mechanism.c
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void RegenerateJointSolution(Tparameters *p, TCuikSystem *cs, double *sol, Tjoint *j) Computes the values for the dummy variables used in the joint equations. Definition: joint.c:2291 double GetPolyhedronRadius(Tpolyhedron *p) Returns the radius used in the definition of the object. Definition: polyhedron.c:1440 void GetJointPoint(unsigned int link, unsigned int point, double *p, Tjoint *j) Gets one of the points defining the rotation/sliding axis for the joint. Definition: joint.c:1102 #define REP_JOINTS One of the possible values of the REPRESENTATION parameter. Definition: parameters.h:60 void PlotMechanism(Tplot3d *pt, double axesLength, Tmechanism *m) Adds a mechanism to a 3d scene. Definition: mechanism.c:212 unsigned int VectorSize(Tvector *vector) Gets the number of elements in a vector. Definition: vector.c:173 void GetJointDOFValues(Tparameters *p, THTransform *t1, THTransform *t2, double *dof, Tjoint *j) Recovers the joint DOFs from the absolute poses of the links. Definition: joint.c:2638 unsigned int GetLinkID(char *name, Tmechanism *m) Gets the identifier of a link given its name. Definition: mechanism.c:51 void RegenerateLinkBox(Tparameters *p, TCuikSystem *cs, Tbox *b, boolean groundLink, Tlink *l) Computes the values for the dummy variables. Definition: link.c:3067 Tpolyhedron * GetLinkBody(unsigned int i, Tlink *l) Gets one of the convex parts of the link. Definition: link.c:1227 unsigned int GetJointDOF(Tjoint *j) Computes the degrees of freedom allowed by a given joint. Definition: joint.c:1293 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 GetMechanismMaxCoordinate(Tmechanism *m) Returns the sum of the maximum coordinate value for all the links and joints in the mechanism... Definition: mechanism.c:46 void PrintLink(FILE *f, char *path, char *prefix, Tlink *l) Stores the link information into a file. Definition: link.c:3652 Tlink * JointFrom(Tjoint *j) Gets a pointer to the first link involved in the joint. Definition: joint.c:951 boolean IsMechanismAllSpheres(Tmechanism *m) TRUE if the mechanism is composed by spheres only. Definition: mechanism.c:41 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 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 boolean AllRevolute(Tmechanism *m) TRUE if all joints are revolute joints. Definition: mechanism.c:196 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 GetMechanismDOFsFromTransforms(Tparameters *p, THTransform *tl, TLinkConf *def, double *dof, Tmechanism *m) Extract the joint DOF values form the poses of all links. Definition: mechanism.c:286 unsigned int AddJoint2Mechanism(Tjoint *j, Tmechanism *m) Adds a joint to a mechanism. Definition: mechanism.c:113 Tjoint * GetMechanismJoint(unsigned int i, Tmechanism *m) Gets a joint given its identifier. Definition: mechanism.c:185 Tlink * JointTo(Tjoint *j) Gets a pointer to the second link involved in the joint. Definition: joint.c:961 unsigned int GetMechanismNBodies(Tmechanism *m) Gets the number of convex sub-parts (or bodies) of a mechanism. Definition: mechanism.c:36 unsigned int GetMechanismNLinks(Tmechanism *m) Gets the number of links of a mechanism. Definition: mechanism.c:26 void GetMechanismDefiningPoint(unsigned int lID, unsigned int bID, unsigned int pID, double *p, Tmechanism *m) Gets a point from the mechanism. Definition: mechanism.c:89 unsigned int GetMechanismNJoints(Tmechanism *m) Gets the number of joints of a mechanism. Definition: mechanism.c:31 void InitVector(unsigned int ele_size, void(*Copy)(void *, void *), void(*Delete)(void *), unsigned int max_ele, Tvector *vector) Constructor. Definition: vector.c:100 #define IsGroundLink(id) A test that return TRUE if the given identifier is that of the ground link. Definition: link.h:167 void SetVectorElement(unsigned int i, void *e, Tvector *vector) Adds an element to the vector in a given position. Definition: vector.c:238 Definition of the Tmechanism type and the associated functions. A table of parameters. unsigned int AddLink2Mechanism(Tlink *l, Tmechanism *m) Adds a link to a mechanism. Definition: mechanism.c:95 void GetPolyhedronColor(Tcolor *c, Tpolyhedron *p) Gets the color of a polyhedron. Definition: polyhedron.c:1373 void PrintMechanism(FILE *f, char *path, char *prefix, Tmechanism *m) Stores the mechanisms information into a file. Definition: mechanism.c:411 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 unsigned int GetPolyhedronStatus(Tpolyhedron *p) Gets the status of a polyhedron (NORMAL, HIDDEN, DECOR). Definition: polyhedron.c:1378 void PrintJoint(FILE *f, Tjoint *j) Stores the joint information into a file. Definition: joint.c:3054 Tlink * GetMechanismLink(unsigned int i, Tmechanism *m) Gets a link given its identifier. Definition: mechanism.c:149 A cuiksystem, i.e., a set of variables and equations defining a position analysis problem... Definition: cuiksystem.h:181 void MoveMechanismFromTransforms(Tparameters *pr, Tplot3d *pt, THTransform *tl, TLinkConf *def, Tmechanism *m) Displaces a mechanism in a 3d scene. Definition: mechanism.c:391 #define NO_UINT Used to denote an identifier that has not been initialized. Definition: defines.h:435 unsigned int JointFromID(Tjoint *j) Gets the identifier of the first link involved in the joint. Definition: joint.c:946 unsigned int AddBody2Mechanism(unsigned int lID, Tpolyhedron *b, Tmechanism *m) Adds a convex sub-part to a mechanism. Definition: mechanism.c:130 void RegenerateMechanismBox(Tparameters *p, TCuikSystem *cs, Tbox *b, Tmechanism *m) Computes the values for the non-system variables. Definition: mechanism.c:255 void GetPolyhedronDefiningPoint(unsigned int i, double *point, Tpolyhedron *p) Gets a point defining a a object. Definition: polyhedron.c:1398 unsigned int GetMechanismLinkID(char *ln, Tmechanism *m) Gets a link identifier given its name. Definition: mechanism.c:160 double GetParameter(unsigned int n, Tparameters *p) Gets the value for a particular parameter. Definition: parameters.c:93 unsigned int NumLinkDOF(Tlink *l) Gets the number of configuration parameters for a given link. Definition: link.c:1487 signed int GetMechanismMobility(Tmechanism *m) Computes the mobility of a given mechanism. Definition: mechanism.c:74 void MechanismPrintAtoms(FILE *f, THTransform *tl, Tmechanism *m) Prints the center of the atoms in a mechanism. Definition: mechanism.c:339 void MechanismStoreRigidAtoms(FILE *f, THTransform *tl, Tmechanism *m) Auxiliary function for WorldStoreRigidGroups. Definition: mechanism.c:354 unsigned int JointToID(Tjoint *j) Gets the identifier of the second link involved in the joint. Definition: joint.c:956 void RegenerateMechanismSolution(Tparameters *p, TCuikSystem *cs, double *sol, Tmechanism *m) Computes the values for the non-system variables used to represent the rotation matrices for all link... Definition: mechanism.c:230 void RegenerateJointBox(Tparameters *p, TCuikSystem *cs, Tbox *b, Tjoint *j) Computes the values for the dummy variables used in the joint equations. Definition: joint.c:2327 |
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