cuikaddjacobian.c

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#include "parameters.h"
#include "defines.h"
#include "world.h"
#include "error.h"
#include "filename.h"

#include <stdlib.h>
#include <string.h>
#include <unistd.h>

int main(int argc, char **arg)
{
  Tparameters parameters;     /* Parameters */
  TCuikSystem cuik;           /* The cuiksystem to enrich with the Jacobian equations*/

  Tfilename fparam;
  Tfilename fcuik;
  Tfilename fcuikOut;
  
  FILE *f;
  boolean *selectedVars;
  unsigned int i,nv,vID;

  if (argc>1)
    {
      /*Init parameters*/
      CreateFileName(NULL,arg[1],NULL,PARAM_EXT,&fparam);
      #if (_DEBUG>0)
        printf("Reading parameter file     : %s\n",GetFileFullName(&fparam));
      #endif
      InitParametersFromFile(GetFileFullName(&fparam),&parameters);

      /*Init cuik*/
      CreateFileName(NULL,arg[1],NULL,CUIK_EXT,&fcuik);      
      #if (_DEBUG>0)
        printf("Reading .cuik file         : %s\n",GetFileFullName(&fcuik));
      #endif
      /*Read the cuik file*/
      InitCuikSystemFromFile(&parameters,GetFileFullName(&fcuik),&cuik);

      /*determine the variables*/
      nv=GetCSNumVariables(&cuik);
      
      if (argc>2)
        {
          NEW(selectedVars,nv,boolean);
          /*in principle all variables are to be used in the Jacobian*/
          for(i=0;i<nv;i++)
            selectedVars[i]=TRUE; 
          /*but we exclude those given by the user*/
          for(i=2;i<argc;i++)
            {
              vID=GetCSVariableID(arg[i],&cuik);
              if (vID==NO_UINT)
                fprintf(stderr,"ERROR: Variable %s is not included in the cuiksystem\n",arg[i]);
              else
                {
                  fprintf(stderr,"   Focusing on variable    : %s (%u)\n",arg[i],vID);
                  selectedVars[vID]=FALSE;
                }
            }
        }
      else
        selectedVars=NULL;
      
      /*Add singularity equations*/
      AddJacobianEquations(&parameters,selectedVars,&cuik);
      
      /*Print resulting extended cuiksystem*/
      CreateFileName(NULL,arg[1],"_J",CUIK_EXT,&fcuikOut);

      f=fopen(GetFileFullName(&fcuikOut),"w");
      if (!f)
         Error("Could not open output file in cuikaddjacobian");     
      #if (_DEBUG>0)
        printf("Generating the _J.cuik file: %s\n",GetFileFullName(&fcuikOut));
      #endif
      PrintCuikSystem(&parameters,f,&cuik);
      fclose(f);

      /* link the parameter/joints/links files */
      LinkFileNmeWithExtension(&fcuik,PARAM_EXT ,&fcuikOut);
      LinkFileNmeWithExtension(&fcuik,JOINTS_EXT,&fcuikOut);
      LinkFileNmeWithExtension(&fcuik,LINKS_EXT ,&fcuikOut);

      /* Delete the data structures */
      if (selectedVars!=NULL)
        free(selectedVars);
      DeleteCuikSystem(&cuik);
      DeleteParameters(&parameters);

      /* Delete the file names */
      DeleteFileName(&fparam);
      DeleteFileName(&fcuik);
      DeleteFileName(&fcuikOut);
    }
  else
    {
      fprintf(stderr,"  Wrong number of parameters.\n");
      fprintf(stderr,"  Use:\n");   
      fprintf(stderr,"      cuikaddjacobian <problem name> <varname1> <varname2> ...\n");
      fprintf(stderr,"  where \n");
      fprintf(stderr,"       <problem name> is the cuik file resulting from cuiksingequations\n");
      fprintf(stderr,"       <varnames> is the list of variables of interest\n");
    }

  return(EXIT_SUCCESS);
}