readtensegrity.y
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107 %token _CONSTANTS _STRUCTURE _PLANAR _FREE _FLYING _ASSIGN _EQUAL _NOT_EQUAL _LESS_EQUAL _GREATER_EQUAL _LESS _GREATER _PI _EXP _PARAMETER _COS _SIN _TAN _COT _ACOS _ASIN _ATAN _ATAN2 _SQRT _ABS _PRINT _TX _TY _TZ _RX _RY _RZ _OBSTACLES _COLLISIONS _CHECK _DO _NOT _ALL _CONNECTED _BODY _GRANULARITY _STRUT _BAR _CABLE _SPRING _PRISMATIC _LOOPS _STIFFNESS _REST _FORCE _COUPLE _ORIENTATION _FORCES _ADDONS _NO _NULL _FIXED_POINTS _X _Y _Z _BOX _PRISM _SPHERE _CYLINDER _LENGTH _RADIUS _COLOR _RED _GREEN _BLUE _PURPLE _CYAN _YELLOW _WHITE _BLACK _GREY _DECORATION _HIDDEN
595 if ((rt_elementID==CABLE)&&(IntervalSize(&($7))<ZERO)&&((fabs($8)>ZERO)||(!ZeroInterval(&($9)))))
661 ReadTensegrityerror("Contant length elements (struts, bars) can not have stiffness (just a force range)");
1546 /*we initalize the global pointer to make the parameters accesibles to any one inside the YACC module*/
Definition of the boolean type. #define COUPLE_LENGTH One of the possible variables to couple in tensegrities. Definition: world.h:77 void GenerateForceEquilibriumEquations(Tparameters *p, Tworld *w) Adds force equilibrium equations. Definition: world.c:2510 void WorldCoupleTensegrityVariable(Tparameters *p, unsigned int t, unsigned int lID1, unsigned int lID2, double scale, THTransform *r, Tworld *w) Couple variables from different elements of a tensegrity. Definition: world.c:2889 unsigned int VectorSize(Tvector *vector) Gets the number of elements in a vector. Definition: vector.c:173 double GetConstantValue(unsigned int n, Tconstants *cts) Retrives a the value of a constant. Definition: constants.c:113 #define REP_FLINKS One of the possible values of the REPRESENTATION parameter. Definition: parameters.h:37 Error function specific of the tensegrity parser. Data structure to hold the information about the name of a file. Definition: filename.h:271 unsigned int RTline Number of the line currently parsed when reading a .tensegrity file. Definition: error_tensegrity.c:45 void * GetVectorElement(unsigned int i, Tvector *vector) Returns a pointer to a vector element. Definition: vector.c:270 A homgeneous transform in R^3. void FixLinks(Tparameters *p, Tworld *w) Generate equations to fix some links. Definition: world.c:2783 void NoCheckConnectedCollisions(unsigned int fl, Tworld *w) Desactivates the collision detection between connected links. Definition: world.c:2225 void NewTriangularPrism(double *p1, double *p2, double *p3, double h, Tcolor *c, unsigned int bs, Tpolyhedron *p) Constructor. Definition: polyhedron.c:861 void NewSphere(double r, double *center, Tcolor *c, unsigned int gr, unsigned int bs, Tpolyhedron *p) Constructor. Definition: polyhedron.c:1020 void NoCheckLinkObstacleCollision(unsigned int a, unsigned int b, Tworld *w) Desactivates the possible collision between a particular link and an object in the environment... Definition: world.c:2200 void NewBox(double xl, double yl, double zl, double xu, double yu, double zu, Tcolor *c, unsigned int bs, Tpolyhedron *p) Constructor. Definition: polyhedron.c:946 void CheckObstacleCollision(unsigned int fl, unsigned int b, Tworld *w) Activates the possible collision between a particular obstacle and all the links. ... Definition: world.c:2209 void NoCheckAllCollisions(unsigned int fl, unsigned int fo, Tworld *w) Desactivates all the possible collision between links and links and obstacles. Definition: world.c:2119 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 AddForce2Link(double fx, double fy, double fz, Tlink *l) Adds an external force to a link. Definition: link.c:1050 void NoCheckObstacleCollision(unsigned int fl, unsigned int b, Tworld *w) Deactivates the possible collision between a particular obstacle and all the links. Definition: world.c:2217 Definition of the Tworld type and the associated functions. Error and warning functions. void CheckAllCollisions(unsigned int fl, unsigned int fo, Tworld *w) Activates all the possible collision between links and links and obstacles. Definition: world.c:2097 void AddLeg2World(char *name, boolean planar, unsigned int type, unsigned int lID1, unsigned int lID2, double **points, Tinterval *length, double stiffness, Tinterval *rest, Tinterval *force, double radius, unsigned int gr, Tcolor *color, unsigned int bs, Tworld *w) Adds a sph-sph joint to the world. Definition: world.c:1446 void NewFreeJoint(unsigned int id, unsigned int linkID1, Tlink *link1, unsigned int linkID2, Tlink *link2, Tjoint *j) Constructor. Definition: joint.c:93 unsigned int GetWorldObstacleID(char *obsName, Tworld *w) Gets the identifier of an obstacle from its name. Definition: world.c:1837 void SetLinkTrans(unsigned int dim, double t, Tlink *l) Fixes the translation of a link. Definition: link.c:1075 void GenerateWorldEquations(Tparameters *p, Tworld *w) Generates all the cuiksystems derived from the world information. Definition: world.c:2431 void AddObstacle2World(char *name, Tpolyhedron *o, Tworld *w) Adds an obstacle to the environment in the world. Definition: world.c:1788 unsigned int AddLink2World(Tlink *l, boolean object, Tworld *w) Adds a link to the mechanism in the world. Definition: world.c:1383 void InitVector(unsigned int ele_size, void(*Copy)(void *, void *), void(*Delete)(void *), unsigned int max_ele, Tvector *vector) Constructor. Definition: vector.c:100 int ReadTensegrityerror(const char *s) Syntax errors in .tensegrity files. Definition: error_tensegrity.c:47 #define IsGroundLink(id) A test that return TRUE if the given identifier is that of the ground link. Definition: link.h:167 A table of parameters. void CreateFileName(char *path, char *name, char *suffix, char *ext, Tfilename *fn) Constructor. Definition: filename.c:22 void NewCylinder(double r, double *p1, double *p2, Tcolor *c, unsigned int gr, unsigned int bs, Tpolyhedron *p) Constructor. Definition: polyhedron.c:1044 unsigned int AddJoint2World(Tjoint *j, Tworld *w) Adds a joint to the mechanism in the world. Definition: world.c:1436 void FixZToZero(Tparameters *p, Tworld *w) Generate equations to fix the Z components of the links. Definition: world.c:2867 unsigned int AddConstant(char *name, double v, Tconstants *cts) Add a constant. Definition: constants.c:65 void InitPolyhedronFromFile(Tfilename *fname, Tcolor *c, unsigned int gr, unsigned int bs, Tpolyhedron *p) Constructor. Definition: polyhedron.c:727 boolean InitTensegrityFromFile(Tparameters *p, char *fn, Tworld *w) Constructor. char * GetFileFullName(Tfilename *fn) Gets the file full name (paht+name+extension). Definition: filename.c:151 void CheckLinkLinkCollision(unsigned int a, unsigned int b, Tworld *w) Activates the possible collision between a particular pair of links. Definition: world.c:2167 void NoForceEquilibriumLink(Tlink *l) Deactivates the force equilibrium on a link. Definition: link.c:1064 Definition of the Tpolyhedron type and the associated functions. #define NO_UINT Used to denote an identifier that has not been initialized. Definition: defines.h:435 unsigned int GetWorldLinkID(char *linkName, Tworld *w) Gets the identifier of a link from its name. Definition: world.c:1832 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 Tlink * GetWorldLink(unsigned int linkID, Tworld *w) Gets a link from its identifier. Definition: world.c:1842 void NoCheckLinkLinkCollision(unsigned int a, unsigned int b, Tworld *w) Desactivates the possible collision between a particular pair of links. Definition: world.c:2179 unsigned int GetWorldNJoints(Tworld *w) Gets the number of joints in the mechanism included in the world. Definition: world.c:1857 unsigned int GetConstantWithName(char *name, Tconstants *cts) Retrives a constant from the set. Definition: constants.c:88 double GetParameter(unsigned int n, Tparameters *p) Gets the value for a particular parameter. Definition: parameters.c:93 void HTransformCopy(THTransform *t_dst, THTransform *t_src) Copy constructor. Definition: htransform.c:83 unsigned int GetParameterID(char *name, Tparameters *p) Returns the parameter identifier given the paramete name. Definition: parameters.c:110 unsigned int GetLinkForceModel(Tlink *l) Identify the force model of the link. Definition: link.c:1264 void ChangeParameter(unsigned int n, double v, Tparameters *p) Sets the value for a particular parameter. Definition: parameters.c:164 void CheckLinkObstacleCollision(unsigned int a, unsigned int b, Tworld *w) Activates the possible collision between a particular link and an object in the environment. Definition: world.c:2191 #define COUPLE_ORIENTATION One of the possible variables to couple in tensegrities. Definition: world.h:104 void NewPrismaticJoint(unsigned int id, unsigned int linkID1, Tlink *link1, unsigned int linkID2, Tlink *link2, double **points, Tinterval *range, boolean avoidLimits, double avoidLimitsWeight, Tjoint *j) Constructor. Definition: joint.c:533 unsigned int NewVectorElement(void *e, Tvector *vector) Adds an element to the vector. Definition: vector.c:216 void WorldFixTensegrityAddon(Tparameters *p, unsigned int linkID, double **point, unsigned int *n, Tworld *w) Fixes a tensegrity addon. Definition: world.c:2819 |
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