Detailed Description

Implementation of the functions operating on TCuikSystem.

See Also: TCuikSystem, cuiksystem.h.

Definition in file cuiksystem.c.

Functions
void	DummifyAndAddEquation (Tparameters p, Tequation eq, TCuikSystem *cs)
	Adds an equation to the cuiksystem. More...

void	DummifyCuikSystem (Tparameters p, TCuikSystem cs)
	Apply the selected dummification level to a cuiksystem. More...

double	EvaluateEqMin (void b, void cs)
	Evaluates the equation to minimize in a given box. More...

unsigned int	ReduceBoxEquationWise (Tparameters p, Tbox b, TCuikSystem *cs)
	Reduces a box considering one equation at a time. More...

unsigned int	ReduceBox (Tparameters p, unsigned int varMask, Tbox b, TCuikSystem *cs)
	Reduces a box as much as possible. More...

void	PostProcessBox (Tparameters p, unsigned int c, FILE f_out, Tlist sol, Theap boxes, Tbox b, TCuikSystem cs)
	Process a box after being reduced. More...

void	CSRemoveUnusedVars (Tparameters p, TCuikSystem cs)
	Removes non-used variables. More...

boolean	CSRemoveVarsWithCtRange (Tparameters p, boolean replaced, TLinearConstraint lc, Tbox borig, TCuikSystem *cs)
	Removes variables with constant range. More...

boolean	CSRemoveLCVars (Tparameters p, unsigned int simplificationLevel, unsigned int level, boolean changed, boolean replaced, TLinearConstraint lc, Tbox borig, TCuikSystem cs)
	Removes variables that are linearly dependent on other variables. More...

boolean	SimplifyCuikSystem (Tparameters p, TCuikSystem cs)
	Simplifies a cuiksystem. More...

void	AddJacobianEquationsInt (Tparameters p, boolean selectedVars, TJacobian J, TCuikSystem cs)
	Adds linear a linear combination of the Jacobian to the system. More...

boolean	UpdateCuikSystem (Tparameters p, TCuikSystem cs)
	Updates the cached information for the cuiksystem. More...

void	UnUpdateCuikSystem (TCuikSystem *cs)
	Removes the cached information for the cuiksystem. More...

unsigned int	ComputeSplitDimInt (Tparameters p, Tbox b, TCuikSystem *cs)
	Computes the optimal split dimension for a given box. More...

void	SaveCSState (char fname, Tlist lb, TCuikSystem *cs)
	Saves internal the cuik solver state information to a file. More...

void	LoadCSState (char fname, Tlist lb, TCuikSystem *cs)
	Retrives the internal the cuik solver state information from a file. More...

void	InitCuikSystem (TCuikSystem *cs)
	Constructor. More...

void	VerifyCuikSystem (Tparameters p, TCuikSystem cs)
	Checks the consistency of the cuiksystem. More...

void	CopyCuikSystem (TCuikSystem cs_dst, TCuikSystem cs_src)
	Copy constructor. More...

void	CuikSystemMerge (Tparameters p, TCuikSystem cs1, TCuikSystem cs2, TCuikSystem cs)
	Produces the union of two cuik systems. More...

boolean	CmpBoxesEquation (void b1, void b2, void *cs)
	Determines which box to explore first in minimization mode. More...

void	SetCSSearchMode (unsigned int sm, Tequation eqMin, TCuikSystem cs)
	Sets the search mode for the cuiksystem. More...

void	AddTerm2SearchCriterion (double w, unsigned int v, double val, TCuikSystem *cs)
	Adds penalty terms to the search criterion. More...

void	AddEquation2CS (Tparameters p, Tequation eq, TCuikSystem *cs)
	Adds an equation to the system. More...

void	AddMatrixEquation2CS (Tparameters p, TMequation eq, TCuikSystem *cs)
	Adds a matrix equation to the system. More...

unsigned int	AddVariable2CS (Tvariable v, TCuikSystem cs)
	Adds a variable to the system. More...

void	GetCSVariables (Tvariables vs, TCuikSystem cs)
	Gets the cuiksystem variables. More...

void	GetCSVariableNames (char *varNames, TCuikSystem cs)
	Gets points to the variable names. More...

unsigned int	GetCSNumVariables (TCuikSystem *cs)
	Gets the number of variables already in the cuiksystem. More...

unsigned int	GetCSNumSystemVariables (TCuikSystem *cs)
	Gets the number of system variables already in the cuiksystem. More...

unsigned int	GetCSNumNonDummyVariables (TCuikSystem *cs)
	Gets the number of non-dummy variables already in the cuiksystem. More...

void	GetCSVariable (unsigned int n, Tvariable v, TCuikSystem cs)
	Gets the a variable from a cuiksystem. More...

void	SetCSVariableRange (unsigned int n, Tinterval r, TCuikSystem cs)
	Gets the range of a variable from a cuiksystem. More...

unsigned int	GetCSVariableID (char name, TCuikSystem cs)
	Gets the numerical identifier of a variable given its name. More...

char *	GetCSVariableName (unsigned int id, TCuikSystem *cs)
	Gets a variable name. More...

boolean	IsSystemVarInSimpCS (Tparameters p, char v, TCuikSystem *cs)
	Identifies system variables that survive in the simplified system. More...

unsigned int	GetCSSystemVars (boolean *sv, TCuikSystem cs)
	Identifies the system variables. More...

unsigned int	GetCSVarTopology (unsigned int vID, TCuikSystem *cs)
	Determines the topology of a given variable. More...

void	GetCSEquations (Tequations eqs, TCuikSystem cs)
	Gets a copy of the system equations. More...

void	GetCSEquation (unsigned int n, Tequation eq, TCuikSystem cs)
	Gets the an equation from a cuiksystem. More...

boolean	IsCSPolynomial (TCuikSystem *cs)
	Identifies polynomial cuiksystems. More...

boolean	IsCSScalar (TCuikSystem *cs)
	Identifies scalar cuiksystems. More...

unsigned int	GetCSNumEquations (TCuikSystem *cs)
	Gets the number of equations already in the cuiksystem. More...

void	GetCSJacobian (TJacobian J, TCuikSystem cs)
	Defines the Jacobian of a CuikSystem. More...

unsigned int	GetSimpCSTopology (Tparameters p, unsigned int t, TCuikSystem cs)
	Topology of the variables in the simplified system. More...

void	GetSimpCSJacobian (Tparameters p, TJacobian J, TCuikSystem *cs)
	Defines the Jacobian of a simplified CuikSystem. More...

void	AddJacobianEquations (Tparameters p, boolean selectedVars, TCuikSystem *cs)
	Adds linear a linear combination of the Jacobian to the system. More...

void	AddSimplifiedJacobianEquations (Tparameters p, boolean selectedVars, TCuikSystem *cs)
	Adds linear a linear combination of the Jacobian to the system. More...

unsigned int	MaxReduction (Tparameters p, unsigned int varMask, double reduction, Tbox b, TCuikSystem cs)
	Reduces a box as much as possible. More...

boolean	SampleCuikSystem (Tparameters p, char fname, Tlist sb, unsigned int nsamples, unsigned int ntries, unsigned int ndof, TCuikSystem cs)
	Generates samples for a cuiksystem. More...

boolean	SampleCuikSystemInBox (Tparameters p, char fname, Tlist sb, unsigned int nsamples, unsigned int ntries, unsigned int ndof, Tbox init_box, TCuikSystem *cs)
	Generates samples for a cuiksystem in given box. More...

boolean	IncrementalSampleCuikSystem (Tparameters p, char fname, Tlist sb, boolean fixVars, unsigned int nsamples, unsigned int ntries, unsigned int ndof, TCuikSystem *cs)
	Generates samples for a cuiksystem. More...

boolean	IncrementalSampleCuikSystemInBox (Tparameters p, char fname, Tlist sb, boolean fixVars, unsigned int nsamples, unsigned int ntries, unsigned int ndof, Tbox init_box, TCuikSystem cs)
	Generates samples for a cuiksystem in given box. More...

unsigned int	CuikNewtonSimp (Tparameters p, double x, TCuikSystem *cs)
	CuikNewton on the simplified system. More...

unsigned int	CuikNewtonInBox (Tparameters p, Tbox bIn, double sol, Tbox b_sol, TCuikSystem *cs)
	Applies Newton-Rhapson to a set of equations. More...

boolean	CuikNewton (Tparameters p, double sol, Tbox b_sol, TCuikSystem cs)
	Applies Newton-Rhapson to a set of equations. More...

void	SolveCuikSystem (Tparameters p, boolean restart, char fstate, Tbox searchSpace, FILE f_out, Tlist sol, TCuikSystem cs)
	Determines the solution set for a cuiksystem. More...

void	MPI_SolveCuikSystem (Tparameters p, boolean restart, char fstate, Tbox searchSpace, FILE f_out, TCuikSystem *cs)
	Determines the solution set for a cuiksystem. Main scheduler. More...

void	MPI_TreatBox (Tparameters p, TCuikSystem cs)
	Determines the solution set for a cuiksystem. Child process. More...

void	GenerateInitialBox (Tbox box, TCuikSystem cs)
	Gives the search space in the form of a box. More...

void	GenerateSimpInitialBox (Tparameters p, Tbox box, TCuikSystem *cs)
	Gives the search space in the form of a box for the simplified system. More...

boolean	RegenerateSolution (Tparameters p, Tbox b, TCuikSystem *cs)
	Regenerates a box from the system variables. More...

unsigned int	RegenerateSolutionPoint (Tparameters p, double pt, double *rp, TCuikSystem cs)
	Regenerates a solution point from the system variables. More...

void	RegenerateOriginalBox (Tparameters p, Tbox boxS, Tbox boxO, TCuikSystem cs)
	Generates a box in the original cuiksystem from a box of the simplified one. More...

unsigned int	RegenerateOriginalPoint (Tparameters p, double s, double *o, TCuikSystem cs)
	Generates an original point from a simplified point. More...

unsigned int	GenerateSimplifiedPoint (Tparameters p, double o, double *s, TCuikSystem cs)
	Generates a simplified point. More...

unsigned int	ComputeSplitDim (Tparameters p, Tbox b, TCuikSystem *cs)
	Determines the best dimensions to split a given box. More...

boolean	PointInSystemBox (Tvector v, Tbox b, TCuikSystem *cs)
	Determines if a given point is fully included in the system sub-box (i.e., the sub-box fot the system variables). More...

void	EvaluateCSEquations (double p, double r, TCuikSystem *cs)
	Evaluates the equation set on a point. More...

void	EvaluateSimpCSEquations (Tparameters pr, double p, double r, TCuikSystem cs)
	Evaluates the simplified equation set on a point. More...

void	EvaluateSubSetSimpCSEquations (Tparameters pr, boolean se, double p, double r, TCuikSystem *cs)
	Evaluates a subset of the simplified equation set on a point. More...

void	EvaluateCSJacobian (double p, double *J, TCuikSystem cs)
	Evaluates the Jacobian of the system in a given point. More...

double	ErrorInCSEquations (double p, TCuikSystem cs)
	Evalates the norm of the error in a point. More...

double	ErrorInSimpCSEquations (Tparameters pr, double p, TCuikSystem *cs)
	Evaluates the norm of the error in a point for the simplified equations. More...

double	EvaluateCSCost (Tparameters p, boolean simp, double s, void *cs)
	Evalutes the equation to minimize in a given point. More...

double	ErrorInSolution (Tbox b, TCuikSystem cs)
	Maximum error for a box. More...

double	ErrorInInequalities (Tbox b, TCuikSystem cs)
	Maximum inequality error for a box. More...

boolean	InequalitiesHoldOnPoint (double p, TCuikSystem cs)
	Tests if all inqualities hold for a given point. More...

boolean	SimpInequalitiesHoldOnPoint (Tparameters pr, double p, TCuikSystem *cs)
	Tests if all simplified inqualities hold for a given point. More...

double	ErrorInSimpInequalitiesOnPoint (Tparameters pr, double p, TCuikSystem *cs)
	Computes the maximum error in all the simplified inqualities for a given point. More...

void	PrintCuikSystem (Tparameters p, FILE f, TCuikSystem *cs)
	Prints a cuiksystem. More...

void	PrintCuikSystemWithSimplification (Tparameters p, FILE f, TCuikSystem *cs)
	Prints the simplified cuiksystem. More...

void	SaveCuikSystemSimplification (Tparameters p, FILE f, TCuikSystem *cs)
	Saves the simplification information associated with a cuiksystem. More...

void	DeleteCuikSystem (TCuikSystem *cs)
	Destructor. More...

Function Documentation

void DummifyAndAddEquation	(	Tparameters *	p,
		Tequation *	eq,
		TCuikSystem *	cs
	)

Adds an equation to the cuiksystem taking into account the dummification level selected by the user when fixing the parameters. In the extreme dummification level, all quadratic and bilinear terms in the equations are replaced by a new (dummy) variable and the corresponding equation parabola or saddle equation is added to the system. In the other extreme (i.e., not to dummify anything) equations are added as given by the user to the system.
In any case, adding an equation with a degree higher than 2 produdes an error.

Parameters

p	The set of parameters.
eq	The equation to add.
cs	The cuiksystem where to add the equation.

Definition at line 422 of file cuiksystem.c.

References AddCt2Monomial(), AddEquation(), AddMonomial(), AddVariable(), AddVariable2Monomial(), CircleEquation(), CT_DUMMIFY, DeleteEquation(), DeleteMonomial(), DeleteVariable(), DUMMY_EQ, DUMMY_VAR, EQU, TCuikSystem::equations, Error(), GetEquationCmp(), GetEquationOrder(), GetEquationType(), GetEquationValue(), GetEquationVariables(), GetMonomial(), GetMonomialCt(), GetMonomialVariables(), GetNumMonomials(), GetParameter(), GetVariable(), GetVariableFunctionN(), GetVariableID(), GetVariableInterval(), GetVariableN(), GetVariableName(), GetVariablePowerN(), InitEquation(), InitMonomial(), IntervalPow(), IntervalProduct(), LinearEquation(), NEW, NewVariable(), NFUN, NO_UINT, NVariables(), ParabolaEquation(), SaddleEquation(), SetEquationCmp(), SetEquationType(), SetEquationValue(), SetVariableInterval(), SphereEquation(), TRUE, TCuikSystem::variables, and VariableSetSize().

Referenced by DummifyCuikSystem().

void DummifyCuikSystem	(	Tparameters *	p,
		TCuikSystem *	cs
	)

Dummify all equations in the cuiksystem according to the parameters given by the user.

Parameters

p	The set of parameters.
cs	The cuiksystem where to add the equation.

See Also: DummifyAndAddEquation

Definition at line 695 of file cuiksystem.c.

References CopyEquations(), DeleteEquations(), DummifyAndAddEquation(), TCuikSystem::equations, GetEquation(), InitEquations(), NEquations(), and TCuikSystem::scalar.

Referenced by SimplifyCuikSystem().

double EvaluateEqMin	(	void *	b,
		void *	cs
	)

Evaluates the equation to minimize when the search mode is set to MINIMIZATION_SEARCH. In any other search mode the output is 0.

Note that the input box is a box in the simplified system since, for efficiency, the equation to minimize is re-written into this system too.

Parameters

b	The box.
cs	The TCuikSystem structure storing the equation to use when evaluating

Returns: The value of the equation to minimize in the given box.

Definition at line 2369 of file cuiksystem.c.

References Error(), EvaluateEquationInt(), EvaluateWholeEquation(), GetBoxInterval(), GetBoxIntervals(), GetEquationValue(), IntervalCenter(), IntervalOffset(), MINIMIZATION_SEARCH, NEW, and NVariables().

Referenced by CmpBoxesEquation(), PostProcessBox(), and SolveCuikSystem().

unsigned int ReduceBoxEquationWise	(	Tparameters *	p,
		Tbox *	b,
		TCuikSystem *	cs
	)

Reduces the ranges of a box considering one equation at a time. Linear equations are cropped directly and non-linear equations are linearized. Special treatement is implement for parabola, circle, sphere, and saddle equations since they appear frequently and the non-linear cropping is stronger than the one obtained via linearization.
Note that considering only one equation at a time we only obtaion local consistancy.

Parameters

p	The set of parameters.
b	The box to be reduced.
cs	The cuiksystem with the equations to use.

Returns: The status of the box after the reduction (EMPTY_BOX, REDUCED_BOX)

See Also: ReduceRange

Definition at line 714 of file cuiksystem.c.

References ANY_TYPE_VAR, CopyBox(), CropEquation(), CT_EPSILON, CT_RHO, CT_SMALL_SIGMA, DeleteBox(), EMPTY_BOX, TCuikSystem::equations, FALSE, GetBoxInterval(), GetBoxSize(), GetBoxVolume(), GetParameter(), IntervalSize(), TCuikSystem::nvariables, PrintBox(), REDUCED_BOX, TCuikSystem::systemVar, TRUE, and TCuikSystem::variables.

Referenced by ReduceBox().

unsigned int ReduceBox	(	Tparameters *	p,
		unsigned int	varMask,
		Tbox *	b,
		TCuikSystem *	cs
	)

Reduces the ranges of a box as much as possible applying first an equation-wise crop and then a simplex-based reduction. If the reduction is significative (i.e., the reduction ratio is above paramter RHO) and the box is not smaller than SMALL_SIGMA, the reduction process is iterated.
Observe that SMALL_SIGMA can be much smaller that SIGMA (the parameter to accept a box as a solution). The idea here is that if a box contains a punctual solution it will be shrink till it has a size below SMALL_SIGMA and, if the box bounds a patch of a continuous solution set, the box will not be smaller more than SIGMA.
If the reduced box is fully included in the original box, then we can certify that the box has a solution.

Parameters

p	The set of parameters.
varMask	The type of variables to reduce (SYSTEM_VAR, CARTESIAN_VAR, DUMMY_VAR). Different types of variables can be indicated using '\|'. A good option is to use ~DUMMY_VAR (this reduces for all variables except for dummy ones).
b	The box to be reduced.
cs	The cuiksystem with the equations to use.

Returns: The status of the box after the reduction (EMPTY_BOX, REDUCED_BOX, REDUCED_BOX_WITH_SOLUTION, ERROR_IN_PROCESS).

See Also: ReduceBoxEquationWise ReduceRange

Definition at line 833 of file cuiksystem.c.

References AddEquation2Simplex(), BoxInclusion(), TCuikSystem::consistent, CopyBox(), CT_EPSILON, CT_LR2TM_Q, CT_LR2TM_S, CT_RHO, CT_SAFE_SIMPLEX, CT_SMALL_SIGMA, DeleteBox(), EMPTY_BOX, TCuikSystem::equations, Error(), ERROR_IN_PROCESS, FALSE, GetBoxInterval(), GetBoxSize(), GetBoxVolume(), GetParameter(), IntervalSize(), NewBoxReduction(), TCuikSystem::notDummyVar, TCuikSystem::nvariables, PrintBox(), ReduceBoxEquationWise(), REDUCED_BOX, REDUCED_BOX_WITH_SOLUTION, ReduceRange(), ResetSimplex(), TCuikSystem::simp_nequations, SimplexColEmpty(), SimplexCreate(), SimplexDelete(), SimplexNRows(), TCuikSystem::st, TCuikSystem::systemVar, TRUE, TCuikSystem::updated, TCuikSystem::variables, and TCuikSystem::varType.

Referenced by MaxReduction(), MPI_TreatBox(), and SolveCuikSystem().

void PostProcessBox	(	Tparameters *	p,
		unsigned int	c,
		FILE *	f_out,
		Tlist *	sol,
		Theap *	boxes,
		Tbox *	b,
		TCuikSystem *	cs
	)

After box reduction we have to decide what to do with the box. If it empty, we just discart it. If is small enough (smaller than SIGMA) we consider it as a solution. Finally, non-empty, non-small boxes are bisected and added to the list of boxes pending to be processed.

Parameters

p	The set of parameters.
c	Output of ReduceBox (EMPTY_BOX, REDUCED_BOX, REDUCED_BOX_WITH_SOLUTION, ERROR_IN_PROCESS).
f_out	File where to store solutions. If NULL solutions are to written to any file.
sol	List where to store solutions. If NULL solutions are not listed. Be aware that it makes few sense to solve a problem and use f_out=NULL and sol=NULL since there will be no way to know the solutions.
boxes	Set of boxes pending to be processed.
b	The processed box.
cs	The cuiksystem used to process the box.

See Also: ReduceBox

Definition at line 1059 of file cuiksystem.c.

References AddBox2HeapOfBoxes(), AddLastElement(), BoxFromVariables(), ComputeSplitDimInt(), CONVERGED_IN_BOX, CONVERGED_IN_GLOBAL, CopyBox(), CT_EPSILON, CT_MAX_NEWTON_ITERATIONS, CT_SIGMA, CuikNewtonInBox(), CUT_POINT, DeleteBox(), EMPTY_BOX, ERROR_IN_PROCESS, ErrorInSolution(), EvaluateEqMin(), GetBoxDiagonal(), GetBoxLevel(), GetBoxSize(), GetBoxVolume(), GetElapsedTime(), GetNSolutionBoxes(), GetParameter(), MINIMIZATION_SEARCH, NEW, NewEmptyBox(), NewRBError(), NewSolutionBox(), NewSplittedBox(), TCuikSystem::orig2sd, TCuikSystem::orig_notDummyVar, TCuikSystem::orig_nvariables, TCuikSystem::orig_systemVar, TCuikSystem::orig_variables, TCuikSystem::orig_varNames, PrintBox(), PrintBoxSubset(), REDUCED_BOX_WITH_SOLUTION, TCuikSystem::searchMode, SplitBox(), TCuikSystem::st, TCuikSystem::systemVar, and UpdateOriginalFromSimple().

Referenced by MPI_SolveCuikSystem(), and SolveCuikSystem().

void CSRemoveUnusedVars	(	Tparameters *	p,
		TCuikSystem *	cs
	)

Remove the variables that do not appear in the equation set.
This is one of the steps executed in the cuiksystem simplification.

Parameters

p	The set of parameters.
cs	The cuiksystem to simplify.

See Also: SimplifyCuikSystem

Definition at line 1260 of file cuiksystem.c.

References CT_EPSILON, DUMMY_VAR, TCuikSystem::equations, GetEquationVariables(), GetParameter(), GetVariableTypeN(), NVariables(), TCuikSystem::orig_eqMin, RemoveEquationsWithVar(), RemoveVariable(), SYSTEM_VAR, UsedVarInEquations(), UsedVarInNonDummyEquations(), TCuikSystem::variables, and VarIncluded().

Referenced by SimplifyCuikSystem().

boolean CSRemoveVarsWithCtRange	(	Tparameters *	p,
		boolean *	replaced,
		TLinearConstraint *	lc,
		Tbox *	borig,
		TCuikSystem *	cs
	)

Variables with punctual range are constants that can be removed from the equations. If the variables was previously used to replace another variable in the cuiksystem then the replaced variable also becomes constant.
This is one of the steps executed in the cuiksystem simplification. The simplification is the process of defining a new set of equations and variables from those given by the user but eliminating variables with trivial values or variables that are linearly related with other variables. In this process, all variable indexes are referred to those in the original cuiksystem (since the simplified one is still in construction).

Parameters

p	The set of parameters.
replaced	TRUE if the i-th variable in the original cuiksystem has been replaced.
lc	If replaced[i] is TRUE, lc[i] is the linear constraint giving the replacement of variable 'i' in function of the other variables.
borig	A box with the ranges for the variables in the original system. Those ranges are updated as simplifications are introduce. At the end, the ranges are used to set the ranges for the variables in the simplified system.
cs	The cuiksystem to simplify.

Returns: TRUE if the cuiksystem still holds.

See Also: SimplifyCuikSystem

Definition at line 1286 of file cuiksystem.c.

References AddCt2LinearConstraint(), CT_EPSILON, DeleteLinearConstraint(), TCuikSystem::equations, Error(), FALSE, GetBoxInterval(), GetParameter(), GetVariable(), GetVariableID(), GetVariableName(), GetVariableNames(), InitLinearConstraint(), IntervalSize(), LowerLimit(), NEW, NO_UINT, NVariables(), TCuikSystem::orig_variables, PrintEquations(), PrintVariables(), RemoveVariable(), ReplaceVariableInEquations(), TRUE, and TCuikSystem::variables.

Referenced by SimplifyCuikSystem().

boolean CSRemoveLCVars	(	Tparameters *	p,
		unsigned int	simplificationLevel,
		unsigned int	level,
		boolean *	changed,
		boolean *	replaced,
		TLinearConstraint *	lc,
		Tbox *	borig,
		TCuikSystem *	cs
	)

Detects equations of the form

$\sum_{i=1}{n} a_i\:x_i = c$

From where a variable replacement can be defined

$x_j=\frac{1}{a_j}\left(\sum_{i \neq j} a_i\:x_i - c\right)$

Note that if $x_j$ was used to replace another variable, $z$ , the elimination of $x_j$ has to be propagated to the linear constraint replacing $z$ .

This is one of the steps executed in the cuiksystem simplification. The simplification is the process of defining a new set of equations and variables from those given by the user but eliminating variables with trivial values or variables that are linearly related with other variables. In this process, all variable indexes are referred to those in the original cuiksystem (since the simplified one is still in construction).

Parameters

p	The set of parameters.
simplificationLevel	The simplification level.
changed	Is set to TRUE if this function makes any change into the cuiksystem.
level	Level (or complexity) of the simplification. Maximum number of terms in the linear combination used to replace the variable. It makes sense to first replace variables assigned to constants and then variables assigned to another variable and so on. Therefore, this function is used with increasing values of n.
replaced	TRUE if the i-th variable in the original cuiksystem has been replaced.
lc	If replaced[i] is TRUE, lc[i] is the linear constraint giving the replacement of variable 'i' in function of the other variables.
borig	A box with the ranges for the variables in the original system. Those ranges are updated as simplifications are introduce. At the end, the ranges are used to set the ranges for the variables in the simplified system.
cs	The cuiksystem to simplify.

Returns: TRUE if the cuiksystem still holds.

See Also: SimplifyCuikSystem

Definition at line 1371 of file cuiksystem.c.

References AddCt2LinearConstraint(), AddLinearConstraints(), AddTerm2LinearConstraint(), ANY_TYPE_VAR, CopyLinearConstraint(), CropLinearConstraint(), CT_EPSILON, DeleteBox(), DeleteLinearConstraint(), TCuikSystem::equations, Error(), FALSE, GetEquation(), GetLinearConstraintCoefficient(), GetLinearConstraintError(), GetLinearConstraintVariable(), GetNumTermsInLinearConstraint(), GetParameter(), GetVariable(), GetVariableID(), GetVariableInterval(), GetVariableName(), GetVariableNames(), InitBox(), IntervalCenter(), IntervalSize(), IsSimplificable(), IsSystemVariable(), LinearConstraintIncludes(), NEquations(), NEW, NO_UINT, NVariables(), TCuikSystem::orig_variables, PrintEquations(), PrintLinearConstraint(), PrintVariables(), RemoveTermFromLinearConstraint(), RemoveVariable(), ReplaceVariableInEquations(), ScaleLinearConstraint(), SetBoxInterval(), TRUE, TCuikSystem::variables, and ZERO.

Referenced by SimplifyCuikSystem().

boolean SimplifyCuikSystem	(	Tparameters *	p,
		TCuikSystem *	cs
	)

Generate a simplified version of a cuiksystem by eliminating variables with constant values from the equations and by replacing variables by other variables if there is a linear dependency between them.
Note that this is an iterative process (when a variable becomes constant it can trigger further simplifications). In extremely large systems this can be slow.

Simplifications can introduce numerical issues. For instance to replace a variable that appear in a equation like

$a x = b,$

we have to operate b/a and this can introduce perturbations in the system due to floating point rounding. We try to do our best to avoid problems (for instance we only apply the above simplification if a=1) but small perturbation are unavoidable in general and for particularly ill-conditioned problems they can lead to simplified systems with a different set of solutions than the original system. If you encounter such a problem it would be safer to operate directly with the original system and not with the simplified one. This can be done, setting the SIMPLIFICATION_LEVEL parameter to 0.

Parameters

p	The set of parameters.
cs	The cuiksystem to simplify.

Definition at line 1539 of file cuiksystem.c.

References AddCt2LinearConstraint(), AddTerm2LinearConstraint(), BoxFromVariables(), CopyEquations(), CopyVariables(), CSRemoveLCVars(), CSRemoveUnusedVars(), CSRemoveVarsWithCtRange(), CT_SIMPLIFICATION_LEVEL, DeleteBox(), DeleteLinearConstraint(), DummifyCuikSystem(), TCuikSystem::equations, FALSE, GaussianElimination(), GetBoxInterval(), GetLinearConstraintCoefficient(), GetLinearConstraintError(), GetLinearConstraintVariable(), GetNumTermsInLinearConstraint(), GetParameter(), GetVariable(), GetVariableID(), GetVariableName(), GetVariableNames(), InitLinearConstraint(), InitMapping(), IntervalCenter(), MAX_TERMS_SIMP, NEW, NVariables(), TCuikSystem::orig2s, TCuikSystem::orig2sd, TCuikSystem::orig_equations, TCuikSystem::orig_variables, PolynomialEquations(), PrintEquations(), PrintVariables(), TCuikSystem::scalar, SetOriginalVarRelation(), SetVariableInterval(), TCuikSystem::simp_equations, TCuikSystem::simp_variables, SimpleFromOriginal(), TRUE, and TCuikSystem::variables.

Referenced by UpdateCuikSystem().

void AddJacobianEquationsInt	(	Tparameters *	p,
		boolean *	selectedVars,
		TJacobian *	J,
		TCuikSystem *	cs
	)

This is the common part of AddJacobianEquations and AddSimplifiedJacobianEquations. It basically operates on a given Jacobian, independently of where this Jacobian comes from.

Note that the new equations are to be added to the original system and therefore the input Jacobian MUST be expressed in this system of equations. For instance, when adding equations from the simplified system we have to first re-write the equations in terms of the original variables.

Parameters

p	The set of parameters.
selectedVars	The variables to take into account. NULL to use all variables.
J	The Jacobian.
cs	The cuiksystem to modify.

Definition at line 2695 of file cuiksystem.c.

References AccumulateEquations(), AddEquation2CS(), AddVariable2CS(), CopyEquation(), DeleteEquation(), DeleteVariable(), EQU, Error(), GenerateGeneralNormEquation(), GetJacobianEquation(), GetJacobianSize(), InitEquation(), NEW, NewInterval(), NewVariable(), TCuikSystem::scalar, SetEquationCmp(), SetEquationType(), SetVariableInterval(), SYSTEM_EQ, SYSTEM_VAR, and VarScaleEquation().

Referenced by AddJacobianEquations(), and AddSimplifiedJacobianEquations().

boolean UpdateCuikSystem	(	Tparameters *	p,
		TCuikSystem *	cs
	)

The cuiksystem stores some cached information about variables and equations. This information has to be re-computed everytime the cuiksystem is modified.
This functions takes care of re-computing the cached information.
Additionally, this functions triggers the cuiksystem simplification since we cache information both for the original and the simplified systems.

Parameters

p	The set of parameters.
cs	The cuiksystem to be updated.

See Also: UnUpdateCuikSystem SimplifyCuikSystem

Definition at line 1844 of file cuiksystem.c.

References TCuikSystem::consistent, CT_EPSILON, DEPTH_FIRST_SEARCH, TCuikSystem::empty, TCuikSystem::eqMin, TCuikSystem::equations, Error(), FALSE, GetNumMonomials(), GetParameter(), GetVariableNames(), GetVariablesTopology(), GetVariableTypeN(), InitJacobian(), IsDummyVariable(), IsSecondaryVariable(), IsSystemVariable(), TCuikSystem::J, MINIMIZATION_SEARCH, NEqualityEquations(), TCuikSystem::nequations, NEquations(), NEW, TCuikSystem::notDummyVar, NVariables(), TCuikSystem::nvariables, TCuikSystem::orig2sd, TCuikSystem::orig_eqMin, TCuikSystem::orig_equations, TCuikSystem::orig_nequations, TCuikSystem::orig_notDummyVar, TCuikSystem::orig_nvariables, TCuikSystem::orig_systemVar, TCuikSystem::orig_variables, TCuikSystem::orig_varNames, ResetEquation(), RewriteEquation2Simp(), TCuikSystem::searchMode, TCuikSystem::simp_empty, TCuikSystem::simp_equations, TCuikSystem::simp_nee, TCuikSystem::simp_nequations, TCuikSystem::simp_nvariables, TCuikSystem::simp_tp, TCuikSystem::simp_variables, SimplifyCuikSystem(), TCuikSystem::systemVar, TOPOLOGY_R, TRUE, TCuikSystem::updated, TCuikSystem::variables, and TCuikSystem::varType.

Referenced by AddJacobianEquations(), AddSimplifiedJacobianEquations(), ComputeSplitDim(), ComputeSplitDimInt(), CuikNewtonInBox(), CuikNewtonSimp(), ErrorInSimpCSEquations(), ErrorInSimpInequalitiesOnPoint(), EvaluateSimpCSEquations(), EvaluateSubSetSimpCSEquations(), GenerateSimpInitialBox(), GenerateSimplifiedPoint(), GetSimpCSJacobian(), GetSimpCSTopology(), IncrementalSampleCuikSystemInBox(), IsSystemVarInSimpCS(), MaxReduction(), MPI_SolveCuikSystem(), MPI_TreatBox(), PrintCuikSystemWithSimplification(), RegenerateOriginalBox(), RegenerateOriginalPoint(), RegenerateSolution(), RegenerateSolutionPoint(), SaveCuikSystemSimplification(), SimpInequalitiesHoldOnPoint(), SolveCuikSystem(), and VerifyCuikSystem().

void UnUpdateCuikSystem ( TCuikSystem * cs )

The cuiksystem stores some cached information about variables and equations. This information has to be re-computed everytime the cuiksystem is modified.
This functions takes care of removeing the cached information and the cuiksystem simplification.

Parameters

cs	The cuiksystem to be un-updated.

See Also: UpdateCuikSystem SimplifyCuikSystem

Definition at line 1763 of file cuiksystem.c.

References TCuikSystem::consistent, DeleteEquation(), DeleteEquations(), DeleteJacobian(), DeleteMapping(), DeleteVariables(), TCuikSystem::eqMin, TCuikSystem::equations, FALSE, TCuikSystem::J, MINIMIZATION_SEARCH, TCuikSystem::nequations, TCuikSystem::notDummyVar, TCuikSystem::nvariables, TCuikSystem::orig2s, TCuikSystem::orig2sd, TCuikSystem::orig_nequations, TCuikSystem::orig_notDummyVar, TCuikSystem::orig_nvariables, TCuikSystem::orig_systemVar, TCuikSystem::orig_varNames, TCuikSystem::searchMode, TCuikSystem::simp_equations, TCuikSystem::simp_nee, TCuikSystem::simp_nequations, TCuikSystem::simp_nvariables, TCuikSystem::simp_tp, TCuikSystem::simp_variables, TCuikSystem::systemVar, TRUE, TCuikSystem::updated, TCuikSystem::variables, and TCuikSystem::varType.

Referenced by AddEquation2CS(), AddJacobianEquations(), AddMatrixEquation2CS(), AddSimplifiedJacobianEquations(), AddVariable2CS(), DeleteCuikSystem(), IncrementalSampleCuikSystemInBox(), SampleCuikSystemInBox(), and SetCSVariableRange().

unsigned int ComputeSplitDimInt	(	Tparameters *	p,
		Tbox *	b,
		TCuikSystem *	cs
	)

Selects and optimal split dimension for a given box.
The selection depent on the split policy determined by the user. If parameter SPLIT_ERROR is TRUE, we take select as split dimension the variable that introduces a higher linearization error for the different equations (i.e., the variable with a largest contribution to the linearization error). Otherwise, we split dimension is the argest box side.
Only dimensions corresponding to system variables are selected as split dimensions.

Parameters

p	The set of parameters.
b	The box to be split.
cs	The cuiksystem.

Returns: The preferred split dimension for the box.

Definition at line 1972 of file cuiksystem.c.

References CT_EPSILON, CT_SPLIT_TYPE, TCuikSystem::equations, Error(), GetBoxIntervals(), GetParameter(), INF, IntervalSize(), TCuikSystem::nequations, NEW, NO_UINT, TCuikSystem::nvariables, randomMax(), TCuikSystem::systemVar, UpdateCuikSystem(), UpdateSplitWeight(), and Warning().

Referenced by ComputeSplitDim(), and PostProcessBox().

void SaveCSState	(	char *	fname,
		Tlist *	lb,
		TCuikSystem *	cs
	)

While solving a problem, every STATE_PERIOD processed boxes we store the solver state into a file. In this way if the process crashes, we can re-start the solver from the last saved state.
The save information includes the solver statistics and the list of boxes pending to be processed. In the case of a parallel execution this last list includes also the boxes already send to the children processors but that are still in process.
If STATE_PERIOD is set to 0 no state information is saved.

Parameters

fname	The name of the file where to write the information.
lb	The list of boxes pending to be processed.
cs	The cuiksystem.

See Also: LoadCSState

Definition at line 2093 of file cuiksystem.c.

References Error(), GetElapsedTime(), NEW, SaveListOfBoxes(), SaveStatistics(), and TCuikSystem::st.

Referenced by MPI_SolveCuikSystem(), and SolveCuikSystem().

void LoadCSState	(	char *	fname,
		Tlist *	lb,
		TCuikSystem *	cs
	)

Retrives the internal the cuik solver state information from a file previously saved by SaveCSState. This allows to init the solving process from a intermediate point (and not from scratch) after, for intance, a power failure.

Parameters

fname	The name of the file from where to read the information.
lb	The list of boxes pending to be processed.
cs	The cuiksystem.

See Also: SaveCSState

Definition at line 2122 of file cuiksystem.c.

References Error(), First(), GetBoxNIntervals(), GetCurrent(), GetTime(), InitIterator(), LoadListOfBoxes(), LoadStatistics(), TCuikSystem::nvariables, SetInitialTime(), and TCuikSystem::st.

Referenced by MPI_SolveCuikSystem(), and SolveCuikSystem().

void InitCuikSystem ( TCuikSystem * cs )

Creates an empty cuiksystem.

Parameters

cs	The cuiksystem to initialize.

Definition at line 2155 of file cuiksystem.c.

References TCuikSystem::consistent, TCuikSystem::constants, DEPTH_FIRST_SEARCH, TCuikSystem::empty, FALSE, InitConstants(), InitEquation(), InitEquations(), InitVariables(), TCuikSystem::nequations, TCuikSystem::notDummyVar, TCuikSystem::nvariables, TCuikSystem::orig2s, TCuikSystem::orig2sd, TCuikSystem::orig_eqMin, TCuikSystem::orig_equations, TCuikSystem::orig_nequations, TCuikSystem::orig_notDummyVar, TCuikSystem::orig_nvariables, TCuikSystem::orig_systemVar, TCuikSystem::orig_variables, TCuikSystem::scalar, TCuikSystem::searchMode, TCuikSystem::simp_empty, TCuikSystem::simp_tp, TCuikSystem::systemVar, TRUE, TCuikSystem::updated, and TCuikSystem::varType.

Referenced by AdjustBioWorldGeometry(), CuikSystemMerge(), InitWorldCS(), and main().

void VerifyCuikSystem	(	Tparameters *	p,
		TCuikSystem *	cs
	)

Checks the consistency of the cuiksystem. If the system is inconsistent an error is trigered. Note that if new equations/variables are added to the cuiksystem its consistancy might no longer hold.

Parameters

p	The set of parameters.
cs	The cuiksystem to verify.

Definition at line 2194 of file cuiksystem.c.

References Error(), and UpdateCuikSystem().

Referenced by main().

void CopyCuikSystem	(	TCuikSystem *	cs_dst,
		TCuikSystem *	cs_src
	)

Creates an cuiksystem from another cuiksystem.

Parameters

cs_dst	The cuiksystem to create via copy.
cs_src	The cuiksystem from where to copy.

Definition at line 2204 of file cuiksystem.c.

References TCuikSystem::consistent, TCuikSystem::constants, CopyConstants(), CopyEquation(), CopyEquations(), CopyJacobian(), CopyMapping(), CopyStatistics(), CopyVariables(), TCuikSystem::empty, TCuikSystem::eqMin, TCuikSystem::equations, GetVariableNames(), TCuikSystem::J, MINIMIZATION_SEARCH, TCuikSystem::nequations, NEW, TCuikSystem::notDummyVar, TCuikSystem::nvariables, TCuikSystem::orig2s, TCuikSystem::orig2sd, TCuikSystem::orig_eqMin, TCuikSystem::orig_equations, TCuikSystem::orig_nequations, TCuikSystem::orig_notDummyVar, TCuikSystem::orig_nvariables, TCuikSystem::orig_systemVar, TCuikSystem::orig_variables, TCuikSystem::orig_varNames, TCuikSystem::scalar, TCuikSystem::searchMode, TCuikSystem::simp_empty, TCuikSystem::simp_equations, TCuikSystem::simp_nee, TCuikSystem::simp_nequations, TCuikSystem::simp_nvariables, TCuikSystem::simp_tp, TCuikSystem::simp_variables, TCuikSystem::st, TCuikSystem::systemVar, TCuikSystem::updated, TCuikSystem::variables, and TCuikSystem::varType.

Referenced by AddJacobianEquations(), AddSimplifiedJacobianEquations(), GenerateWorldSingularityEquations(), and GetSCpSystem().

void CuikSystemMerge	(	Tparameters *	p,
		TCuikSystem *	cs1,
		TCuikSystem *	cs2,
		TCuikSystem *	cs
	)

Defines a new cuiksystem by union of two given cuiksystems.

CAUTION!

The variables for one of the input systems must be a subset (or equal) of the variable set of the other system. If this is not so the result is undefined.

Parameters

p	The set of parameters.
cs1	The first cuik system merge.
cs2	The second cuiksystem to merge.
cs	The output merged cuiksystem.

Definition at line 2320 of file cuiksystem.c.

References AccumulateEquations(), AddVariable2CS(), TCuikSystem::consistent, TCuikSystem::constants, CopyEquation(), CopyEquations(), CopyVariables(), TCuikSystem::empty, FALSE, GetVariable(), InitCuikSystem(), MergeConstants(), MergeEquations(), TCuikSystem::nequations, TCuikSystem::notDummyVar, NVariables(), TCuikSystem::nvariables, TCuikSystem::orig2sd, TCuikSystem::orig_eqMin, TCuikSystem::orig_equations, TCuikSystem::orig_nequations, TCuikSystem::orig_notDummyVar, TCuikSystem::orig_nvariables, TCuikSystem::orig_systemVar, TCuikSystem::orig_variables, TCuikSystem::scalar, ScalarEquations(), TCuikSystem::searchMode, TCuikSystem::simp_empty, TCuikSystem::systemVar, TRUE, TCuikSystem::updated, and TCuikSystem::varType.

boolean CmpBoxesEquation	(	void *	b1,
		void *	b2,
		void *	cs
	)

Determines which box to explore first in minimization mode. In this mode boxes are sorted according to an objective function given by an equation in the problem file. The equation is evaluated at the center of the box and the box with a minimum value is processed first.

Parameters

b1	The first box.
b2	The second box.
cs	The TCuikSystem structure storing the equation to use when evaluating

Returns: TRUE if the first box is to be explored before than the second one when in minimization mode.

See Also: EvaluateEqMin

Definition at line 2413 of file cuiksystem.c.

References EvaluateEqMin().

Referenced by MPI_SolveCuikSystem(), and SolveCuikSystem().

void SetCSSearchMode	(	unsigned int	sm,
		Tequation *	eqMin,
		TCuikSystem *	cs
	)

Defines the criterion to be used sorting the boxes to be treated when searching for a solution.

Possible critera are

Depth First
Breadth First
Minimum value for a given equation first.

Parameters

sm	Search mode: DEPTH_FIRST_SEARCH, BREADTH_FIRST_SEARCH or MINIMIZATION_SEARCH.
eqMin	When the search mode is MINIMIZATION_SEARCH, the criterion to be minimized. Otherwise it is not used.
cs	The cuiksystem to update.

Definition at line 2418 of file cuiksystem.c.

References BREADTH_FIRST_SEARCH, CopyEquation(), DeleteEquation(), DEPTH_FIRST_SEARCH, Error(), MINIMIZATION_SEARCH, TCuikSystem::orig_eqMin, and TCuikSystem::searchMode.

Referenced by AddTerm2SearchCriterion().

void AddTerm2SearchCriterion	(	double	w,
		unsigned int	v,
		double	val,
		TCuikSystem *	cs
	)

Adds the

to the equation guiding the search.
This is useful when incrementally defining a penalty function where we aim of finding solutions in the center of the range of some variables.

This function automatically calls SetCSSearchMode to set the search mode to MINIMIZATION_SEARCH it is is not so.

Parameters

w	Weight for the new constraint to add.
v	Variable for the new constraint to add.
val	Targed value for the new variable. Typically the center of the variable range.
cs	The cuiksystem to update.

Definition at line 2438 of file cuiksystem.c.

References AccumulateEquations(), AddCt2Monomial(), AddMonomial(), AddVariable2Monomial(), DeleteEquation(), DeleteMonomial(), EQU, InitEquation(), InitMonomial(), MINIMIZATION_SEARCH, NFUN, TCuikSystem::orig_eqMin, ResetMonomial(), TCuikSystem::searchMode, SetCSSearchMode(), and SetEquationCmp().

Referenced by GenerateJointRangeEquations().

void AddEquation2CS	(	Tparameters *	p,
		Tequation *	eq,
		TCuikSystem *	cs
	)

Adds a new equation to the system. The equation must use the variables already added to the system. Repeated equations are not added to the system.

Parameters

p	A set of parameters.
eq	The equation to add.
cs	The cuiksystem where to add the equation.

Definition at line 2481 of file cuiksystem.c.

References AddEquation(), TCuikSystem::orig_equations, UnUpdateCuikSystem(), and TCuikSystem::updated.

Referenced by AddJacobianEquationsInt(), AdjustBioWorldGeometry(), GenerateEquationsFromBranch(), GenerateJointEquations(), GenerateJointRangeEquations(), GenerateJointRangeSingularityEquations(), GenerateLinkRotFLinks(), GenerateLinkRotLinks(), GenerateLinkRotQLinks(), GenerateWorldSingularityEquations(), and GetSCpSystem().

void AddMatrixEquation2CS	(	Tparameters *	p,
		TMequation *	eq,
		TCuikSystem *	cs
	)

Adds a new matrix equation to the system. The equation must use the variables already added to the system. No check is performed to determine if the matrix equation is repeated.

Parameters

p	A set of parameters.
eq	The matrix equation to add.
cs	The cuiksystem where to add the equation.

Definition at line 2490 of file cuiksystem.c.

References AddMatrixEquation(), Error(), FALSE, TCuikSystem::orig_equations, TCuikSystem::scalar, SimplifiedMEquation(), UnUpdateCuikSystem(), and TCuikSystem::updated.

Referenced by GenerateEquationsFromBranch().

unsigned int AddVariable2CS	(	Tvariable *	v,
		TCuikSystem *	cs
	)

Adds a new variable to the system.

Parameters

v	The variable to add.
cs	The cuiksystem where to add the variable.

Returns: The numerical identifier assigned to the new variable. If there is another variable with the same name, this function generates an error.

Definition at line 2511 of file cuiksystem.c.

References AddVariable(), GetVariableID(), GetVariableName(), NO_UINT, TCuikSystem::orig_variables, UnUpdateCuikSystem(), and TCuikSystem::updated.

Referenced by AddJacobianEquationsInt(), AdjustBioWorldGeometry(), CuikSystemMerge(), GenerateEquationsFromBranch(), GenerateJointEquations(), GenerateJointRangeEquations(), GenerateJointRangeSingularityEquations(), GenerateLinkRotFLinks(), GenerateLinkRotLinks(), GenerateLinkRotQLinks(), GenerateWorldSingularityEquations(), and GetSCpSystem().

void GetCSVariables	(	Tvariables *	vs,
		TCuikSystem *	cs
	)

Returns a copy of the variables stored in the cuiksystem. This can be seen as a Tvariables copy constructor, thus the output variables does not need to be initialized beforehand.

Parameters

vs	Pointer to the space where to copy the variables.
cs	The cuiksystem from where to get the variables.

See Also: CopyVaribles

Definition at line 2529 of file cuiksystem.c.

References CopyVariables(), and TCuikSystem::orig_variables.

Referenced by GenerateWorldEquations().

void GetCSVariableNames	(	char **	varNames,
		TCuikSystem *	cs
	)

Initializes an array of pointers to variable names.

This is used to print boxes.

Parameters

varNames	The array where to store the pointers. This array must be allocated/deallocated externally.
cs	The cuiksystem to query.

Definition at line 2534 of file cuiksystem.c.

References GetVariableNames(), and TCuikSystem::orig_variables.

Referenced by AdjustBioWorldGeometry(), and GetWorldVarNames().

unsigned int GetCSNumVariables ( TCuikSystem * cs )

Returns the number of variables already in the cuiksystem.

Parameters

cs	The cuiksystem to query.

Returns: The number of variables already in the cuiksystem.

Definition at line 2544 of file cuiksystem.c.

References NVariables(), and TCuikSystem::orig_variables.

Referenced by DealWithCP(), GenerateWorldTWSEquations(), GetLinkTransformsFromSolutionPoint(), GetSCpSystem(), GetWorldNumVariables(), GetWorldSimpVariableMask(), IncrementalSampleCuikSystemInBox(), main(), MoveWorld(), PrintWorldAxes(), RegenerateWorldOriginalPoint(), RegenerateWorldSolutionPoint(), SampleCuikSystemInBox(), WorldDOF2Sol(), and WorldSample2DOF().

unsigned int GetCSNumSystemVariables ( TCuikSystem * cs )

Returns the number of system variables in the cuiksystem. System variables are system+secondary (see GetCSSystemVars).

Parameters

cs	The cuiksystem to query.

Returns: The number of system variables already in the cuiksystem.

Definition at line 2549 of file cuiksystem.c.

References GetNumSecondaryVariables(), GetNumSystemVariables(), and TCuikSystem::orig_variables.

Referenced by GetSolutionPointFromLinkTransforms(), GetWorldNumSystemVariables(), and MoveWorld().

unsigned int GetCSNumNonDummyVariables ( TCuikSystem * cs )

Returns the number of non-dummy (i.e., the sum of system, secondary and cartesian variables) variables already in the cuiksystem.

Parameters

cs	The cuiksystem to query.

Returns: The number of non-dummy variables already in the cuiksystem.

Definition at line 2558 of file cuiksystem.c.

References GetNumDummyVariables(), NVariables(), and TCuikSystem::orig_variables.

Referenced by AnimateWorld().

void GetCSVariable	(	unsigned int	n,
		Tvariable *	v,
		TCuikSystem *	cs
	)

Returns a copy of one of the variables of the cuiksystem. This can be seen as a Tvariable copy constructor, thus the output variable does not need to be initialized beforehand.

Parameters

n	Numerical identifier of the variable to get.
v	Place where to store the copy of the variable.
cs	The cuiksystem to query.

See Also: CopyVariable

Definition at line 2566 of file cuiksystem.c.

References CopyVariable(), GetVariable(), and TCuikSystem::orig_variables.

void SetCSVariableRange	(	unsigned int	n,
		Tinterval *	r,
		TCuikSystem *	cs
	)

Returns a copy of the range of one of the variables of the cuiksystem. This can be seen as a Tinterval constructor, thus the output interval does not need to be initialized beforehand.

Parameters

n	Numerical identifier of the variable to get.
r	Place where to store the copy of the interval.
cs	The cuiksystem to query.

See Also: CopyInterval

Definition at line 2574 of file cuiksystem.c.

References GetVariable(), TCuikSystem::orig_variables, SetVariableInterval(), UnUpdateCuikSystem(), and TCuikSystem::updated.

Referenced by GetSCpSystem(), and SampleCuikSystemInBox().

unsigned int GetCSVariableID	(	char *	name,
		TCuikSystem *	cs
	)

Returns the numerical identifier of a variable given its name.

Parameters

name	Name of the variable.
cs	The cuiksystem to query.

Returns: The numerical identifier. NO_UINT if there is no variable with the given name in the cuiksystem.

Definition at line 2586 of file cuiksystem.c.

References GetVariableID(), and TCuikSystem::orig_variables.

Referenced by AdjustBioWorldGeometry(), ApplyLinkRotFLinks(), ApplyLinkRotLinks(), ApplyLinkRotQLinks(), CacheRotVarsFLinks(), CacheRotVarsLinks(), CacheRotVarsQLinks(), GenerateJointEquationsInBranch(), GenerateJointRangeEquations(), GenerateJointRangeSingularityEquations(), GenerateJointSolution(), GenerateLinkRotFLinks(), GenerateLinkRotLinks(), GenerateLinkRotQLinks(), GenerateWorldTWSEquations(), GetJointTransSeq(), main(), RegenerateJointBox(), RegenerateJointSolution(), SetTransVars(), and WorldDOF2Sol().

char* GetCSVariableName	(	unsigned int	id,
		TCuikSystem *	cs
	)

Gets the name of a particular variable. The returned pointer should not be manipulated.

Parameters

id	The identifier of the variable.
cs	The CuikSystem to query.

Returns: A pointer to the variable name of NULL if the variable does not exists.

Definition at line 2591 of file cuiksystem.c.

References TCuikSystem::orig_variables, and VariableName().

Referenced by GetLinkPoseSimpVars().

boolean IsSystemVarInSimpCS	(	Tparameters *	p,
		char *	v,
		TCuikSystem *	cs
	)

Identifies system variables that survive in the simplified system.

Parameters

p	The set of parameters.
v	The variable name.
cs	The cuiksystem to query.

Returns: TRUE if the variable exists in the simplified system.

Definition at line 2596 of file cuiksystem.c.

References Error(), GetVariableID(), IsSecondaryVariable(), IsSystemVariable(), NO_UINT, TCuikSystem::simp_variables, and UpdateCuikSystem().

Referenced by GetLinkPoseSimpVars().

unsigned int GetCSSystemVars	(	boolean **	sv,
		TCuikSystem *	cs
	)

Creates an array of booleans with the size of the number of variables in the cuiksystem and set to TRUE the entries corresponding to system and secondary variables.

In coherence with the definition of the orig_systemVar field of TCuikSystem, here we identify system and secondary varibles. Internally, though, we differentiate between them (secondary varibles are not used when splitting boxes).

Parameters

sv	Pointer to the pointer of booleans to be allocated and updated.
cs	The cuiksystem to query.

Returns: The number of system variables in the cuiksystem.

Definition at line 2614 of file cuiksystem.c.

References IsSecondaryVariable(), IsSystemVariable(), NEW, NVariables(), and TCuikSystem::orig_variables.

Referenced by AdjustBioWorldGeometry(), GenerateWorldEquations(), GetSCpSystem(), GetWorldSystemVars(), IncrementalSampleCuikSystemInBox(), main(), NewtonInWorld(), and SampleCuikSystemInBox().

unsigned int GetCSVarTopology	(	unsigned int	vID,
		TCuikSystem *	cs
	)

Determines the topology of a given variable (of the original variable set).

Parameters

vID	Identifier of the variable (in the original system).
cs	The cuiksystem to query.

Returns: The topology of the variable with the given identifier.

Definition at line 2627 of file cuiksystem.c.

References GetVariable(), GetVariableTopology(), and TCuikSystem::orig_variables.

Referenced by GetWorldVarTopology().

void GetCSEquations	(	Tequations *	eqs,
		TCuikSystem *	cs
	)

Returns a copy of the system equations. This is a Tequations copy constructor.

Parameters

eqs	Place where to copy the system variables.
cs	The cuiksystem to query.

See Also: CopyEquations

Definition at line 2635 of file cuiksystem.c.

References CopyEquations(), and TCuikSystem::orig_equations.

void GetCSEquation	(	unsigned int	n,
		Tequation *	eq,
		TCuikSystem *	cs
	)

Returns a copy of one of the equations of the cuiksystem. This can be seen as a Tequation copy constructor.

Parameters

n	Numerical identifier of the equation to get.
eq	Place where to store the copy of the equation.
cs	The cuiksystem to query.

See Also: CopyEquation

Definition at line 2643 of file cuiksystem.c.

References CopyEquation(), Error(), GetEquation(), TCuikSystem::orig_equations, and TCuikSystem::scalar.

boolean IsCSPolynomial ( TCuikSystem * cs )

Returns TRUE if the cuiksystem is fully polynomial.

We check if the original cuiksystem is polynomial since if this system is polynomial, so are the rest of systems (simplified, simplified+dummified).

Parameters

cs	The cuiksystem to query.

Returns: TRUE if the cuiksystem is fully polynomial.

Definition at line 2651 of file cuiksystem.c.

References TCuikSystem::orig_equations, and PolynomialEquations().

Referenced by IsWorldPolynomial().

boolean IsCSScalar ( TCuikSystem * cs )

Returns TRUE if the cuiksystem is fully scalar.

Parameters

cs	The cuiksystem to query.

Returns: TRUE if the cuiksystem is fully scalar.

Definition at line 2656 of file cuiksystem.c.

References TCuikSystem::scalar.

unsigned int GetCSNumEquations ( TCuikSystem * cs )

Returns the number of equations already in the cuiksystem.

Parameters

cs	The cuiksystem to query.

Returns: The number of equations already in the cuiksystem.

Definition at line 2664 of file cuiksystem.c.

References NEquations(), and TCuikSystem::orig_equations.

Referenced by GetSCpSystem(), IncrementalSampleCuikSystemInBox(), and SampleCuikSystemInBox().

void GetCSJacobian	(	TJacobian *	J,
		TCuikSystem *	cs
	)

Defines the Jacobian of a CuikSystem considering each equation as a function.

Defines an array with as many rows as equations and as many columns as variables where each entry (i,j) is de derivative of equation i (considered as a function) with repect to variable j.

Parameters

J	The jacobian (output).
cs	The cuik system from where to extract the Jacobian.

Definition at line 2669 of file cuiksystem.c.

References InitJacobian(), TCuikSystem::orig_equations, and TCuikSystem::orig_variables.

Referenced by AddJacobianEquations(), GetSCpSystem(), GetSimpCSJacobian(), and GetWorldJacobian().

unsigned int GetSimpCSTopology	(	Tparameters *	p,
		unsigned int **	t,
		TCuikSystem *	cs
	)

Creates an array with the topology information for the variables in the simplified system.

The topology gives information on the type of range for each variable (either real or spherical). This is relevant when searching for nearest neighbours (in the case of spherical topology pi is close to -pi but not in the case of real topology).

Parameters

p	The set of parameters.
t	Space for the output array.
cs	The cuiksystem to query.

Returns: The number of entries in the output array (i.e., the number of variables in the simplified system).

Definition at line 2674 of file cuiksystem.c.

References Error(), GetVariablesTopology(), TCuikSystem::simp_variables, and UpdateCuikSystem().

Referenced by GetWorldSimpTopology().

void GetSimpCSJacobian	(	Tparameters *	p,
		TJacobian *	J,
		TCuikSystem *	cs
	)

The same as GetCSJacobian but for the simplified system.

Parameters

p	The set of parameters
J	The jacobian (output).
cs	The cuik system from where to extract the Jacobian.

Definition at line 2683 of file cuiksystem.c.

References Error(), GetCSJacobian(), InitJacobian(), TCuikSystem::scalar, TCuikSystem::simp_equations, TCuikSystem::simp_variables, and UpdateCuikSystem().

Referenced by GetWorldSimpJacobian().

void AddJacobianEquations	(	Tparameters *	p,
		boolean *	selectedVars,
		TCuikSystem *	cs
	)

Adds linear a linear combination of the Jacobian to the system. Generates a new variable for each equation in the system and creates a linear combination of the Jacobian rows using the new variables. Those new variables are normalized to avoid getting redudant solutions. Only the Jacobian columns corresponding to the selectedVars is used.

This functions is used when looking for singularities.

Parameters

p	The set of parameters.
selectedVars	The variables to take into account. NULL to use all variables.
cs	The cuiksystem to modify.

Definition at line 2758 of file cuiksystem.c.

References AddJacobianEquationsInt(), CopyCuikSystem(), DeleteCuikSystem(), DeleteJacobian(), Error(), GetCSJacobian(), GetJacobianSize(), UnUpdateCuikSystem(), and UpdateCuikSystem().

Referenced by main().

void AddSimplifiedJacobianEquations	(	Tparameters *	p,
		boolean *	selectedVars,
		TCuikSystem *	cs
	)

This is the same as AddJacobianEquations but the we use the Jacobian of the simplified system instead of that of the original system.

Note that the selectedVars refer to the original system and they can be missing from the original system. We try to translate variables from original to simple. Origianl variables assigned to constants are unselected and variables assigned to other variables are replaced accordingly.

Parameters

p	The set of parameters.
selectedVars	The variables to take into account. NULL to use all variables.
cs	The cuiksystem to modify.

Definition at line 2788 of file cuiksystem.c.

References AddJacobianEquationsInt(), CopyCuikSystem(), DeleteCuikSystem(), DeleteJacobian(), DeleteLinearConstraint(), Error(), FALSE, GetJacobianEquation(), GetLinearConstraintVariable(), GetNumTermsInLinearConstraint(), GetOriginalVarRelation(), GetVariableNames(), InitJacobian(), NEW, TCuikSystem::orig2s, TCuikSystem::orig_nvariables, TCuikSystem::orig_variables, TCuikSystem::orig_varNames, PrintEquation(), RewriteEquation2Orig(), TCuikSystem::scalar, TCuikSystem::simp_equations, TCuikSystem::simp_nee, TCuikSystem::simp_nvariables, TCuikSystem::simp_variables, TRUE, UnUpdateCuikSystem(), UpdateCuikSystem(), and VariableName().

Referenced by GenerateWorldTWSEquations().

unsigned int MaxReduction	(	Tparameters *	p,
		unsigned int	varMask,
		double *	r,
		Tbox *	b,
		TCuikSystem *	cs
	)

Reduces a box using the constraints included in the cuiksystem and using the algorithms described in our papers.

Parameters

p	A set of parameters.
varMask	The type of variables to reduce (SYSTEM_VAR, CARTESIAN_VAR, DUMMY_VAR). Different types of variables can be indicated using '\|'. A good option is to use ~DUMMY_VAR (this reduces for all variables except for dummy ones).
r	The reduction ration for the box.
b	The box to be reduced.
cs	The cuiksystem with the constraints to use to reduce the box.

Definition at line 2908 of file cuiksystem.c.

References DeleteBox(), DUMMY_VAR, EMPTY_BOX, Error(), GetBoxSize(), TCuikSystem::orig2sd, ReduceBox(), TCuikSystem::scalar, SimpleFromOriginal(), TCuikSystem::systemVar, UpdateCuikSystem(), and UpdateOriginalFromSimple().

Referenced by IncrementalSampleCuikSystemInBox(), MaxWorldReduction(), and SampleCuikSystemInBox().

boolean SampleCuikSystem	(	Tparameters *	p,
		char *	fname,
		Tlist *	sb,
		unsigned int	nsamples,
		unsigned int	ntries,
		unsigned int	ndof,
		TCuikSystem *	cs
	)

Determine points for which all the equations in the cuiksystem hold. Actually it determines tiny boxes (boxes with size below EPSILON) and the center of the box is taken as the solution point. Since, in general, EPSILON is very small (1e-6) the error of the given solutions is also tiny (order of 1e-12).
The function generates two types of output, the solution boxes (stored in a fname_samples.sol file) and the central point for each solution point (stored in a fname.samples file).
Samples are used in the planning process, to generate roadmap vertexes.
This functions generates samples in the search space defined by the variable ranges. For a function that generate samples in a particular box see SampleCuikSystemInBox.
Note that a sample includes values only for the system variables, that are the ones governing the movement for the mechanisms at hand.
The algorithm implemented for sampling proceed by fixing ndof variables at random and then solving the problem via CuikSolve.

Parameters

p	A set of parameters.
fname	Base name for the output files. If NULL, the solutions are not stored in any file.
sb	List of boxes where to store the solutions. If NULL, the boxes are not listed.
nsamples	The number of samples to generate.
ntries	Number of times we have to try to generate samples (i.e., of fixing some variables at random and solving). Use NO_UINT not to fix any limit.
ndof	The number of degrees of freedom of the mechanism under considerations. If we use NO_UINT, the function tries to determine the number of degrees of freedom from the variables and equations (ndof = Num Variables-Num Equations). However, our systems are typically overconstrained and this simple guess often fails.
cs	The cuiksystem from which to drawn samples.

Returns: TRUE if the samples are actually generated before reaching the maximum number of tries.

See Also: CuikPlan SampleCuikSystemInBox

Definition at line 2941 of file cuiksystem.c.

References DeleteBox(), Error(), GenerateInitialBox(), SampleCuikSystemInBox(), and TCuikSystem::scalar.

boolean SampleCuikSystemInBox	(	Tparameters *	p,
		char *	fname,
		Tlist *	sb,
		unsigned int	nsamples,
		unsigned int	ntries,
		unsigned int	ndof,
		Tbox *	init_box,
		TCuikSystem *	cs
	)

This like function SampleCuikSystem but the samples are generated only in the given box. Morover, this function can store the (tiny) solution boxes in a list of boxes.

Parameters

p	A set of parameters.
fname	Base name for the output files. If NULL, the solutions are not stored in any file.
sb	List of boxes where to store the solutions. If NULL, the boxes are not listed.
nsamples	The number of samples to generate.
ntries	Number of times we have to try to generate samples (i.e., of fixing some variables at random and solving). Use NO_UINT not to fix any limit.
ndof	The number of degrees of freedom of the mechanism under considerations. If we use NO_UINT, the function tries to determine the number of degrees of freedom from the variables and equations (ndof = Num Variables-Num Equations). However, our systems are typically overconstrained and this simple guess often fails.
init_box	Box where to generate samples.
cs	The cuiksystem from which to drawn samples.

Returns: TRUE if the samples are actually generated before reaching the maximum number of tries.

See Also: SampleCuikSystem

Definition at line 2960 of file cuiksystem.c.

References AddLastElement(), Advance(), ChangeParameter(), ComputeSplitDim(), CopyBox(), CreateFileName(), CT_EPSILON, CT_N_SOLUTIONS, CT_SMALL_SIGMA, CT_SPLIT_TYPE, DeleteBox(), DeleteFileName(), DeleteListOfBoxes(), DUMMY_VAR, EMPTY_BOX, EndOfList(), Error(), FALSE, First(), GenerateInitialBox(), GetBoxInterval(), GetCSNumEquations(), GetCSNumVariables(), GetCSSystemVars(), GetCurrent(), GetFileFullName(), GetParameter(), GetVariable(), GetVariableTypeN(), InitIterator(), InitListOfBoxes(), IntervalCenter(), LINKS_EXT, MaxReduction(), NEW, NewInterval(), NO_UINT, NVariables(), TCuikSystem::orig_equations, TCuikSystem::orig_variables, PrintBox(), randomInInterval(), TCuikSystem::scalar, SetCSVariableRange(), SetVariableInterval(), SOL_EXT, SolveCuikSystem(), SYSTEM_VAR, TRUE, UnUpdateCuikSystem(), TCuikSystem::updated, and UsedVarInEquations().

Referenced by SampleCuikSystem().

boolean IncrementalSampleCuikSystem	(	Tparameters *	p,
		char *	fname,
		Tlist *	sb,
		boolean *	fixVars,
		unsigned int	nsamples,
		unsigned int	ntries,
		unsigned int	ndof,
		TCuikSystem *	cs
	)

This function is very similar to SampleCuikSystem but degrees of freedom are progressively fixed instead of fixed all simultaneously.

Parameters

p	A set of parameters.
fname	Base name for the output files. If NULL, the solutions are not stored in any file.
sb	List of boxes where to store the solutions. If NULL, the boxes are not listed.
fixVars	Boolean array with the variables that can be fixed. If NULL the system variables are used.
nsamples	The number of samples to generate.
ntries	Number of times we have to try to generate samples (i.e., of fixing some variables at random and solving). Use NO_UINT not to fix any limit.
ndof	The number of degrees of freedom of the mechanism under considerations. If we use NO_UINT, the function tries to determine the number of degrees of freedom from the variables and equations (ndof = Num Variables-Num Equations). However, our systems are typically overconstrained and this simple guess often fails.
cs	The cuiksystem from which to drawn samples.

Returns: TRUE if the samples are actually generated before reaching the maximum number of tries.

Definition at line 3218 of file cuiksystem.c.

References DeleteBox(), Error(), GenerateInitialBox(), IncrementalSampleCuikSystemInBox(), and TCuikSystem::scalar.

Referenced by main().

boolean IncrementalSampleCuikSystemInBox	(	Tparameters *	p,
		char *	fname,
		Tlist *	sb,
		boolean *	fixVars,
		unsigned int	nsamples,
		unsigned int	ntries,
		unsigned int	ndof,
		Tbox *	init_box,
		TCuikSystem *	cs
	)

This function is very similar to SampleCuikSystemInBox but degrees of freedom are progressively fixed instead of fixed all simultaneously.

Parameters

p	A set of parameters.
fname	Base name for the output files. If NULL, the solutions are not stored in any file.
sb	List of boxes where to store the solutions. If NULL, the boxes are not listed.
fixVars	Boolean array with the variables that can be fixed. If NULL the system variables are used.
nsamples	The number of samples to generate.
ntries	Number of times we have to try to generate samples (i.e., of fixing some variables at random and solving). Use NO_UINT not to fix any limit.
ndof	The number of degrees of freedom of the mechanism under considerations. If we use NO_UINT, the function tries to determine the number of degrees of freedom from the variables and equations (ndof = Num Variables-Num Equations). However, our systems are typically overconstrained and this simple guess often fails.
init_box	Box where to generate samples.
cs	The cuiksystem from which to drawn samples.

Returns: TRUE if the samples are actually generated before reaching the maximum number of tries.

Definition at line 3238 of file cuiksystem.c.

References AddLastElement(), Advance(), BoxFromVariables(), ChangeParameter(), CONVERGED_IN_BOX, CONVERGED_IN_GLOBAL, CopyBox(), CreateFileName(), CT_EPSILON, CT_MAX_NEWTON_ITERATIONS, CT_N_SOLUTIONS, CT_SMALL_SIGMA, CuikNewtonInBox(), DeleteBox(), DeleteFileName(), DeleteListOfBoxes(), DUMMY_VAR, EMPTY_BOX, EndOfList(), Error(), ErrorInSolution(), FALSE, First(), GetBoxInterval(), GetBoxSumSide(), GetCSNumEquations(), GetCSNumVariables(), GetCSSystemVars(), GetCurrent(), GetFileFullName(), GetParameter(), InitIterator(), InitListOfBoxes(), IntervalCenter(), IntervalSize(), IsInSimple(), IsSystemVariable(), LINKS_EXT, MaxReduction(), NEW, NewInterval(), NO_UINT, NVariables(), TCuikSystem::orig2sd, TCuikSystem::orig_notDummyVar, TCuikSystem::orig_variables, TCuikSystem::orig_varNames, PrintBox(), PrintBoxSubset(), randomInInterval(), randomMax(), TCuikSystem::scalar, SetBoxInterval(), SOL_EXT, SolveCuikSystem(), TRUE, UnUpdateCuikSystem(), UpdateCuikSystem(), and VariablesFromBox().

Referenced by IncrementalSampleCuikSystem().

unsigned int CuikNewtonSimp	(	Tparameters *	p,
		double *	x,
		TCuikSystem *	cs
	)

This is simplified a version of CuikNewtonInBox since

It operates in the simplified system.
It can not include inequality constraints in the system.
It does not takes into account the original box.
It does not check the equation error at the end of the iteration (we assume convervenge if the step is small)

This used when defining a RRT: we sample points in ambient space (of the simplified system) and we want to converge to the manifold (if possible).

If you want to understand what is done in CuikNewtonInBox it is better to start by this function.

Todo:: Reduce the duplicity of code between CuikNewtonSimp and CuikNewtonInBox. This is not easy since CuikNewtonInBox includes lots of code to take into account box bondaries and inequalitites and code to convert from boxes in the original system to boxes in the simplified system at the beggining of the function and the revese change at the end of the function.

Parameters

p	The set of parameters.
x	The initial and output point. This is a point in the simplified system.
cs	The cuiksystem.

Returns: DIVERGED if we could not reach a solution point or CONVERGED_IN_GLOBAL if a solution point is found.

Definition at line 3571 of file cuiksystem.c.

References ArrayPi2Pi(), CONVERGED_IN_BOX, CONVERGED_IN_GLOBAL, CT_EPSILON, CT_MAX_NEWTON_ITERATIONS, DeleteNewton(), DIVERGED, Error(), ErrorInSimpCSEquations(), EvaluateEqualityEquations(), EvaluateJacobianInVector(), FALSE, GetNewtonMatrixBuffer(), GetNewtonRHBuffer(), GetParameter(), InitNewton(), TCuikSystem::J, NewtonStep(), TCuikSystem::simp_equations, TCuikSystem::simp_nee, TCuikSystem::simp_nequations, TCuikSystem::simp_nvariables, TCuikSystem::simp_tp, TRUE, and UpdateCuikSystem().

Referenced by WorldSimpCuikNewton().

unsigned int CuikNewtonInBox	(	Tparameters *	p,
		Tbox *	box,
		double *	sol,
		Tbox *	b_sol,
		TCuikSystem *	cs
	)

Find a solution of a cuiksystem set of equations using the Newton-Rhapson method.

The initial point is sampled form the given box.

Note that parameter box is used both for input and for output. As an input it defienes the box from where to drawn the initial point for the Newton method. As an output it is a small box around the last point of the Newton iteration (the solution if the process converged).

Parameters

p	A set of parameters.
box	The box from where sample the initial point.
sol	The space where to store solution of the cuik system as a point. This must be allocated by the caller.
b_sol	The solution as a punctual box. If the Newton diverged this will be a copy of the input box. The space is allocated inside this function.
cs	The cuiksystem to solve.

Returns: DIVERGED, CONVERGED_IN_BOX, CONVERGED_IN_GLOBAL, CONVERGED_OUTSIDE_GLOBAL.

See Also: CuikNewton

Definition at line 3667 of file cuiksystem.c.

References ArrayPi2Pi(), BoxFromVariables(), CONVERGED_IN_BOX, CONVERGED_IN_GLOBAL, CONVERGED_OUTSIDE_GLOBAL, CopyBox(), CT_EPSILON, CT_MAX_NEWTON_ITERATIONS, DeleteBox(), DeleteNewton(), DIVERGED, Error(), ErrorInInequalities(), EvaluateEqualityEquations(), EvaluateJacobianInVector(), FALSE, GenerateInitialBox(), GetBoxInterval(), GetBoxNIntervals(), GetNewtonMatrixBuffer(), GetNewtonRHBuffer(), GetNumDummyVariables(), GetParameter(), InitBoxFromPoint(), InitNewton(), IntervalCenter(), IntervalSize(), TCuikSystem::J, NEW, NewInterval(), NewtonSetMatrix(), NewtonSetRH(), NewtonStep(), Norm(), TCuikSystem::orig2s, TCuikSystem::orig_notDummyVar, TCuikSystem::orig_nvariables, TCuikSystem::orig_systemVar, TCuikSystem::orig_variables, PointInBox(), randomInInterval(), RegenerateSolution(), SetBoxInterval(), SetBoxSubset(), TCuikSystem::simp_equations, TCuikSystem::simp_nee, TCuikSystem::simp_nequations, TCuikSystem::simp_nvariables, TCuikSystem::simp_tp, SimpleFromOriginal(), UpdateCuikSystem(), and UpdateOriginalFromSimple().

Referenced by CuikNewton(), IncrementalSampleCuikSystemInBox(), main(), and PostProcessBox().

boolean CuikNewton	(	Tparameters *	p,
		double *	sol,
		Tbox *	b_sol,
		TCuikSystem *	cs
	)

Find a solution of a cuiksystem set of equations using the Newton-Rhapson method.

This function is only a wrapper of CuikNewtonInBox using the initial box (i.e., the one defined form the variable ranges) to sample the initial point.

Parameters

p	A set of parameters.
sol	Space where to store the solution as a point. This must be allocated by the caller.
b_sol	The solution as a punctual box. If the Newton diverged this will be a copy of the input box. This box is allocated inside the function.
cs	The cuiksystem to solve.

Returns: TRUE if the Newton-Raphson process converged to a solution in the initial box.

See Also: CuikNewtonInBox, GenerateInitialBox.

Definition at line 3905 of file cuiksystem.c.

References CONVERGED_IN_BOX, CONVERGED_IN_GLOBAL, CuikNewtonInBox(), DeleteBox(), and GenerateInitialBox().

Referenced by main(), and NewtonInWorld().

void SolveCuikSystem	(	Tparameters *	p,
		boolean	restart,
		char *	fstate,
		Tbox *	searchSpace,
		FILE *	f_out,
		Tlist *	sol,
		TCuikSystem *	cs
	)

This is the entry function for the Cuik solver. It takes as input a cuiksystem and returns a set of boxes bounding the solution set. If the solutions are isolated (zero-dimensional) the output is a set of isolated boxes. If the solution is continuous the output is a set of boxes bounding the solution space. Be aware that isolating solution sets with high dimensionality can be expensive. To this end it is recommended to use the parallel version of cuik

Parameters

p	A set of parameters.
restart	TRUE is the process has be re-started from a previous execution that was, for some reason, crashed.
fstate	Name of the file from which to read the state (if restart is TRUE) and where to save the state from time to time (concretely every STATE_PERIOD boxes).
searchSpace	Box defining the search space where to look for the solutions. If null, the global search space is used (the one defined from the user-given variable ranges).
f_out	File where to store the solution boxes and the related information such as the parameters, the compilation flags and the statistics of the solving process (time, number of processed boxes,...). If NULL the boxes are not stored in the file (in this case sols must not be NULL).
sol	List of boxes where to store the solutions. If NULL, the boxes are not listed.
cs	The cuiksystem to solve.

See Also: MPI_SolveCuikSystem

Definition at line 3926 of file cuiksystem.c.

References AddBox2HeapOfBoxes(), AddList2Heap(), BoxFromVariables(), BREADTH_FIRST_SEARCH, CmpBoxBreadthFirst(), CmpBoxDepthFirst(), CmpBoxesEquation(), CT_N_SOLUTIONS, CT_STATE_PERIOD, DeleteBox(), DeleteHeap(), DeleteListOfBoxes(), DEPTH_FIRST_SEARCH, DUMMY_VAR, Error(), EvaluateEqMin(), ExtractMinElement(), FALSE, GetBoxLevel(), GetBoxSize(), GetBoxVolume(), GetNSolutionBoxes(), GetParameter(), Heap2List(), HeapEmpty(), HeapOfBoxesVolume(), InitBox(), InitHeapOfBoxes(), InitStatistics(), LoadCSState(), MINIMIZATION_SEARCH, NewBoxProcessed(), NewMaxLevel(), TCuikSystem::orig2sd, PostProcessBox(), PrintBox(), PrintStatistics(), ReduceBox(), REDUCED_BOX_WITH_SOLUTION, SaveCSState(), TCuikSystem::scalar, TCuikSystem::searchMode, TCuikSystem::simp_empty, TCuikSystem::simp_nvariables, SimpleFromOriginal(), TCuikSystem::st, TCuikSystem::systemVar, UpdateCuikSystem(), and TCuikSystem::variables.

Referenced by DealWithCP(), IncrementalSampleCuikSystemInBox(), main(), and SampleCuikSystemInBox().

void MPI_SolveCuikSystem	(	Tparameters *	p,
		boolean	restart,
		char *	fstate,
		Tbox *	searchSpace,
		FILE *	f_out,
		TCuikSystem *	cs
	)

This is the parallel version of SolveCuikSystem. Actually this function is the main scheduler, i.e., the one in charge of managing the boxes to be processes to send them to the child processors. to collec the result, and to deal with them accordingly (bisect, consider solutions, discard if they are empty,...).
The main difference with SolveCuikSystem is that solutions are not included in any list but only stored in a file.

Parameters

p	A set of parameters.
restart	TRUE is the process has be re-started from a previous execution that was, for some reason, crashed.
fstate	Name of the file from which to read the state (if restart is TRUE) and where to save the state from time to time (concretely every STATE_PERIOD boxes).
searchSpace	Box defining the search space where to look for the solutions. If null, the global search space is used (the one defined from the user-given variable ranges).
f_out	File where to store the solution boxes and the related information such as the parameters, the compilation flags and the statistics of the solving process (time, number of processed boxes,...).
cs	The cuiksystem to solve.

See Also: SolveCuikSystem

Definition at line 4103 of file cuiksystem.c.

References AddBox2HeapOfBoxes(), AddFirstElement(), AddList2Heap(), AddNBoxReductions(), Box2Buffer(), BoxFromVariables(), BREADTH_FIRST_SEARCH, Buffer2Box(), CmpBoxBreadthFirst(), CmpBoxDepthFirst(), CmpBoxesEquation(), CT_N_SOLUTIONS, CT_STATE_PERIOD, DeleteBox(), DeleteHeap(), DeleteListOfBoxes(), DeleteStatistics(), DEPTH_FIRST_SEARCH, Error(), ERROR_IN_PROCESS, ExtractMinElement(), FALSE, GetBoxBufferSize(), GetBoxLevel(), GetBoxSize(), GetBoxVolume(), GetNSolutionBoxes(), GetParameter(), Heap2List(), HeapEmpty(), HeapOfBoxesVolume(), HeapSize(), InitBox(), InitHeapOfBoxes(), InitStatistics(), LoadCSState(), MINIMIZATION_SEARCH, MPI_TREAT_BOX_TIMEOUT, NEW, NewBoxProcessed(), NewLostBox(), NewMaxLevel(), TCuikSystem::nvariables, TCuikSystem::orig2sd, PostProcessBox(), PrintBox(), PrintStatistics(), REDUCED_BOX, SaveCSState(), TCuikSystem::scalar, TCuikSystem::searchMode, SimpleFromOriginal(), TCuikSystem::st, TCuikSystem::systemVar, TRUE, UpdateCuikSystem(), and TCuikSystem::variables.

Referenced by main().

void MPI_TreatBox	(	Tparameters *	p,
		TCuikSystem *	cs
	)

This is the function executed by the child processors when solving a problem in a multi-processor environment.

Parameters

p	A set of parameters.
cs	The cuiksystem to solve.

See Also: MPI_SolveCuikSystem

Definition at line 4490 of file cuiksystem.c.

References Box2Buffer(), Buffer2Box(), DeleteBox(), DUMMY_VAR, Error(), FALSE, GetBoxBufferSize(), GetNBoxReductions(), InitBox(), NEW, TCuikSystem::nvariables, PrintBox(), ReduceBox(), ResetNBoxReductions(), TCuikSystem::scalar, TCuikSystem::st, TRUE, and UpdateCuikSystem().

Referenced by main().

void GenerateInitialBox	(	Tbox *	box,
		TCuikSystem *	cs
	)

Determines the search space for the solutions of a cuiksystem in the form of a box defined from the variable ranges.
This can be seen as a box constructor.

Parameters

box	The output box with the variable ranges.
cs	The cuiksystem.

Definition at line 4583 of file cuiksystem.c.

References BoxFromVariables(), and TCuikSystem::orig_variables.

Referenced by CuikNewton(), CuikNewtonInBox(), GetWorldInitialBox(), IncrementalSampleCuikSystem(), SampleCuikSystem(), and SampleCuikSystemInBox().

void GenerateSimpInitialBox	(	Tparameters *	p,
		Tbox *	box,
		TCuikSystem *	cs
	)

The same as GenerateInitialBox but for the simplified system.

Parameters

p	The set of parameters.
box	The output box with the variable ranges.
cs	The cuiksystem.

Definition at line 4588 of file cuiksystem.c.

References BoxFromVariables(), Error(), TCuikSystem::simp_variables, and UpdateCuikSystem().

Referenced by GetWorldSimpInitialBox().

boolean RegenerateSolution	(	Tparameters *	p,
		Tbox *	b,
		TCuikSystem *	cs
	)

Generates values for all variables in the box (including dummies and cartesian ones) from the values of the system variables.

In general, solutions only include system variables and for many operations the cartesian/dummy ones are also needed (for plotting, for refining a solution,...). This functions reverses the removal of the non-system variables in a box.

Observe that the box must be given in the original system and with values only for the system variables. This is different of what happens with RegenerateOriginalBox where the input box has values for all variables in the simplified system.

Parameters

p	The set of parameters.
b	The box to regenerate. It must have the correct dimensionality (i.e., the number of variables in the cuiksystem including the system and dummy ones) but with values only for the system variables. At the end of the call the values for dummy/cartesian variables will be also defined.
cs	The cuiksystem.

Returns: TRUE if the regeneration process can be compleated without problems and FALSE if during the reconstruction we realize that the input box is and empty box.

Definition at line 4596 of file cuiksystem.c.

References CARTESIAN_VAR, CropEquation(), CT_EPSILON, CT_RHO, DeleteBox(), DUMMY_VAR, EMPTY_BOX, FALSE, GetParameter(), INF, InitBox(), IsCartesianVariable(), IsCoordEquation(), IsDummyEquation(), IsDummyVariable(), NewInterval(), TCuikSystem::orig_equations, TCuikSystem::orig_nvariables, TCuikSystem::orig_variables, SetBoxInterval(), TRUE, and UpdateCuikSystem().

Referenced by CuikNewtonInBox(), and RegenerateSolutionPoint().

unsigned int RegenerateSolutionPoint	(	Tparameters *	p,
		double *	pt,
		double **	rp,
		TCuikSystem *	cs
	)

Defines a solution point including the dummy and cartesian variables from an array with only values for the system variables.

This function is based on RegenerateSolution.

Parameters

p	The set of parameters.
pt	Values for the system variables.
rp	Reconstructed solution with values for all variables. The space for this array is allocated in this function.
cs	The cuiksystem

Returns: The number of entries of the output array rp.

Definition at line 4660 of file cuiksystem.c.

References DeleteBox(), Error(), GetBoxInterval(), InitBoxFromPoint(), IntervalCenter(), NEW, TCuikSystem::orig_nvariables, TCuikSystem::orig_systemVar, RegenerateSolution(), and UpdateCuikSystem().

void RegenerateOriginalBox	(	Tparameters *	p,
		Tbox *	boxS,
		Tbox *	boxO,
		TCuikSystem *	cs
	)

Generates a box in the original cuiksystem from a box of the simplified one.

You can generate a simplified cuiksystem using cuiksimplify and then solve it. To obtain the solution boxes in the un-simplified (or original) system using the cuikunsimplify application that basically relies on this function.

Parameters

p	The set of parameters.
boxS	The input box in the simplified and dummified system.
boxO	The output box in the original system. The box is created insided this function.
cs	The cuiksystem to which boxes are supposed to refer to. If this is not so the behavior is undefined.

Definition at line 4701 of file cuiksystem.c.

References BoxFromVariables(), Error(), TCuikSystem::orig2sd, TCuikSystem::orig_variables, UpdateCuikSystem(), and UpdateOriginalFromSimple().

Referenced by main().

unsigned int RegenerateOriginalPoint	(	Tparameters *	p,
		double *	s,
		double **	o,
		TCuikSystem *	cs
	)

Defines a point in the original system from a point in the simplified system.

It is like RegenerateOriginalBox but on points and not on boxes and taking points from the simplified system and not the simplified+dummified.

This is basically used from cuikatlas that operates on the simplified system.

Parameters

p	The set of parameters.
s	The point in the simplified system.
o	The output on in the original system. Space allocated internally.
cs	The cuiksystem.

Returns: The size of the output array (number of variables in the original system).

Definition at line 4712 of file cuiksystem.c.

References Error(), TCuikSystem::orig2s, TCuikSystem::orig_nvariables, TCuikSystem::orig_variables, PointFromVariables(), UpdateCuikSystem(), and UpdateOriginalPointFromSimple().

Referenced by GetLinkTransformsFromSolutionPoint(), and RegenerateWorldOriginalPoint().

unsigned int GenerateSimplifiedPoint	(	Tparameters *	p,
		double *	o,
		double **	s,
		TCuikSystem *	cs
	)

Generates a simplified point from an original one. This is the inverse mapping of RegenerateOriginalPoint.

Parameters

p	The set of parameters.
o	The point in the original system.
s	The output in the simplified system. Space allocated internally.
cs	The cuiksystem.

Returns: The size of the output array (number of variables in the simplified system).

Definition at line 4725 of file cuiksystem.c.

References Error(), TCuikSystem::orig2s, TCuikSystem::simp_nvariables, SimplePointFromOriginal(), and UpdateCuikSystem().

Referenced by WorldGenerateSimplifiedPoint().

unsigned int ComputeSplitDim	(	Tparameters *	p,
		Tbox *	b,
		TCuikSystem *	cs
	)

Determines the dimension for which it is more advisable to split a box. The criterion to determine the split dimension can be selected through the parameters.

Parameters

p	A set of parameters.
b	The box to be split.
cs	The cuiksystem.

Returns: The dimension along to which the box is to be bisected.

Definition at line 4742 of file cuiksystem.c.

References ComputeSplitDimInt(), DeleteBox(), Error(), GetVarIDInOriginal(), NO_UINT, TCuikSystem::orig2sd, TCuikSystem::scalar, SimpleFromOriginal(), and UpdateCuikSystem().

Referenced by SampleCuikSystemInBox().

boolean PointInSystemBox	(	Tvector *	v,
		Tbox *	b,
		TCuikSystem *	cs
	)

Determines if a given point is fully included in the system sub-box (i.e., the sub-box fot the system variables). The point is typically one obtained via sampling.

Parameters

v	A vector of doubles with one entry for each one of the system variables.
b	The box with the ranges for the variables (including the system ones).
cs	The cuiksystem.

Returns: TRUE if the point is fully included in the system sub-box.

See Also: SampleCuikSystemInBox SampleCuikSystem

Definition at line 4766 of file cuiksystem.c.

References Error(), GetBoxInterval(), GetBoxNIntervals(), GetVectorElement(), IsDummyVariable(), IsInside(), NVariables(), TCuikSystem::orig_variables, and TRUE.

void EvaluateCSEquations	(	double *	p,
		double *	r,
		TCuikSystem *	cs
	)

Evaluates the equation set on a point.

Only equalities are evaluated and thus only space for as many ouputs as equalities is needed in r.

Parameters

p	The evaluation point.
r	The array with the evaluation of each equation. The space for this array should be allocated externally.
cs	The cuiksystem to query.

Definition at line 4793 of file cuiksystem.c.

References EvaluateEqualityEquations(), FALSE, and TCuikSystem::orig_equations.

Referenced by WorldEvaluateEquations().

void EvaluateSimpCSEquations	(	Tparameters *	pr,
		double *	p,
		double *	r,
		TCuikSystem *	cs
	)

The same as EvaluateCSEquations but on the simplified system.

The direct access to the simplified equations is needed to obtain an efficient cuikatlas (and associated utilities). If defined on the original systems they will include too many (trivial) equations and fixed variables.

Note that in this case the input point p must be defined on the simplified space.

Parameters

pr	The set of parameters.
p	The evaluation point.
r	The array with the evaluation of each equation. The space for this array should be allocated externally.
cs	The cuiksystem to query.

Definition at line 4798 of file cuiksystem.c.

References Error(), EvaluateEqualityEquations(), FALSE, TCuikSystem::simp_equations, and UpdateCuikSystem().

Referenced by WorldEvaluateSimpEquations().

void EvaluateSubSetSimpCSEquations	(	Tparameters *	pr,
		boolean *	se,
		double *	p,
		double *	r,
		TCuikSystem *	cs
	)

The same as EvaluateSimpCSEquations but on a subset of equations.

This is used to evaluate the independent subset of equations during the atlas construction.

Parameters

pr	The set of parameters.
se	The array of booleans selecting the equations to evaluate.
p	The evaluation point.
r	The array with the evaluation of each equation. The space for this array should be allocated externally.
cs	The cuiksystem to query.

Definition at line 4806 of file cuiksystem.c.

References Error(), EvaluateSubSetEqualityEquations(), TCuikSystem::simp_equations, and UpdateCuikSystem().

Referenced by WorldEvaluateSubSetSimpEquations().

void EvaluateCSJacobian	(	double *	p,
		double ***	J,
		TCuikSystem *	cs
	)

Returns the matrix resulting from evaluationg the Jacobian of the system in a given point.

The Jacobian is defined on the original cuiksystem (without simplification nor dummyfications).

Parameters

p	The evaluation point.
J	The Jacobian matrix to be defined.
cs	The cuiksystem

See Also: GetCSJacobian, DeleteCSJacobian.

Definition at line 4814 of file cuiksystem.c.

References AllocateJacobianEvaluation(), DeleteJacobian(), EvaluateJacobian(), InitJacobian(), TCuikSystem::orig_equations, and TCuikSystem::orig_variables.

Referenced by EvaluateWorldJacobian().

double ErrorInCSEquations	(	double *	p,
		TCuikSystem *	cs
	)

Evaluates the equations on a point and returns the norm of the error. Recall that solution points should have zero error. This is similar to ErrorInSolution but works on points and not on boxes and takes into account all equations and not only system ones.

Parameters

p	The point on which to evaluate the equations (including values for all variables).
cs	The cuiksystem with the equations to evaluate.

Returns: The norm of the error for the given point.

Definition at line 4826 of file cuiksystem.c.

References EvaluateEqualityEquations(), FALSE, NEqualityEquations(), NEW, Norm(), and TCuikSystem::orig_equations.

Referenced by main(), and WorldErrorInEquations().

double ErrorInSimpCSEquations	(	Tparameters *	pr,
		double *	p,
		TCuikSystem *	cs
	)

The same as ErrorInCSEquations but in the simplified set of equations.

The direct access to the simplified equations is needed to obtain an efficient cuikatlas (and associated utilities). If defined on the original systems they will include too many (trivial) equations and fixed variables.

Note that in this case the input point p must be defined on the simplified space.

Parameters

pr	The set of parameters.
p	The point on which to evaluate the equations (including values for all variables in the simplified system).
cs	The cuiksystem with the equations to evaluate.

Returns: The norm of the error for the given point.

Definition at line 4845 of file cuiksystem.c.

References Error(), EvaluateEqualityEquations(), FALSE, NEqualityEquations(), NEW, Norm(), TCuikSystem::simp_equations, and UpdateCuikSystem().

Referenced by CuikNewtonSimp(), and WorldErrorInSimpEquations().

double EvaluateCSCost	(	Tparameters *	p,
		boolean	simp,
		double *	s,
		void *	cs
	)

This interface is provided to use it form T-RRT. The same interface is used for other cost function.

Parameters

p	The set of parameters.
simp	TRUE if the solution point is given in the simplified sytem.
s	The solution point
cs	The cuiksystem with the equation to evaluate.

Definition at line 4867 of file cuiksystem.c.

References EvaluateWholeEquation().

Referenced by EvaluateWorldCost().

double ErrorInSolution	(	Tbox *	b,
		TCuikSystem *	cs
	)

Computes the error for the solution represented by a box. The error is computed taking the central point of the box and replacing the values in the equation set.

Only system equality equations are taken into account in the error.

Parameters

b	The solution box.
cs	The cuiksystem.

Returns: Maximum error for the equations for the central point of the box.

Definition at line 4885 of file cuiksystem.c.

References Error(), EvaluateEqualityEquations(), GetBoxInterval(), GetBoxNIntervals(), IntervalCenter(), NEqualityEquations(), NEW, Norm(), NVariables(), TCuikSystem::orig_equations, TCuikSystem::orig_variables, and TRUE.

Referenced by IncrementalSampleCuikSystemInBox(), main(), and PostProcessBox().

double ErrorInInequalities	(	Tbox *	b,
		TCuikSystem *	cs
	)

Computes the error for the solution represented by a box as far as inequalities is concerned. The error is computed taking the central point of the box and replacing the values in the equation set.

This can be seen as a complement of ErrorInSolution when inequalities are also to be taken into account.

Parameters

b	The solution box.
cs	The cuiksystem.

Returns: Maximum error for the inequality equations for the central point of the box.

Definition at line 4924 of file cuiksystem.c.

References Error(), EvaluateInequalityEquations(), GetBoxInterval(), GetBoxNIntervals(), IntervalCenter(), MaxVector(), NEW, NInequalityEquations(), NVariables(), TCuikSystem::orig_equations, TCuikSystem::orig_nvariables, and TCuikSystem::orig_variables.

Referenced by CuikNewtonInBox().

boolean InequalitiesHoldOnPoint	(	double *	p,
		TCuikSystem *	cs
	)

Checks if all inqualities hold for a given point. For many processes (i.e., continuation, etc) only the equalities are taken into account. Thus, we need a function to check if the inequalities hold.

Parameters

p	The point.
cs	The cuiksystem to check.

Returns: TRUE if all the inequalities hold for the given point.

Definition at line 4953 of file cuiksystem.c.

References EvaluateInequalityEquations(), MaxVector(), NEW, NInequalityEquations(), TCuikSystem::orig_equations, and TRUE.

Referenced by WorldInequalitiesHold().

boolean SimpInequalitiesHoldOnPoint	(	Tparameters *	pr,
		double *	p,
		TCuikSystem *	cs
	)

Checks if all inqualities hold for a given point for the simplified system.

Parameters

pr	the set of parameters.
p	The point (in the simplified system).
cs	The cuiksystem to check.

Returns: TRUE if all the inequalities hold for the given point.

See Also: InequalitiesHoldOnPoint

Definition at line 4973 of file cuiksystem.c.

References Error(), EvaluateInequalityEquations(), MaxVector(), NEW, NInequalityEquations(), TCuikSystem::simp_equations, TRUE, and UpdateCuikSystem().

Referenced by WorldSimpInequalitiesHold().

double ErrorInSimpInequalitiesOnPoint	(	Tparameters *	pr,
		double *	p,
		TCuikSystem *	cs
	)

Determines the maximum error in the inequalities in the simplified system.

Parameters

pr	the set of parameters.
p	The point (in the simplified system).
cs	The cuiksystem to check.

Returns: The error in the inequalities in the simplified system.

See Also: SimpInequalitiesHoldOnPoint

Definition at line 4996 of file cuiksystem.c.

References Error(), EvaluateInequalityEquations(), MaxVector(), NEW, NInequalityEquations(), TCuikSystem::simp_equations, and UpdateCuikSystem().

Referenced by WorldErrorInSimpInequalities().

void PrintCuikSystem	(	Tparameters *	p,
		FILE *	f,
		TCuikSystem *	cs
	)

Writes the cuiksystem in a file that can be stdout.

Parameters

p	A set of parameters.
f	The stream where to write the cuiksystem.
cs	The cuiksystem.

Definition at line 5022 of file cuiksystem.c.

References GetVariableNames(), MINIMIZATION_SEARCH, NEW, NVariables(), TCuikSystem::orig_eqMin, TCuikSystem::orig_equations, TCuikSystem::orig_variables, PrintEquations(), PrintMonomials(), PrintVariables(), and TCuikSystem::searchMode.

Referenced by AdjustBioWorldGeometry(), main(), and PrintWorldCS().

void PrintCuikSystemWithSimplification	(	Tparameters *	p,
		FILE *	f,
		TCuikSystem *	cs
	)

Writes the simplified cuiksystem in a file that can be stdout. If the DEBUG mode is above 1 it first print the original system and then the simplified one (in the same file)

Parameters

p	A set of parameters.
f	The stream where to write the simplified cuiksystem.
cs	The cuiksystem.

See Also: PrintCuikSystem

Definition at line 5047 of file cuiksystem.c.

References CT_SIMPLIFICATION_LEVEL, TCuikSystem::eqMin, TCuikSystem::equations, GetNumSecondaryVariables(), GetNumSystemVariables(), GetParameter(), GetVariableNames(), MINIMIZATION_SEARCH, NEW, NVariables(), TCuikSystem::orig2sd, TCuikSystem::orig_eqMin, TCuikSystem::orig_equations, TCuikSystem::orig_nvariables, TCuikSystem::orig_variables, PrintEquations(), PrintMapping(), PrintMonomials(), PrintVariables(), TCuikSystem::searchMode, TCuikSystem::simp_nvariables, TCuikSystem::simp_variables, UpdateCuikSystem(), and TCuikSystem::variables.

Referenced by DealWithCP(), and main().

void SaveCuikSystemSimplification	(	Tparameters *	p,
		FILE *	f,
		TCuikSystem *	cs
	)

Saves the simplification information associated with a cuiksystem.

Parameters

p	A set of parameters.
f	The stream where to write the simplification information.
cs	The cuiksystem.

Definition at line 5102 of file cuiksystem.c.

References TCuikSystem::orig2sd, SaveMapping(), and UpdateCuikSystem().

void DeleteCuikSystem ( TCuikSystem * cs )

Deletes a cuiksystem.

Parameters

cs	The cuiksystem to be deleted.

Definition at line 5113 of file cuiksystem.c.

References TCuikSystem::constants, DeleteConstants(), DeleteEquation(), DeleteEquations(), DeleteStatistics(), DeleteVariables(), TCuikSystem::empty, TCuikSystem::orig_eqMin, TCuikSystem::orig_equations, TCuikSystem::orig_variables, TCuikSystem::simp_empty, TCuikSystem::st, TRUE, and UnUpdateCuikSystem().

Referenced by AddJacobianEquations(), AddSimplifiedJacobianEquations(), AdjustBioWorldGeometry(), DealWithCP(), DeleteWorldCS(), and main().

Institut de Robòtica i Informàtica Industrial

Detailed Description

Functions

Function Documentation

Institut de Robòtica
i Informàtica Industrial