link.h
Go to the documentation of this file.
842 void GetLinkConfFromSolution(unsigned int r,TCuikSystem *cs,double *sol,TLinkConf *def,Tlink *l);
873 void GenerateSolutionFromLinkConf(unsigned int r,TCuikSystem *cs,TLinkConf *def,double *sol,Tlink *l);
void GetLinkPoseSimpVars(Tparameters *p, boolean *sv, TCuikSystem *cs, Tlink *l) Identifies the simplified variables giving the rotation of the link. Definition: link.c:1883 Definition of the Tequation type and the associated functions. 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 GetLinkConfFromSolution(unsigned int r, TCuikSystem *cs, double *sol, TLinkConf *def, Tlink *l) Computes a link configuration. Definition: link.c:1389 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 GetLinkDOFLabel(unsigned int i, char **n, Tlink *l) Returns a label for a given configuration parameter. Definition: link.c:1532 void ChangeLinkReferenceFrame(unsigned int r, double **p1, double **p2, Tlink *l) Sets a new reference frame for the link. Definition: link.c:1115 Tpolyhedron * GetLinkBody(unsigned int i, Tlink *l) Gets one of the convex parts of the link. Definition: link.c:1227 A homgeneous transform in R^3. void PrintLink(FILE *f, char *path, char *prefix, Tlink *l) Stores the link information into a file. Definition: link.c:3652 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 Definition of the Tplot3d type and the associated functions. 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 LinkPrintAtoms(FILE *f, THTransform *tl, Tlink *l) Prints the center of the atoms in a link in gobal coordinates. Definition: link.c:3545 void MoveLinkFromTransform(Tplot3d *pt, THTransform *t, TLinkConf *def, Tlink *l) Displaces a link in a 3d scene. Definition: link.c:3615 void GenerateDOFFromLinkConf(TLinkConf *def, double *dof, Tlink *l) Sets the dof entries corresponding to a link configuration. Definition: link.c:1478 void PlotLink(Tplot3d *pt, double axesLength, Tlink *l) Adds a link to a 3d scene. Definition: link.c:3579 unsigned int LinkNBodies(Tlink *l) Gets the number of convex parts of the link. Definition: link.c:1201 void AddForce2Link(double fx, double fy, double fz, Tlink *l) Adds an external force to a link. Definition: link.c:1050 void InitAxisXLink(char *name, unsigned int forceModel, Tinterval *length, Tinterval *force, Tlink *l) Constructor. Definition: link.c:794 double LinkPotentialEnergy(unsigned int r, TCuikSystem *cs, double *p, Tlink *l) Potential energy stored in the link. Definition: link.c:1310 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 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 void SetLinkTrans(unsigned int dim, double t, Tlink *l) Fixes the translation of a link. Definition: link.c:1075 void InitDeformXLink(char *name, unsigned int forceModel, Tinterval *length, double stiffness, Tinterval *rest, Tinterval *force, Tlink *l) Constructor. Definition: link.c:835 void GetLinkConfTransform(unsigned int bID, THTransform *t, TLinkConf *ld) Builds the internal transformation. Definition: link.c:643 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 Definition of the Tbox type and the associated functions. double GetLinkTrans(unsigned int dim, Tlink *l) Retrives the (eventually) fixed translation of a link. Definition: link.c:1082 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 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 A table of parameters. Definition of the TCuikSystem type and the associated functions. Definition of the THTransform type and the associated functions. 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 void GetLinkTransform(double *dof, THTransform *t, Tlink *l) The homogeneous transform traversing the link. Definition: link.c:1376 unsigned int GetLinkBodyStatus(unsigned int i, Tlink *l) Gets the status of one of the convex parts of the link. Definition: link.c:1238 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 double GetForceOnLink(unsigned int dim, Tlink *l) Retrives the external force applied to a link. Definition: link.c:1057 void NoForceEquilibriumLink(Tlink *l) Deactivates the force equilibrium on a link. Definition: link.c:1064 void GetLinkTransformFromConf(TLinkConf *def, THTransform *t, Tlink *l) The homogeneous transform traversing the link. Definition: link.c:1384 void LinkStoreAtoms(FILE *f, THTransform *tl, Tlink *l) Prints the center of the atoms in a link in gobal coordinates. Definition: link.c:3562 Definition of the Tpolyhedron type and the associated functions. A cuiksystem, i.e., a set of variables and equations defining a position analysis problem... Definition: cuiksystem.h:181 Definition of the Tcolor type and the associated functions. 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 Definition of the Tvector type and the associated functions. boolean IsForceEquilibriumLink(Tlink *l) Determines if forces on link must be in equilibrium. Definition: link.c:1070 boolean EmptyLinkConf(TLinkConf *ld) Identifies empty link internal configuration. Definition: link.c:638 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 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 void GetLinkConfFromDOF(double *dof, TLinkConf *def, Tlink *l) Computes a link configuration. Definition: link.c:1421 unsigned int NumLinkDOF(Tlink *l) Gets the number of configuration parameters for a given link. Definition: link.c:1487 void InitPrismaticXLink(char *name, unsigned int forceModel, Tinterval *length, double stiffness, Tinterval *rest, Tinterval *force, Tlink *l) Constructor. Definition: link.c:893 unsigned int GetLinkForceModel(Tlink *l) Identify the force model of the link. Definition: link.c:1264 Definition of the Tparameters type and the associated functions. 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 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 Definition of the Tinterval type and the associated functions. |
Follow us!