cuiksingequations.c File Reference

Detailed Description


Takes as input a world description and generates a cuik file with the kinematic equations and with the variables for joint limits properly re-written to produce singularities when their limit is reached. Moreover, if we are interested in the translation of a particular link equations giving its position in the global frame are added.

Note that cuiksingequations is only part of the process to generate systems charaterizing singularities. This generates a cuik file where to look for the variables of interest. Then we have to extend this cuik file with the linear combination of the Jacobian for the non-interesting variables.
The process can not be done in one step because, inintially the user can not guess the name for the variables in the cuiksystem.

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

Definition in file cuiksingequations.c.


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

Function Documentation

int main ( int  argc,
char **  arg 

Main body of the cuiksingequations application.


  • cuiksingequations link_name


  • link_name [Optional] link on which to focus. None for no particular link.
  • problem_name is the world file from which to generate the equations.
argcNumber of elements in the command line that starts the application (i.e., the cuiksingequations command itself and its arguments).
argStrings with the arguments.
EXIT_SUCCESS (0) if the execution worked out fine and EXIT_FAILURE if not.

Definition at line 86 of file cuiksingequations.c.

References CreateFileName(), CUIK_EXT, DeleteCuikSystem(), DeleteFileName(), DeleteParameters(), DeleteWorld(), Error(), GenerateWorldSingularityEquations(), GetFileFullName(), InitParametersFromFile(), InitWorldFromFile(), JOINTS_EXT, LinkFileNmeWithExtension(), LINKS_EXT, PARAM_EXT, PrintCuikSystem(), and WORLD_EXT.