cuikjoints2links.c File Reference

Detailed Description


A tool to transform articular variables to cuik variables

Definition in file cuikjoints2links.c.


int main (int argc, char **arg)
 Main body of the cuikjoints2links application. More...

Function Documentation

int main ( int  argc,
char **  arg 

Main body of the cuikjoints2links application.

A tool to transform articular variables to cuik variables.

It additonally store the samples in the form of boxes (in a .sol file) and give the variable names and the system variables in the simplified form (in a .vname and .vmask files). These two last files are used when generating eigengrasp from files in JOINTS. These files are transformed to .sample files and we need to retain which of the dimensions of the samples are independent. The variable names are used to generate the eigen-grasp equations that are latter added to the cuiksystem.


  • cuikjoints2links output_file


  • problem_name is used to define the input world file.
  • output_file [optional] is name of the joints (input), links, sol, vnames, and vmask (ouput) files. If not given the inputs is taked form proble_file.joints and the output values are stored in problem_name.links, problem_name.sol, problem_name.vnames, and problem_name.vmask

The extensions are optional.

This *.vmaks output is an array of booleans that indicate which of the variables used in the problem are related to the pose of the main links in the problem and are present in the simplified system.

argcNumber of elements in the command line that starts the application (i.e., the cuikjoints2links 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 78 of file cuikjoints2links.c.

References CreateFileName(), CT_REPRESENTATION, DeleteBox(), DeleteFileName(), DeleteParameters(), DeleteWorld(), Error(), FALSE, GetFileFullName(), GetParameter(), GetWorldNDOF(), GetWorldSimpVariableMask(), GetWorldSystemVars(), GetWorldVarNames(), InitParametersFromFile(), InitWorldFromFile(), JOINTS_EXT, LINKS_EXT, NEW, PARAM_EXT, PRINT_VARIABLE_NAME, PrintBoxSubset(), PrintReal(), REP_JOINTS, SOL_EXT, TRUE, and WorldDOF2Sol().