cuikjoints2links.c File Reference Detailed Description
Function Documentation
Main body of the cuikjoints2links application. A tool to transform articular variables to cuik variables. It additonally store the samples in the form of boxes (in a .sol file) and give the variable names and the system variables in the simplified form (in a .vname and .vmask files). These two last files are used when generating eigengrasp from files in JOINTS. These files are transformed to .sample files and we need to retain which of the dimensions of the samples are independent. The variable names are used to generate the eigen-grasp equations that are latter added to the cuiksystem. Use:
where
The extensions are optional. This *.vmaks output is an array of booleans that indicate which of the variables used in the problem are related to the pose of the main links in the problem and are present in the simplified system.
Definition at line 78 of file cuikjoints2links.c. References CreateFileName(), CT_REPRESENTATION, DeleteBox(), DeleteFileName(), DeleteParameters(), DeleteWorld(), Error(), FALSE, GetFileFullName(), GetParameter(), GetWorldNDOF(), GetWorldSimpVariableMask(), GetWorldSystemVars(), GetWorldVarNames(), InitParametersFromFile(), InitWorldFromFile(), JOINTS_EXT, LINKS_EXT, NEW, PARAM_EXT, PRINT_VARIABLE_NAME, PrintBoxSubset(), PrintReal(), REP_JOINTS, SOL_EXT, TRUE, WORLD_EXT, and WorldDOF2Sol(). |
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