cuikTWS.c File Reference

Detailed Description

Takes as input a world description and a link identifier and generates a cuik file with the kinematic equations and with the variables to detect the translational limits of the workspace.

This is a particular composition of cuiksingequations and cuikaddjacobian for a particular set of singularities.

The resulting cuiksystem is not directly solved, but written to a file so that the user can select to execute it on single or multiple processors.

See examples/WSSingularities for examples of how to use this application.

IMPORTANT: The automatic generation of equations to detect singularities is still in development. The tools currently included in the CuikSuite (including this one) can only deal with simple cases (e.g. planar robots with 3 degrees of freedom). Thus, right now it is advisable to manually generate these equations following the instructions given in the work by O. Bohigas, M. Manubens, and L. Ros.

See Also

world.c

Definition in file cuikTWS.c.

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

Function Documentation

int main	(	int	argc,
		char **	arg
	)

Main body of the cuikTWS application.

Use:

• cuikTWS problem_name.world link_name

where

• problem_name is the world file from which to generate the equations.
• link_name link on which to focus. None for no particular link.

Parameters

argc	Number of elements in the command line that starts the application (i.e., the cuiksingequations 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 79 of file cuikTWS.c.

References ChangeParameter(), CreateFileName(), CT_DUMMIFY, CUIK_EXT, DeleteCuikSystem(), DeleteFileName(), DeleteParameters(), DeleteWorld(), Error(), GenerateWorldTWSEquations(), GetFileFullName(), InitParametersFromFile(), InitWorldFromFile(), JOINTS_EXT, LinkFileNmeWithExtension(), LINKS_EXT, PARAM_EXT, PrintCuikSystemWithSimplification(), and WORLD_EXT.