Definition at line 102 of file cuiksystem.h.

Referenced by CopyCuikSystem(), DeleteCuikSystem(), LoadCSState(), MPI_SolveCuikSystem(), MPI_TreatBox(), PostProcessBox(), ReduceBox(), SaveCSState(), and SolveCuikSystem().

Tmapping* TCuikSystem::simplification

Mappings to relate the original and the simplified variables.

Definition at line 104 of file cuiksystem.h.

unsigned int TCuikSystem::searchMode

Criterion to be used when sorting the boxes pending to be processed.

Definition at line 107 of file cuiksystem.h.

Referenced by AddTerm2SearchCriterion(), CopyCuikSystem(), CuikSystemMerge(), InitCuikSystem(), MPI_SolveCuikSystem(), PostProcessBox(), PrintCuikSystem(), PrintCuikSystemWithSimplification(), SetCSSearchMode(), SolveCuikSystem(), UnUpdateCuikSystem(), and UpdateCuikSystem().

Tequation TCuikSystem::orig_eqMin

Equation to be minimized when searcMode is set to MINIMIZATION_SEARCH in its original form.

Definition at line 108 of file cuiksystem.h.

Referenced by AddTerm2SearchCriterion(), CopyCuikSystem(), CuikSystemMerge(), InitCuikSystem(), PrintCuikSystem(), PrintCuikSystemWithSimplification(), SetCSSearchMode(), and UpdateCuikSystem().

Tequation TCuikSystem::eqMin

Equation to be minimized when searcMode is set to MINIMIZATION_SEARCH in its simplified form.

Definition at line 110 of file cuiksystem.h.

Referenced by CopyCuikSystem(), PrintCuikSystemWithSimplification(), UnUpdateCuikSystem(), and UpdateCuikSystem().

Tmapping* TCuikSystem::orig2sd

Mappings to relate the original and the simplified+dummified variables.

Definition at line 115 of file cuiksystem.h.

Referenced by ComputeSplitDim(), CopyCuikSystem(), CuikSystemMerge(), InitCuikSystem(), MaxReduction(), PostProcessBox(), PrintCuikSystemWithSimplification(), ReGenerateOriginalBox(), SaveCuikSystemSimplification(), SimplifyCuikSystem(), UnUpdateCuikSystem(), and UpdateCuikSystem().

Tequations TCuikSystem::equations

Simplified+dummified set of equations

Definition at line 117 of file cuiksystem.h.

Referenced by ComputeSplitDimInt(), CopyCuikSystem(), CSRemoveLCVars(), CSRemoveUnusedVars(), CSRemoveVarsWithCtRange(), DummifyAndAddEquation(), DummifyCuikSystem(), PrintCuikSystemWithSimplification(), ReduceBox(), ReduceBoxEquationWise(), SimplifyCuikSystem(), UnUpdateCuikSystem(), and UpdateCuikSystem().

Tvariables TCuikSystem::variables

Simplified+dummified set of variables

Definition at line 118 of file cuiksystem.h.

Referenced by CopyCuikSystem(), CSRemoveLCVars(), CSRemoveUnusedVars(), CSRemoveVarsWithCtRange(), DummifyAndAddEquation(), MPI_SolveCuikSystem(), PrintCuikSystemWithSimplification(), ReduceBox(), SimplifyCuikSystem(), SolveCuikSystem(), UnUpdateCuikSystem(), and UpdateCuikSystem().

unsigned int TCuikSystem::nequations

Total number of equations in the simplified+dummified system.

Definition at line 120 of file cuiksystem.h.

Referenced by ComputeSplitDimInt(), CopyCuikSystem(), CuikSystemMerge(), InitCuikSystem(), UnUpdateCuikSystem(), and UpdateCuikSystem().

unsigned int TCuikSystem::nvariables

Total num. of variables in the simplified+dummified system.

Definition at line 121 of file cuiksystem.h.

Referenced by ComputeSplitDimInt(), CopyCuikSystem(), CuikSystemMerge(), InitCuikSystem(), LoadCSState(), MPI_SolveCuikSystem(), MPI_TreatBox(), ReduceBox(), ReduceBoxEquationWise(), UnUpdateCuikSystem(), and UpdateCuikSystem().

boolean* TCuikSystem::systemVar

TRUE if the 'i'-th variable in the simplified+dummified system is a system var.

Definition at line 122 of file cuiksystem.h.

Referenced by ComputeSplitDimInt(), CopyCuikSystem(), CuikSystemMerge(), InitCuikSystem(), MPI_SolveCuikSystem(), PostProcessBox(), ReduceBox(), ReduceBoxEquationWise(), SolveCuikSystem(), UnUpdateCuikSystem(), and UpdateCuikSystem().

boolean* TCuikSystem::notDummyVar

TRUE if the 'i'-th variable in the simplified+dummified system is not a dummy var.

Definition at line 123 of file cuiksystem.h.

Referenced by CopyCuikSystem(), CuikSystemMerge(), InitCuikSystem(), ReduceBox(), UnUpdateCuikSystem(), and UpdateCuikSystem().

unsigned int* TCuikSystem::varType

Type for each original variable (system, dummy, ...) in the simplified+dummified system.

Definition at line 124 of file cuiksystem.h.

Referenced by CopyCuikSystem(), CuikSystemMerge(), InitCuikSystem(), ReduceBox(), UnUpdateCuikSystem(), and UpdateCuikSystem().

Tmapping* TCuikSystem::orig2s

Mappings to relate the original and the simplified variables.

Definition at line 128 of file cuiksystem.h.

Referenced by SimplifyCuikSystem(), and UnUpdateCuikSystem().

Tequations TCuikSystem::simp_equations

Simplified set of equations

Definition at line 130 of file cuiksystem.h.

Referenced by ComputeSimpCuikSystemJacobian(), SimplifyCuikSystem(), UnUpdateCuikSystem(), and UpdateCuikSystem().

Tvariables TCuikSystem::simp_variables

Simplified set of variables

Definition at line 131 of file cuiksystem.h.

Referenced by SimplifyCuikSystem(), UnUpdateCuikSystem(), and UpdateCuikSystem().

unsigned int TCuikSystem::simp_nequations

Total number of equations in the simplified system.

Definition at line 133 of file cuiksystem.h.

Referenced by UnUpdateCuikSystem(), and UpdateCuikSystem().

unsigned int TCuikSystem::simp_nvariables

Total num. of variables in the simplified system.

Definition at line 134 of file cuiksystem.h.

Referenced by ComputeSimpCuikSystemJacobian(), DeleteSimpCuikSystemJacobian(), UnUpdateCuikSystem(), and UpdateCuikSystem().

unsigned int TCuikSystem::simp_nee

Number of equalities in the simplified set of equations.

Definition at line 135 of file cuiksystem.h.

Referenced by ComputeSimpCuikSystemJacobian(), DeleteSimpCuikSystemJacobian(), UnUpdateCuikSystem(), and UpdateCuikSystem().

Tequation** TCuikSystem::J

Jacobian of the simplified set of equations (only for equalities).

Definition at line 136 of file cuiksystem.h.

Referenced by ComputeSimpCuikSystemJacobian(), and DeleteSimpCuikSystemJacobian().

Tequations TCuikSystem::orig_equations

Equations as given by the user

Definition at line 141 of file cuiksystem.h.

Referenced by AddEquation2CS(), CoordInequalitiesHold(), CopyCuikSystem(), CuikSystemMerge(), DeleteCuikSystem(), DeleteCuikSystemJacobian(), ErrorInInequalities(), ErrorInSolution(), GetCSEquation(), GetCSEquations(), GetCSNumEquations(), GetCuikSystemJacobian(), InitCuikSystem(), PrintCuikSystem(), PrintCuikSystemWithSimplification(), SampleCuikSystemInBox(), SimplifyCuikSystem(), and UpdateCuikSystem().

Tvariables TCuikSystem::orig_variables

Variables as given by the user

Definition at line 142 of file cuiksystem.h.

Referenced by AddVariable2CS(), CoordInequalitiesHold(), CopyCuikSystem(), CSRemoveLCVars(), CSRemoveVarsWithCtRange(), CuikSystemMerge(), DeleteCuikSystem(), DeleteCuikSystemJacobian(), ErrorInInequalities(), ErrorInSolution(), GenerateInitialBox(), GetCSNumNonDummyVariables(), GetCSNumVariables(), GetCSSystemVars(), GetCSVariable(), GetCSVariableID(), GetCSVariables(), GetCuikSystemJacobian(), InitCuikSystem(), PointInSystemBox(), PostProcessBox(), PrintCuikSystem(), PrintCuikSystemWithSimplification(), ReGenerateOriginalBox(), SampleCuikSystemInBox(), SetCSVariableRange(), SimplifyCuikSystem(), and UpdateCuikSystem().

unsigned int TCuikSystem::orig_nequations

Total number of equations in the original system.

Definition at line 144 of file cuiksystem.h.

Referenced by CopyCuikSystem(), CuikSystemMerge(), InitCuikSystem(), UnUpdateCuikSystem(), and UpdateCuikSystem().

unsigned int TCuikSystem::orig_nvariables

Total number of variables in the original system.

Definition at line 145 of file cuiksystem.h.

Referenced by CopyCuikSystem(), CuikSystemMerge(), ErrorInInequalities(), ErrorInSolution(), InitCuikSystem(), UnUpdateCuikSystem(), and UpdateCuikSystem().

boolean* TCuikSystem::orig_systemVar

TRUE if the 'i'-th original variable is a system var.

Definition at line 146 of file cuiksystem.h.

Referenced by CopyCuikSystem(), CuikSystemMerge(), InitCuikSystem(), PostProcessBox(), UnUpdateCuikSystem(), and UpdateCuikSystem().

boolean* TCuikSystem::orig_notDummyVar

TRUE if the 'i'-th original variable is not a dummy var.

Definition at line 147 of file cuiksystem.h.

Referenced by CopyCuikSystem(), CuikSystemMerge(), InitCuikSystem(), UnUpdateCuikSystem(), and UpdateCuikSystem().

char** TCuikSystem::orig_varNames

Pointers to the name of the variables. Used when printing boxes.

Definition at line 149 of file cuiksystem.h.

Referenced by UnUpdateCuikSystem(), and UpdateCuikSystem().

The documentation for this struct was generated from the following file: