link.c
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351 void RegenerateLinkSolutionLinks(unsigned int r,TCuikSystem *cs,double *sol,boolean groundLink,Tlink *l);
371 void RegenerateLinkSolutionQLinks(unsigned int r,TCuikSystem *cs,double *sol,boolean groundLink,Tlink *l);
414 void RegenerateLinkBoxLinks(unsigned int r,TCuikSystem *cs,Tbox *b,boolean groundLink,Tlink *l);
434 void RegenerateLinkBoxQLinks(unsigned int r,TCuikSystem *cs,Tbox *b,boolean groundLink,Tlink *l);
1389 void GetLinkConfFromSolution(unsigned int r,TCuikSystem *cs,double *sol,TLinkConf *def,Tlink *l)
1449 void GenerateSolutionFromLinkConf(unsigned int r,TCuikSystem *cs,TLinkConf *def,double *sol,Tlink *l)
3020 /* nothing need to be done (all internal conf. variables, if any, are already system variables) */
3023 void RegenerateLinkSolutionLinks(unsigned int r,TCuikSystem *cs,double *sol,boolean groundLink,Tlink *l)
3042 void RegenerateLinkSolutionQLinks(unsigned int r,TCuikSystem *cs,double *sol,boolean groundLink,Tlink *l)
3104 /* nothing need to be done (all internal conf. variables, if any, are already system variables) */
3107 void RegenerateLinkBoxLinks(unsigned int r,TCuikSystem *cs,Tbox *b,boolean groundLink,Tlink *l)
3145 void RegenerateLinkBoxQLinks(unsigned int r,TCuikSystem *cs,Tbox *b,boolean groundLink,Tlink *l)
3600 for(i=0;i<((l->type!=LINK_AxisX)||(l->type!=LINK_DeformX)||(l->type==LINK_PrismaticX)?3:1);i++)
void GetLinkForceVars(unsigned int r, unsigned int *xID, unsigned int *yID, unsigned int *zID, unsigned int *le, unsigned int *re, unsigned int *f, TCuikSystem *cs, Tlink *l) Get the identifier of the force-related variables of the link. Definition: link.c:1269 Tinterval * GetLinkDOFRange(unsigned int i, Tlink *l) Gets a given DOF range. Definition: link.c:1497 void RegenerateLinkSolution(Tparameters *p, TCuikSystem *cs, double *sol, boolean groundLink, Tlink *l) Computes the values for the dummy variables used to represent the rotation matrices for a given link... Definition: link.c:2985 void PlotVect3d(unsigned int n, double *x, double *y, double *z, Tplot3d *p) Adds a polyline to the current object. Definition: plot3d.c:447 boolean Intersection(Tinterval *i1, Tinterval *i2, Tinterval *i_out) Computes the intersection of two intervals. Definition: interval.c:285 void ApplyLinkRotDeformX(Tparameters *pr, double sf, unsigned int sv, double *p, Tequation *eq, TCuikSystem *cs, boolean groundLink, Tlink *l) Version of ApplyLinkRot for deform X links. Definition: link.c:2562 void LinkPrintAtoms(FILE *f, THTransform *tl, Tlink *l) Prints the center of the atoms in a link in gobal coordinates. Definition: link.c:3545 void NoForceEquilibriumLink(Tlink *l) Deactivates the force equilibrium on a link. Definition: link.c:1064 Tinterval * GetBoxInterval(unsigned int n, Tbox *b) Returns a pointer to one of the intervals defining the box. Definition: box.c:270 void ApplyLinkRotAxisX(double sf, unsigned int sv, double *p, Tequation *eq, TCuikSystem *cs, boolean groundLink, Tlink *l) Version of ApplyLinkRot for axis X links. Definition: link.c:2508 Definition of basic functions. #define REP_JOINTS One of the possible values of the REPRESENTATION parameter. Definition: parameters.h:60 void GenerateLinkSolutionQLinks(unsigned int r, THTransform *t, TCuikSystem *cs, double *sol, boolean groundLink, Tlink *l) Version of GenerateLinkSolution for quaternion representation. Definition: link.c:3494 void GetTransform2LinkLinks(unsigned int r, TCuikSystem *cs, double *sol, boolean groundLink, double *trans, THTransform *t, Tlink *l) Version of GetTransform2Link for partial matrix representation. Definition: link.c:3290 unsigned int VectorSize(Tvector *vector) Gets the number of elements in a vector. Definition: vector.c:173 boolean EmptyPolyhedron(Tpolyhedron *p) Used for objects that failed to initialize. Definition: polyhedron.c:856 void HTransformApply(double *p_in, double *p_out, THTransform *t) Multiply a homogeneous transform and a vector. Definition: htransform.c:782 void HTransformTxyz(double tx, double ty, double tz, THTransform *t) Constructor. Definition: htransform.c:146 void GenerateSaddleEquation(unsigned int vx, unsigned int vy, unsigned int vz, Tequation *eq) Construtor. Generates a saddle equation. Definition: equation.c:1455 #define REP_FLINKS One of the possible values of the REPRESENTATION parameter. Definition: parameters.h:37 double GetLinkTrans(unsigned int dim, Tlink *l) Retrives the (eventually) fixed translation of a link. Definition: link.c:1082 #define REP_LINKS One of the possible values of the REPRESENTATION parameter. Definition: parameters.h:27 void SetEquationType(unsigned int type, Tequation *eq) Changes the type of the equation (SYSTEM_EQ, CARTESIAN_EQ, DUMMY_EQ, DERIVED_EQ). ... Definition: equation.c:1076 void GenerateCrossProductEquations(unsigned int v1x, unsigned int v1y, unsigned int v1z, unsigned int v2x, unsigned int v2y, unsigned int v2z, unsigned int v3x, unsigned int v3y, unsigned int v3z, unsigned int vs, double s, Tequation *eq) Construtor. Generates the three equations of the cross product of two unitary vectors. Definition: equation.c:1527 #define LINK_ROT3_Q(vname, linkName, j) System variables for a rotation matrix using quaternions. Definition: varnames.h:153 void GenerateNormEquation(unsigned int vx, unsigned int vy, unsigned int vz, double n, Tequation *eq) Construtor. Generates an equation that is the norm of a 3d vector. Definition: equation.c:1494 void PolyhedronPrintCenterAndRadius(FILE *f, THTransform *t, Tpolyhedron *p) Prints the center and the radius of a sphere to a file. Definition: polyhedron.c:1505 boolean IsForceEquilibriumLink(Tlink *l) Determines if forces on link must be in equilibrium. Definition: link.c:1070 void ApplyLinkRot(Tparameters *pr, double sf, unsigned int sv, double *p, Tequation *eq, TCuikSystem *cs, boolean groundLink, Tlink *l) Transforms a vector from the local reference frame to the global one and accumulates the resulting ex... Definition: link.c:2441 void * GetVectorElement(unsigned int i, Tvector *vector) Returns a pointer to a vector element. Definition: vector.c:270 A homgeneous transform in R^3. double LinkPotentialEnergy(unsigned int r, TCuikSystem *cs, double *p, Tlink *l) Potential energy stored in the link. Definition: link.c:1310 void SetBoxInterval(unsigned int n, Tinterval *is, Tbox *b) Replaces a particular interval in a box. Definition: box.c:259 void GenerateLinkSolution(Tparameters *p, THTransform *t, TLinkConf *def, TCuikSystem *cs, double *sol, boolean groundLink, Tlink *l) Defines the link variables from a transform. Definition: link.c:3382 unsigned int GetLinkBodyStatus(unsigned int i, Tlink *l) Gets the status of one of the convex parts of the link. Definition: link.c:1238 void LinkForceField(unsigned int r, TCuikSystem *cs, double *p, double *g, Tlink *l) Gradient of the potential energy stored in the link. Definition: link.c:1336 CBLAS_INLINE double Norm(unsigned int s, double *v) Computes the norm of a vector. Definition: basic_algebra.c:356 unsigned int AddVariable2CS(Tvariable *v, TCuikSystem *cs) Adds a variable to the system. Definition: cuiksystem.c:2532 void IntervalAdd(Tinterval *i1, Tinterval *i2, Tinterval *i_out) Addition of two intervals. Definition: interval.c:423 void PlotPolyhedron(Tplot3d *pt, Tpolyhedron *p) Adds the polyhedron to a 3D geometry. Definition: polyhedron.c:1463 Definition of variable names. void GetRotVarIDAxisX(TCuikSystem *cs, Tlink *l) Obtains information about the variables used to codify the rotation of the link. Definition: link.c:1708 void RegenerateLinkBoxLinks(unsigned int r, TCuikSystem *cs, Tbox *b, boolean groundLink, Tlink *l) Version of RegenerateLinkBox for partial matrix representation. Definition: link.c:3107 void GetLinkConfTransform(unsigned int bID, THTransform *t, TLinkConf *ld) Builds the internal transformation. Definition: link.c:643 char * GetCSVariableName(unsigned int id, TCuikSystem *cs) Gets a variable name. Definition: cuiksystem.c:2612 void SetVariableInterval(Tinterval *i, Tvariable *v) Sets the new range for the variable. Definition: variable.c:68 CBLAS_INLINE void Normalize(unsigned int s, double *v) Normalizes a vector. Definition: basic_algebra.c:592 unsigned int GetLinkForceModel(Tlink *l) Identify the force model of the link. Definition: link.c:1264 void PrintPolyhedron(FILE *f, char *path, char *label, unsigned int n, Tpolyhedron *p) Stores the polyhedron information into a file. Definition: polyhedron.c:1574 void GetTransform2LinkAxisX(unsigned int r, TCuikSystem *cs, double *sol, boolean groundLink, double *trans, THTransform *t, Tlink *l) Version of GetTransform2Link for axis X links. Definition: link.c:3215 #define LINK_ROT3_E(vname, linkName, rn, cn) Frame of reference for a link using quaternions. Definition: varnames.h:138 void ApplyLinkRotFLinks(double sf, unsigned int sv, double *p, Tequation *eq, TCuikSystem *cs, boolean groundLink, Tlink *l) Version of ApplyLinkRot for full matrix representation. Definition: link.c:2620 CBLAS_INLINE void HTransformProduct(THTransform *t1, THTransform *t2, THTransform *t3) Product of two homogeneous transforms. Definition: htransform.c:410 #define ZERO Floating point operations giving a value below this constant (in absolute value) are considered 0... Definition: defines.h:37 void SetEquationValue(double v, Tequation *eq) Changes the right-hand value of the equation. Definition: equation.c:1089 void RegenerateLinkSolutionConf(unsigned int r, TCuikSystem *cs, double *sol, Tlink *l) Computes the force-related dummy variables from the system ones. Definition: link.c:3018 void Move3dObject(unsigned int nobj, THTransform *t, Tplot3d *p) Moves a 3d object. Definition: plot3d.c:217 void AddMonomial(Tmonomial *f, Tequation *eq) Adds a new monomial to the equation. Definition: equation.c:1419 void GenerateLinkSolutionLinks(unsigned int r, THTransform *t, TCuikSystem *cs, double *sol, boolean groundLink, Tlink *l) Version of GenerateLinkSolution for partial matrix representation. Definition: link.c:3465 void RegenerateLinkSolutionLinks(unsigned int r, TCuikSystem *cs, double *sol, boolean groundLink, Tlink *l) Version of RegenerateLinkSolution for partial matrix representation. Definition: link.c:3023 void GetLinkConfFromDOF(double *dof, TLinkConf *def, Tlink *l) Computes a link configuration. Definition: link.c:1421 double GetForceOnLink(unsigned int dim, Tlink *l) Retrives the external force applied to a link. Definition: link.c:1057 double HTransformGetElement(unsigned int i, unsigned int j, THTransform *t) Gets an element in a homogeneous transform. Definition: htransform.c:329 unsigned int NumLinkDOF(Tlink *l) Gets the number of configuration parameters for a given link. Definition: link.c:1487 void GenerateLinkRotQLinks(Tparameters *p, unsigned int lID, TCuikSystem *cs, Tlink *l) Version of GenerateLinkRot for quaternions representation. Definition: link.c:2303 void SetEquationCmp(unsigned int cmp, Tequation *eq) Changes the relational operator (LEQ, GEQ, EQU) of the equation. Definition: equation.c:1081 void LinkStoreAtoms(FILE *f, THTransform *tl, Tlink *l) Prints the center of the atoms in a link in gobal coordinates. Definition: link.c:3562 void GetTransform2LinkFLinks(unsigned int r, TCuikSystem *cs, double *sol, boolean groundLink, double *trans, THTransform *t, Tlink *l) Version of GetTransform2Link for full matrix representation. Definition: link.c:3251 void GetLinkPoseSimpVars(Tparameters *p, boolean *sv, TCuikSystem *cs, Tlink *l) Identifies the simplified variables giving the rotation of the link. Definition: link.c:1883 void SetRotVars(unsigned int r, boolean *vars, TCuikSystem *cs, Tlink *l) Identifies the variables giving the rotation of the link. Definition: link.c:1834 void GetRotVarID(unsigned int r, TCuikSystem *cs, unsigned int *vID, Tlink *l) Obtains information about the variables used to codify the rotation of the link. Definition: link.c:1635 void VarScaleEquation(unsigned int v, Tequation *eq) Scales an equation with a variable factor. Definition: equation.c:680 void GenerateLinkRotFLinks(Tparameters *p, unsigned int lID, TCuikSystem *cs, Tlink *l) Version of GenerateLinkRot for full matrix representation. Definition: link.c:2109 void GetLinkTransSeq(Tparameters *p, TCuikSystem *cs, TTransSeq *ts, Tlink *l) Build the sequence of transforms passing through the link. Definition: link.c:1355 void RegenerateLinkBox(Tparameters *p, TCuikSystem *cs, Tbox *b, boolean groundLink, Tlink *l) Computes the values for the dummy variables. Definition: link.c:3067 void IntervalSubstract(Tinterval *i1, Tinterval *i2, Tinterval *i_out) Substraction of two intervals. Definition: interval.c:442 void InitVector(unsigned int ele_size, void(*Copy)(void *, void *), void(*Delete)(void *), unsigned int max_ele, Tvector *vector) Constructor. Definition: vector.c:100 void ApplyLinkRotQLinks(double sf, unsigned int sv, double *p, Tequation *eq, TCuikSystem *cs, boolean groundLink, Tlink *l) Version of ApplyLinkRot for quaternion representation. Definition: link.c:2755 #define IsGroundLink(id) A test that return TRUE if the given identifier is that of the ground link. Definition: link.h:167 unsigned int LinkNBodies(Tlink *l) Gets the number of convex parts of the link. Definition: link.c:1201 void SetTransVars(boolean *vars, TCuikSystem *cs, Tlink *l) Identifies the variables giving the translation of the link. Definition: link.c:1619 void SetPoseVars(unsigned int r, boolean *vars, TCuikSystem *cs, Tlink *l) Identifies the variables giving the pose of the link. Definition: link.c:1572 void AddEquation2CS(Tparameters *p, Tequation *eq, TCuikSystem *cs) Adds an equation to the system. Definition: cuiksystem.c:2502 A table of parameters. void ApplyLinkRotVar(Tparameters *pr, double sf, unsigned int *vID, Tequation *eq, TCuikSystem *cs, boolean groundLink, Tlink *l) Transforms a variable vector from the local reference frame to the global one and accumulates the res... Definition: link.c:2881 void ApplyLinkRotLinks(double sf, unsigned int sv, double *p, Tequation *eq, TCuikSystem *cs, boolean groundLink, Tlink *l) Version of ApplyLinkRot for partial matrix representation. Definition: link.c:2686 void GenerateLinkSolutionAxisX(unsigned int r, THTransform *t, TCuikSystem *cs, double *sol, boolean groundLink, Tlink *l) Version of GenerateLinkSolution for axis X links. Definition: link.c:3423 double GetPolyhedronMaxCoordinate(Tpolyhedron *p) Returns the maximum coordinate value used in a polyhedron. Definition: polyhedron.c:1458 void InitPrismaticXLink(char *name, unsigned int forceModel, Tinterval *length, double stiffness, Tinterval *rest, Tinterval *force, Tlink *l) Constructor. Definition: link.c:893 void GetTransform2Link(Tparameters *p, TCuikSystem *cs, double *sol, boolean groundLink, double *trans, THTransform *t, TLinkConf *def, Tlink *l) Gets the homogeneous transform associated with a link for a given solution point. ... Definition: link.c:3172 void GenerateLinkRotAxisX(Tparameters *p, unsigned int lID, TCuikSystem *cs, Tlink *l) Version of GenerateLinkRot for axis X links. Definition: link.c:2073 void AddVarTrans2TransSeq(unsigned int t, int s, unsigned int v, TTransSeq *ts) Adds a variable transform to the sequence. Definition: trans_seq.c:578 void GenerateScaledSaddleEquation(double s, unsigned int vx, unsigned int vy, unsigned int vz, Tequation *eq) Construtor. Generates a scaled saddle equation. Definition: equation.c:1461 unsigned int GetPolyhedronStatus(Tpolyhedron *p) Gets the status of a polyhedron (NORMAL, HIDDEN, DECOR). Definition: polyhedron.c:1378 Definition of the Tpolyhedron type and the associated functions. void VarAccumulateEquations(Tequation *eqn, unsigned int v, Tequation *eq) Adds an equation scaled with a variable to another equation. Definition: equation.c:377 A cuiksystem, i.e., a set of variables and equations defining a position analysis problem... Definition: cuiksystem.h:181 void SetLinkTrans(unsigned int dim, double t, Tlink *l) Fixes the translation of a link. Definition: link.c:1075 #define NO_UINT Used to denote an identifier that has not been initialized. Definition: defines.h:435 void InitDeformXLink(char *name, unsigned int forceModel, Tinterval *length, double stiffness, Tinterval *rest, Tinterval *force, Tlink *l) Constructor. Definition: link.c:835 void MovePolyhedron(Tplot3d *pt, THTransform *t, Tpolyhedron *p) Moves an object previously added to a 3D scene. Definition: polyhedron.c:1517 void GetLinkDOFLabel(unsigned int i, char **n, Tlink *l) Returns a label for a given configuration parameter. Definition: link.c:1532 void IntervalScale(Tinterval *i1, double e, Tinterval *i_out) Scales an interval. Definition: interval.c:360 void AddVariable2Monomial(unsigned int fn, unsigned int varid, unsigned int p, Tmonomial *f) Adds a power variable to the monomial. Definition: monomial.c:171 void FixLinkZToZero(Tparameters *p, unsigned int lID, TCuikSystem *cs, Tlink *l) Fixes the Z compoment of the vector giving the pose of the link. Definition: link.c:2405 void GenerateDOFFromLinkConf(TLinkConf *def, double *dof, Tlink *l) Sets the dof entries corresponding to a link configuration. Definition: link.c:1478 Tpolyhedron * GetLinkBody(unsigned int i, Tlink *l) Gets one of the convex parts of the link. Definition: link.c:1227 boolean IsSystemVarInSimpCS(Tparameters *p, char *v, TCuikSystem *cs) Identifies system variables that survive in the simplified system. Definition: cuiksystem.c:2641 void PlotLink(Tplot3d *pt, double axesLength, Tlink *l) Adds a link to a 3d scene. Definition: link.c:3579 void RegenerateLinkBoxQLinks(unsigned int r, TCuikSystem *cs, Tbox *b, boolean groundLink, Tlink *l) Version of RegenerateLinkBox for quaternion representation. Definition: link.c:3145 void GenerateLinkConf(Tparameters *p, TCuikSystem *cs, Tlink *l) Adds the link configuration variables to the system. Definition: link.c:1981 void GetRotVarIDLinks(TCuikSystem *cs, Tlink *l) Obtains information about the variables used to codify the rotation of the link. Definition: link.c:1777 void AddForce2Link(double fx, double fy, double fz, Tlink *l) Adds an external force to a link. Definition: link.c:1050 #define MAX_ROT_VARS Maximum number of variables used to represent a link rotation. Definition: link.c:25 void GetRotVarIDQLinks(TCuikSystem *cs, Tlink *l) Obtains information about the variables used to codify the rotation of the link. Definition: link.c:1801 Tinterval * GetBoxIntervals(Tbox *b) Returns a pointer to the array of intervals defining the box. Definition: box.c:284 void GenerateLinkRotLinks(Tparameters *p, unsigned int lID, TCuikSystem *cs, Tlink *l) Version of GenerateLinkRot for partial matrix representation. Definition: link.c:2223 double GetParameter(unsigned int n, Tparameters *p) Gets the value for a particular parameter. Definition: parameters.c:93 void RegenerateLinkSolutionQLinks(unsigned int r, TCuikSystem *cs, double *sol, boolean groundLink, Tlink *l) Version of RegenerateLinkSolution for quaternion representation. Definition: link.c:3042 void GenerateLinkSolutionFLinks(unsigned int r, THTransform *t, TCuikSystem *cs, double *sol, boolean groundLink, Tlink *l) Version of GenerateLinkSolution for full matrix representation. Definition: link.c:3438 void IntervalProduct(Tinterval *i1, Tinterval *i2, Tinterval *i_out) Product of two intervals. Definition: interval.c:389 void PrintLink(FILE *f, char *path, char *prefix, Tlink *l) Stores the link information into a file. Definition: link.c:3652 void HTransformSetElement(unsigned int i, unsigned int j, double v, THTransform *t) Sets an element in a homogeneous transform. Definition: htransform.c:312 void GetLinkTransform(double *dof, THTransform *t, Tlink *l) The homogeneous transform traversing the link. Definition: link.c:1376 void ApplyLinkRotNoDeform(Tparameters *pr, double sf, unsigned int sv, double *p, Tequation *eq, TCuikSystem *cs, boolean groundLink, Tlink *l) Variant of ApplyLinkRot. Definition: link.c:2498 unsigned int SetForceRelatedVars(unsigned int r, boolean *vars, TCuikSystem *cs, Tlink *l) Identifies the force-related variables of the link. Definition: link.c:1596 void RegenerateLinkBoxConf(unsigned int r, TCuikSystem *cs, Tbox *b, Tlink *l) Computes the force-related dummy variables from the system ones. Definition: link.c:3102 void GetLinkConfFromSolution(unsigned int r, TCuikSystem *cs, double *sol, TLinkConf *def, Tlink *l) Computes a link configuration. Definition: link.c:1389 unsigned int SetForceVars(unsigned int r, boolean *vars, TCuikSystem *cs, Tlink *l) Identifies the variable giving the force of the link. Definition: link.c:1578 void HTransformCopy(THTransform *t_dst, THTransform *t_src) Copy constructor. Definition: htransform.c:83 void DefineNormalVector(double *v, double *n) Defines a unitary vector normal to a given vector. Definition: geom.c:571 Definition of the Tlink type and the associated functions. unsigned int GetCSVariableID(char *name, TCuikSystem *cs) Gets the numerical identifier of a variable given its name. Definition: cuiksystem.c:2607 double GetLinkMaxCoordinate(Tlink *l) Returns the sum of the maximum coordinate value for all the convex polyhedrons in the link... Definition: link.c:3540 void MoveLinkFromTransform(Tplot3d *pt, THTransform *t, TLinkConf *def, Tlink *l) Displaces a link in a 3d scene. Definition: link.c:3615 void GetLinkTransformFromConf(TLinkConf *def, THTransform *t, Tlink *l) The homogeneous transform traversing the link. Definition: link.c:1384 void ChangeLinkReferenceFrame(unsigned int r, double **p1, double **p2, Tlink *l) Sets a new reference frame for the link. Definition: link.c:1115 void AdjustLinkForceParameters(Tlink *l) Adjust the range of the force-related parameters of the link. Definition: link.c:731 void CopyPolyhedron(Tpolyhedron *p_dst, Tpolyhedron *p_src) Copy constructor. Definition: polyhedron.c:1259 void GetTransform2LinkQLinks(unsigned int r, TCuikSystem *cs, double *sol, boolean groundLink, double *trans, THTransform *t, Tlink *l) Version of GetTransform2Link for quaternion representation. Definition: link.c:3334 void CrossProduct(double *v1, double *v2, double *v3) Computes the cross product of two 3d vectors. Definition: geom.c:639 void PolyhedronPrintCenter(FILE *f, THTransform *t, Tpolyhedron *p) Prints the center of a sphere to a file. Definition: polyhedron.c:1493 unsigned int StartNew3dObject(Tcolor *c, Tplot3d *p) Start a composed object. Definition: plot3d.c:157 void GenerateLinkRot(Tparameters *p, unsigned int lID, TCuikSystem *cs, Tlink *l) Generate the variables and constraints related with the rotation of the link reference frame... Definition: link.c:1941 void HTransformOrthonormalize(THTransform *t, THTransform *ta) Orthonormalizes the rotation part of a homogenouos transform. Definition: htransform.c:529 #define LINK_TRANS(vname, linkName, cn) Translation part of the homogeneous transform defining the position of a link in global coordinates... Definition: varnames.h:168 void GetRotVarIDFLinks(TCuikSystem *cs, Tlink *l) Obtains information about the variables used to codify the rotation of the link. Definition: link.c:1752 unsigned int GetPolyhedronType(Tpolyhedron *p) Retrives the type of a polyhedron. Definition: polyhedron.c:1363 void InitAxisXLink(char *name, unsigned int forceModel, Tinterval *length, Tinterval *force, Tlink *l) Constructor. Definition: link.c:794 void GenerateDotProductEquation(unsigned int v1x, unsigned int v1y, unsigned int v1z, unsigned int v2x, unsigned int v2y, unsigned int v2z, unsigned int vc, double c, Tequation *eq) Construtor. Generates the equation of the dot product of two unitary vectors. Definition: equation.c:1588 void GenerateSolutionFromLinkConf(unsigned int r, TCuikSystem *cs, TLinkConf *def, double *sol, Tlink *l) Sets the solution entries corresponding to a link configuration. Definition: link.c:1449 unsigned int NewVectorElement(void *e, Tvector *vector) Adds an element to the vector. Definition: vector.c:216 #define REP_QLINKS One of the possible values of the REPRESENTATION parameter. Definition: parameters.h:48 boolean EmptyLinkConf(TLinkConf *ld) Identifies empty link internal configuration. Definition: link.c:638 |
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