cuikTWS.c File Reference

Detailed Description


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

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

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

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

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

See Also

Definition in file cuikTWS.c.


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

Function Documentation

int main ( int  argc,
char **  arg 

Main body of the cuikTWS application.


  • cuikTWS link_name


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

Definition at line 79 of file cuikTWS.c.

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