parameters.h

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#ifndef PARAMETERSH
#define PARAMETERSH 

#include "boolean.h"

#include <stdio.h>

#define REP_LINKS       0

#define REP_FLINKS      1


#define REP_QLINKS      2

#define REP_JOINTS      3

#define SOLID 0

#define VCOLLIDE 1

#define PQP 2

#define FCL 3

#define C_FCL 4

#define BULLET 5

#define C_BULLET 6

#define RIGIDCLL 7

#define NOCD 8

#define AMBIENT_SAMPLING 0

#define KDTREE_SAMPLING 1

#define TANGENT_SAMPLING 2


/************************************************************************************/
#define DEFAULT_PARAMS "share/CuikSuite/default.param"
/************************************************************************************/

#define CT_EPSILON                   0

#define CT_REPRESENTATION            1

#define CT_RHO                       2

#define CT_SMALL_SIGMA               3

#define CT_SIGMA                     4

#define CT_E                         5

#define CT_CE                        6

#define CT_R                         7

#define CT_SR                         8

#define CT_DELTA                      9

#define CT_ATLASGBF_BETA             10

#define CT_STATE_PERIOD             11

#define CT_N_SOLUTIONS              12

#define CT_MAX_NEWTON_ITERATIONS    13

#define CT_N_DOF                    14

#define CT_GAMMA                    15


#define CT_DUMMIFY                  16

#define CT_SPLIT_TYPE               17

#define CT_SAFE_SIMPLEX             18

#define CT_SIMPLIFICATION_LEVEL     19

#define CT_LR2TM_Q                  20

#define CT_LR2TM_S                  21

#define CT_VDW_RATIO                22

#define CT_CUT_X                    23

#define CT_CUT_Y                    24

#define CT_CUT_Z                    25

#define CT_COEF_TEMP                26

#define CT_NFAIL_MAX                27

#define CT_DETECT_BIFURCATIONS      28

#define CT_MAX_PLANNING_TIME        29

#define CT_MAX_PLANNING_ITERATIONS  30

#define CT_MAX_CHARTS               31

#define CT_MAX_NODES_RRT            32

#define CT_BI_RRT                   33

#define CT_RRT_GRAPH                34

#define CT_DYNAMIC_DOMAIN           35

#define CT_CD_ENGINE                36

#define CT_SAMPLING                 37

#define CT_PRETENSION               38

#define NPARAMETERS (CT_PRETENSION+1)

typedef struct
 {
   char *name;            
   double value;          
   unsigned int timesSet; 
} Tparameter;

typedef Tparameter Tparameters[NPARAMETERS];

void InitParameters(Tparameters *p);

void InitParametersFromFile(char *file,Tparameters *p);

double GetParameter(unsigned int n,Tparameters *p);

unsigned int GetParameterID(char *name,Tparameters *p);

boolean ParameterSet(unsigned int n,Tparameters *p);

void SetParameter(unsigned int n,char *name,double v,Tparameters *p);

void ChangeParameter(unsigned int n,double v,Tparameters *p);

void PrintParameters(FILE *f,Tparameters *p);

void DeleteParameters(Tparameters *p);

#endif