samples.h File Reference

Detailed Description

Auxiliary functions to deal with sets of samples.

Samples are used as start/goal for the planning and solution paths are sets of samples.

See Also

samples.c

Definition in file samples.h.

Macros
#define	INIT_NUM_SAMPLES   100
	Initial number of samples (or steps) in a path. More...
#define	PATH_NODES   1
	Selects the way to plot paths. More...
#define	SMOOTH_RANDOM   0
	One of the possible smoothing methods. More...
#define	SMOOTH_GRADIENT   1
	One of the possible smoothing methods. More...
#define	SMOOTH_SHORTCUT   2
	One of the possible smoothing methods. More...
#define	SMOOTH_EFFORT   3
	One of the possible smoothing methods. More...
#define	SMOOTH_DISPERSION   4
	One of the possible smoothing methods. More...
#define	DEFAULT_CONNECT   ConnectSamplesChart
	Macro to easily switch the connection method. More...
#define	KINEMATIC_SUBSPACE   0
	Focus on the kinematic sub-space. More...

Typedefs
typedef double(*	TStepCost )(Tparameters *, unsigned int *, boolean *, unsigned int, double *, double *, double *, unsigned int, Tchart *, Tchart *, Tchart *, Tworld *)
	Template of step costs. More...
typedef boolean(*	TStepCostGradient )(Tparameters *, unsigned int *, boolean *, unsigned int, double *, double *, double *, double *, double *, Tchart *, Tchart *, Tchart *, Tchart *, Tchart *, TJacobian *, TStepCost, double *, Tworld *)
	Template of step cost gradients. More...

Functions
void	InitSamples (unsigned int *ms, unsigned int *ns, double ***path)
	Initializes a set of samples. More...
void	SmoothSamples (Tparameters *pr, boolean parallel, int mode, unsigned int maxIterations, unsigned int ns, double **path, unsigned int *sns, double ***spath, TAtlasBase *w)
	Path smoothing. More...
void	ConcatSamples (unsigned int nvs, unsigned int ns1, double **path1, unsigned int ns2, double **path2, unsigned int *ns, double ***path)
	Concats two path. More...
void	ReverseConcatSamples (unsigned int nvs, unsigned int ns1, double **path1, unsigned int ns2, double **path2, unsigned int *ns, double ***path)
	Reverses and concats a path. More...
void	ReverseSamples (unsigned int ns, double **path)
	Reverses a set of samples. More...
void	AddSample2Samples (unsigned int nv, double *sample, unsigned int nvs, boolean *systemVars, unsigned int *ms, unsigned int *ns, double ***path)
	Adds a sample to a set of samples. More...
double	ConnectSamplesChart (Tparameters *pr, unsigned int *tp, boolean *sv, Tbox *domain, unsigned int m, unsigned int n, double *s1, double *s2, double md, boolean checkCollisions, TJacobian *sJ, boolean *reached, boolean *collision, double *lastSample, unsigned int *ns, double ***path, TAtlasBase *w)
	Determines the connection between two points on the manifold. More...
double	ConnectSamples (Tparameters *pr, unsigned int *tp, boolean *sv, Tbox *domain, unsigned int m, unsigned int n, double *s1, double *s2, double md, boolean checkCollisions, TJacobian *sJ, boolean *reached, boolean *collision, double *lastSample, unsigned int *ns, double ***path, TAtlasBase *w)
	Determines the connection between two points on the manifold. More...
double	PathLength (unsigned int *tp, boolean *sv, unsigned int m, unsigned int np, double **point)
	Length of a path formed by a set of samples. More...
double	PathEffort (Tparameters *p, unsigned int m, unsigned int np, double **point, Tworld *w)
	Approximated control effort of a path. More...
unsigned int	ReadOneSample (Tparameters *p, char *fname, unsigned int nvs, double **s)
	Reads one sample from a file. More...
unsigned int	ReadTwoSamples (Tparameters *p, char *fname, unsigned int nvs, double **s1, double **s2)
	Reads two samples from a file. More...
void	SaveSamples (char *fname, char *suffix, unsigned int nvs, unsigned int ns, double **path)
	Saves a set of samples to a file. More...
void	SaveSamplesN (char *fname, boolean smooth, unsigned int n, unsigned int nvs, unsigned int ns, double **path)
	Saves a set of samples to a file. More...
boolean	LoadSamples (Tfilename *fname, unsigned int *nvs, unsigned int *ns, double ***path)
	Reads a set of samples from file. More...
void	PlotSamples (Tparameters *p, Tplot3d *p3d, unsigned int xID, unsigned int yID, unsigned int zID, unsigned int ns, double **path)
	Plots a 3D projection of a path. More...
void	PlotForceField (Tparameters *p, Tplot3d *p3d, unsigned int xID, unsigned int yID, unsigned int zID, Tworld *w, unsigned int ns, double **sols)
	Plots the force-field on a set of points. More...
void	DeleteSamples (unsigned int ns, double **path)
	Deletes the space used by a set of samples. More...

Macro Definition Documentation

#define INIT_NUM_SAMPLES   100

Initial number of samples (or steps) in a path. This will be enlarged if necessary.

Definition at line 28 of file samples.h.

Referenced by InitSamples().

#define PATH_NODES   1

Paths are plotted with red lines connecting nodes and blue crosses defining each node. If this flag is set to 0, the crosses are not plotted (only the lines are shown).

Definition at line 37 of file samples.h.

#define SMOOTH_RANDOM   0

Using this method paths are shortened trying to define shorcuts between randomly selected elements in the original path. This methods is quite effective.

Definition at line 47 of file samples.h.

Referenced by main(), and SmoothSamples().

#define SMOOTH_GRADIENT   1

Using this method paths the length of the path is reduced using gradient descent. This produces very smooth paths but it is slow reaching a local minimum. Moreover, this minimum is typically local even in the current homotopy class.

Definition at line 57 of file samples.h.

Referenced by main(), and SmoothSamples().

#define SMOOTH_SHORTCUT   2

This is like the SMOOTH_RANDOM but the shotcuts are defined in a systematic way: try to reach as far as possible with a direct path from the first sample and so on.

Definition at line 67 of file samples.h.

Referenced by main(), and SmoothSamples().

#define SMOOTH_EFFORT   3

This is SMOOTH_GRADIENT but the measure to optimize is the control effort instead than the path lenght. This only make sense in tensegrity structures since they have an associated potential energy. In other structures this is very close the the path lenght optimization.

Definition at line 79 of file samples.h.

Referenced by main(), and SmoothSamples().

#define SMOOTH_DISPERSION   4

This is SMOOTH_GRADIENT but the measure to optimize is the dispersion of the points along the path (i.e., try to make all steps of the same size). This is only used for debug since the dispersion is typically a secondary objective.

Definition at line 90 of file samples.h.

Referenced by main(), and SmoothSamples().

#define DEFAULT_CONNECT   ConnectSamplesChart

We have to modes to connect samples moving on the manifold of constratints: ConnectSamples and ConnectSamplesChart. The first one has been extensively tested. The second one is faster but less robust (we are working on improving this). This macro is just used to compare and debug these two connection methods.

Definition at line 102 of file samples.h.

Referenced by RandomSmooth(), and ShortcutSmooth().

#define KINEMATIC_SUBSPACE   0

If set to 1, functions like path length or some aspects of the path effort or even smooth path (using gradient descent!) focus on the kinematic sub-space, not considering the force-related variables.

Obviously, this only has an effect if the problem includes force-related variables (i.e., in tensegrity problems).

Definition at line 117 of file samples.h.

Referenced by main(), PathEffort(), SmoothSamples(), and StepEffort().

Typedef Documentation

typedef double(* TStepCost)(Tparameters *, unsigned int *, boolean *, unsigned int, double *, double *, double *, unsigned int, Tchart *, Tchart *, Tchart *, Tworld *)

Functions that evaluate the cost of a path step should be of this type.

Cost functions can involve up to 5 points around a given point

• [xpp xp x xn xnn]

but each elementary cost evaluation only involves 3 of these points. With this, x can be in up to three triplets

• [xpp xp x]
• [xp x xn]
• [x xn xnn]

In other words, the "variation" of x can affect the cost over these three triplets.

Cost functions are typically evaluated over paths (not only for individual steps). Care must be taken for the cost function not to return twice the cost of a given step. For instance, the path length is the sum of the step lengts and the step length ony computes the distance between the first and second paramter for the triplets

• [xp x xn]
• [x xn xnn]

but returns 0 for the triplet [xpp xp x]. When evaluated in sequence this efectively gives the path lenght. In contrast, the path dispersion returns values for the tree triplets. The step length is a 3-step function but the step dispersion is a 5-step function.

See StepLength or StepEffort for examples of path step costs.

This is used in GradientSmooth.

The parameteres of a cost function are

• The set of parameters.
• The topology of the variables (in simplified system).
• The selected variables to compute the path length component of the effort.
• The size of the points (in simplified system!)
• First point in the path (simplified).
• Second point in the path
• Third point along the path.
• Which of the three points is the current point (0,1,2) Which of the three triplets defined above are we passing to the cost function.
• A chart defined on the first point in the path.
• A chart defined on the second point in the path.
• A chart defined on the third point in the path.
• The world structure.

Some of them might not be used but are given with the aim of permetting very general cost functions.

Definition at line 183 of file samples.h.

typedef boolean(* TStepCostGradient)(Tparameters *, unsigned int *, boolean *, unsigned int, double *, double *, double *, double *, double *, Tchart *, Tchart *, Tchart *, Tchart *, Tchart *, TJacobian *, TStepCost, double *, Tworld *)

Functions that evaluate the gradient of the cost of a path step should be of this type.

Gradients are not evaluated in sequence and accumulated but called for individual points. Thus, the output of the gradient is the accumulated gradient for the tree triplets

• [xpp xp x]
• [xp x xn]
• [x xn xnn]

with [xpp xp x xn xnn] the five points around x.

See StepLengthGradient or StepEffortGradient for example of path step cost gradients.

This is used in GradientSmooth.

The parameters of a gradient function are:

• The set of parameters.
• The topology of the variables (in simplified system).
• The selected variables to compute the gradient.
• The size of the points (in simplified system!)
• Previous of the previous point in the path.
• Previous point in the path.
• Current point. We compute the gradient with respect to this point.
• Next point in the path.
• Next of the next point in the path.
• A chart defined on x-2
• A chart defined on x-1.
• A chart defined on x.
• A chart defined on x+1.
• A chart defined on x+2
• The Jacobian of the constraints. Only used for numerical gradients.
• The cost function (only used in numerical evaluation).
• The output gradient (in tangent space)
• The world structure.

Some of them might not be used but are given with the aim of permetting very general cost functions.

Definition at line 235 of file samples.h.

Function Documentation

void InitSamples	(	unsigned int *	ms,
		unsigned int *	ns,
		double ***	path
	)

Initializes the space where to store the samples.

Parameters

ms	Max number of samples in the set. This will be automatically enlarged in AddSample2Samples if necessary.
ns	Number of samples in the set. 0 after initialization.
path	The sample set.

Definition at line 665 of file samples.c.

References INIT_NUM_SAMPLES, and NEW.

Referenced by AddBranchToAtlasRRT(), ConnectSamples(), ConnectSamplesChart(), MinimizeOnAtlas(), New_AddBranchToAtlasRRT(), ReconstructAtlasPath(), ReconstructAtlasRRTPath(), Steps2PathinAtlasRRT(), and Steps2PathinRRT().

void SmoothSamples	(	Tparameters *	pr,
		boolean	parallel,
		int	mode,
		unsigned int	maxIterations,
		unsigned int	ns,
		double **	path,
		unsigned int *	sns,
		double ***	spath,
		TAtlasBase *	w
	)

Produces a path that (locally) minimizes the length and connects the two extremes of the given path.

This implements a basic smoothing structure transforming the input samples (in the original system) to the simplified system and then call a speciallized smoothing procedure.

Only path with more than 2 steps are suitable of optimization. Otherwise this function triggers an error.

Parameters

pr	The set of parameters.
parallel	TRUE if we have to execute a parallel vesion of smoothing process. Not relevant in SMOOTH_CUT.
mode	Smoothing mode to be used: SMOOTH_RANDOM, SMOOTH_GRADIENT, or SMOOTH_CUT.
maxIterations	Maximum number of iterations. To be scaled by the number of steps in the path.
ns	The numer of samples in the input path.
path	The samples in the input path.
sns	The number of samples in the output (smoothed) path.
spath	The samples in the output (smoothed) path.
w	The The world/cuiksystem on which the sample is defined.

Definition at line 2541 of file samples.c.

References AddSample2Samples(), ChangeParameter(), CS_WD_GENERATE_SIMPLIFIED_POINT, CS_WD_GET_SIMP_TOPOLOGY, CS_WD_GET_SYSTEM_VARS, CS_WD_MANIFOLD_DIMENSION, CS_WD_REGENERATE_ORIGINAL_POINT, CS_WD_REGENERATE_SOLUTION_POINT, CT_DELTA, CT_N_DOF, DeleteStatistics(), EffortAndDispersion(), EffortAndDispersionGradient(), Error(), GET_WORLD, GetElapsedTime(), GetParameter(), GradientSmooth(), InitStatistics(), KINEMATIC_SUBSPACE, LengthAndDispersion(), LengthAndDispersionGradient(), NEW, ON_CUIKSYSTEM, PathLength(), RandomSmooth(), ShortcutSmooth(), SMOOTH_DISPERSION, SMOOTH_EFFORT, SMOOTH_GRADIENT, SMOOTH_RANDOM, SMOOTH_SHORTCUT, StepDispersion(), StepDispersionGradient(), StepEffort(), StepEffortGradient(), StepLength(), StepLengthGradient(), and WorldSimpKinematicVars().

Referenced by main().

void ConcatSamples	(	unsigned int	nvs,
		unsigned int	ns1,
		double **	path1,
		unsigned int	ns2,
		double **	path2,
		unsigned int *	ns,
		double ***	path
	)

Produces a path that is the concatenation of two paths.

Parameters

nvs	The number of values per sample.
ns1	The number of samples defining the first path.
path1	The collection of samples defining the first path.
ns2	The number of samples defining the second path.
path2	The collection of samples defining the second path.
ns	The number of samples defining the output path.
path	The collection of samples defining the output path.

Definition at line 2706 of file samples.c.

References NEW.

void ReverseConcatSamples	(	unsigned int	nvs,
		unsigned int	ns1,
		double **	path1,
		unsigned int	ns2,
		double **	path2,
		unsigned int *	ns,
		double ***	path
	)

Produces a path that is the concatenation of a path and the reverse of a second path. This is basically used to reconstruct paths for bidirectional (Atlas)RRTs.

Parameters

nvs	The number of values per sample.
ns1	The number of samples defining the first path.
path1	The collection of samples defining the first path.
ns2	The number of samples defining the second path.
path2	The collection of samples defining the second path.
ns	The number of samples defining the output path.
path	The collection of samples defining the output path.

Definition at line 2727 of file samples.c.

References NEW.

Referenced by PathStart2GoalInRRT().

void ReverseSamples	(	unsigned int	ns,
		double **	path
	)

Reverses a set of samples.

Parameters

ns	Number of samples.
path	The samples to reverse.

Definition at line 2752 of file samples.c.

Referenced by ReconstructAtlasRRTPath(), and ReconstructRRTPath().

void AddSample2Samples	(	unsigned int	nv,
		double *	sample,
		unsigned int	nvs,
		boolean *	systemVars,
		unsigned int *	ms,
		unsigned int *	ns,
		double ***	path
	)

Adds a sample to a set of samples. The sample is given in full form (including all variables) but we only store the system variables.

Parameters

nv	Number of variables.
sample	The sample to add.
nvs	Number of system variables.
systemVars	Array to identify the system variables. Use NULL if all variables are to be included in the sample.
ms	Max number of samples in the set. This will be automatically enlarged in AddSample2Samples if necessary.
ns	Number of samples in the set. 0 after initialization.
path	The sample set.

Definition at line 672 of file samples.c.

References MEM_DUP, and NEW.

Referenced by AddBranchToAtlasRRT(), ConnectSamples(), ConnectSamplesChart(), MinimizeOnAtlas(), New_AddBranchToAtlasRRT(), PathInChart(), ReconstructAtlasPath(), ReconstructAtlasRRTPath(), SmoothSamples(), Steps2PathinAtlasRRT(), and Steps2PathinRRT().

double ConnectSamplesChart	(	Tparameters *	pr,
		unsigned int *	tp,
		boolean *	sv,
		Tbox *	domain,
		unsigned int	m,
		unsigned int	n,
		double *	s1,
		double *	s2,
		double	md,
		boolean	checkCollisions,
		TJacobian *	sJ,
		boolean *	reached,
		boolean *	collision,
		double *	lastSample,
		unsigned int *	ns,
		double ***	path,
		TAtlasBase *	w
	)

Determines if two points on the manifold can be connected with a path of length below a given threshold.

This is the same as ConnectSamples but using a chart-based way to move over the manifold from s1 to s2.

As in the case of ConnectSamples the connection can fail depending on the shape of the manifold. However, for close samples it typically works fine.

This can be seen as a simply version of AddBranchToAtlasRRT. The main difference is that here we do not maintain an atlas: we generate charts as we advance over the manifold but we release them when they are not any longer useful.

IMPORTANT: here samples are suposed to be given in the simplified form and not in the non-simplified one, as it is the case of many of the functions on samples.

Parameters

pr	The set of parameters.
tp	The topology for the variables.
sv	Components of the configuration to use to compute the length of the connection. If NULL all components are used. Up to now, it is only used for path smoothing purposes.
domain	The domain for the variables.
m	The size of each sample. IMPORTANT: here samples are suposed to be given in the simplified form and not in the non-simplified one, as it is the case of many of the functions on samples.
n	The number of equations in the problem. This is actually not used in this function but we keep this parameter for compatibility with ConnectSamples.
s1	The first sample to connect.
s2	The second sample to connect.
md	Maximum displacement between the two samples (along the components selected by 'sv').
checkCollisions	TRUE if the path has to be collision free.
sJ	The symbolic Jacobian.
reached	(output) TRUE if s2 can be reached form s1.
collision	(output) TRUE if the connection can not be established due to a collision.
lastSample	Buffer to store the last sample generated along the path from s1 to s2. Set to NULL if this sample is not requiered.
ns	Number of steps of the path connecting the two samples.
path	Samples along the path connecting the two samples. Set ns or path to NULL if you are not interested in the path but only in verifying that the two samples can be connected. Note that the two given samples are NOT included in this output path.
w	The The world/cuiksystem on which the sample is defined.

Returns

The maximum distance travelled form s1 to s2. The distance from s1 to the sample stored in 'lastSample', if any.

Definition at line 694 of file samples.c.

References AccumulateVector(), AddSample2Samples(), ArrayPi2Pi(), Chart2Manifold(), CS_WD_IN_COLLISION, CS_WD_SIMP_INEQUALITIES_HOLD, CT_CE, CT_DELTA, CT_E, CT_EPSILON, CT_N_DOF, CT_R, DeleteChart(), DeleteSamples(), DifferenceVector(), DifferenceVectorTopology(), DistanceTopology(), DistanceTopologySubset(), Error(), FALSE, GetJacobianSize(), GetParameter(), InitChart(), InitSamples(), Manifold2Chart(), NEW, Norm(), PointInBoxTopology(), ScaleVector(), SumVectorScale(), and TRUE.

Referenced by WireAtlasRRTstar().

double ConnectSamples	(	Tparameters *	pr,
		unsigned int *	tp,
		boolean *	sv,
		Tbox *	domain,
		unsigned int	m,
		unsigned int	n,
		double *	s1,
		double *	s2,
		double	md,
		boolean	checkCollisions,
		TJacobian *	sJ,
		boolean *	reached,
		boolean *	collision,
		double *	lastSample,
		unsigned int *	ns,
		double ***	path,
		TAtlasBase *	w
	)

Determines if two points on the manifold can be connected with a path of length below a given threshold.

The method used to determine the path does not return the sortest path and it can fail in many cases, specially when the samples are far away.

IMPORTANT: here samples are suposed to be given in the simplified form and not in the non-simplified one, as it is the case of many of the functions on samples.

Parameters

pr	The set of parameters.
tp	The topology for the variables.
sv	Components of the configuration to use to compute the length of the connection. If NULL all components are used. Up to now, it is only used for path smoothing purposes.
domain	The domain for the variables.
m	The size of each sample. IMPORTANT: here samples are suposed to be given in the simplified form and not in the non-simplified one, as it is the case of many of the functions on samples.
n	The number of equations in the problem.
s1	The first sample to connect.
s2	The second sample to connect.
md	Maximum displacement between the two samples (along the components selected by 'sv').
checkCollisions	TRUE if the path has to be collision free.
sJ	The symbolic Jacobian. It is actually not used in this function but the parameter is keep for compatibility with ConnectSamplesChart. You can safely set it to NULL in this case.
reached	(output) TRUE if s2 can be reached form s1.
collision	(output) TRUE if the connection can not be established due to a collision.
lastSample	Buffer to store the last sample generated along the path from s1 to s2. Set to NULL if this sample is not requiered.
ns	Number of steps of the path connecting the two samples.
path	Samples along the path connecting the two samples. Set ns or path to NULL if you are not interested in the path but only in verifying that the two samples can be connected. Note that the two given samples are NOT included in this output path.
w	The The world/cuiksystem on which the sample is defined.

Returns

The maximum distance travelled form s1 to s2. The distance from s1 to the sample stored in 'lastSample', if any.

Definition at line 966 of file samples.c.

References AddSample2Samples(), ArrayPi2Pi(), CS_WD_IN_COLLISION, CS_WD_NEWTON_IN_SIMP, CS_WD_SIMP_INEQUALITIES_HOLD, CT_DELTA, CT_EPSILON, DeleteSamples(), DifferenceVectorTopology(), DistanceTopology(), DistanceTopologySubset(), DIVERGED, FALSE, GetParameter(), InitSamples(), NEW, Norm(), PointInBoxTopology(), SumVectorScale(), and TRUE.

Referenced by AddStepToRRTstar(), BiRRTstar(), ReWireRRTstar(), Steps2PathinRRT(), and WireRRTstar().

double PathLength	(	unsigned int *	tp,
		boolean *	sv,
		unsigned int	m,
		unsigned int	np,
		double **	point
	)

Computes the length of a path defined by a set of points. IMPORTANT: this is for internal use only and the points are defined in the simplified system and not in the original system as most of the functions on samples.

Parameters

tp	The topology of the variables.
sv	The components to use in the distance computation.
m	The size of each point.
np	Number of points in the path.
point	The set of points.

Returns

The path length.

Definition at line 1096 of file samples.c.

References DistanceTopologySubset().

Referenced by main(), RandomSmooth(), ShortcutSmooth(), and SmoothSamples().

double PathEffort	(	Tparameters *	p,
		unsigned int	m,
		unsigned int	np,
		double **	point,
		Tworld *	w
	)

Computes the approximated control effort of a path. This only makes sense in problems where there is an associated energy which generates a force field (i.e., the gradient of the energy). The control effort is the effort to compensate this force field and to drive the robot along the path. If no force filed is defined, the control effort gives the path length (see PathLength).

The control effort is defined over the continuous path and we approximate it at discrete times (i.e., an integral approximated as a discrete sum).

Parameters

p	The set of parameters.
m	The size of each point.
np	Number of points in the path.
point	The set of points.
w	The world structure giving semantic to the path points.

Returns

The (approximated) control effort along the path.

Definition at line 1708 of file samples.c.

References ChangeParameter(), CS_WD_FROM_WORLD, CT_CE, CT_E, CT_N_DOF, CT_R, DeleteBox(), DeleteChart(), DeleteJacobian(), Error(), GetParameter(), GetWorldSimpInitialBox(), GetWorldSimpJacobian(), GetWorldSimpTopology(), InitTrustedChart(), KINEMATIC_SUBSPACE, NEW, RegenerateWorldSolutionPoint(), StepEffort(), TRUE, WorldGenerateSimplifiedPoint(), WorldManifoldDimension(), and WorldSimpKinematicVars().

Referenced by main().

unsigned int ReadOneSample	(	Tparameters *	p,
		char *	fname,
		unsigned int	nvs,
		double **	s
	)

Reads one sample from a file.

If the mechanisms representation is DOF-based (see REP_JOINTS) the samples are read from a .dof file. Otherwise they are read from a .samples file.

Parameters

p	The set of parameters.
fname	File from where to read the sample.
nvs	Number of system variables in the problem = Number of values in the sample.
s	Where to store the sample. The space is allocated internally.

Returns

The dimensionality of the sample. Number of system variables of w.

Definition at line 2772 of file samples.c.

References CreateFileName(), CT_REPRESENTATION, DeleteFileName(), Error(), GetFileFullName(), GetParameter(), JOINTS_EXT, LINKS_EXT, NEW, and REP_JOINTS.

Referenced by main().

unsigned int ReadTwoSamples	(	Tparameters *	p,
		char *	fname,
		unsigned int	nvs,
		double **	s1,
		double **	s2
	)

Reads two sample from a file.

If the mechanisms representation is DOF-based (see REP_JOINTS) the samples are read from a .dof file. Otherwise they are read from a .samples file.

Parameters

p	The set of parameters.
fname	File from where to read the sample.
nvs	Number of system variables in the problem = Number of values in the sample.
s1	Where to store the first sample. The space is allocated internally.
s2	Where to store the second sample. The space is allocated internally.

Returns

The dimensionality of the sample. Number of system variables of w.

Definition at line 2803 of file samples.c.

References CreateFileName(), CT_EPSILON, CT_REPRESENTATION, DeleteFileName(), Distance(), Error(), GetFileFullName(), GetParameter(), JOINTS_EXT, LINKS_EXT, NEW, and REP_JOINTS.

Referenced by main().

void SaveSamples	(	char *	fname,
		char *	suffix,
		unsigned int	nvs,
		unsigned int	ns,
		double **	path
	)

Saves a set of samples (possibly defining a solution path) to a file.

Parameters

fname	The file where to store the samples.
suffix	Suffix to be added to the filename. It is used when generating smoothed paths.
nvs	The dimensionality of each sample.
ns	The number of samples defining the path.
path	The collection of samples defining the path.

Definition at line 2879 of file samples.c.

References CreateFileName(), DeleteFileName(), SaveSamplesInt(), and SOL_EXT.

Referenced by main(), and MinimizeOnAtlas().

void SaveSamplesN	(	char *	fname,
		boolean	smooth,
		unsigned int	n,
		unsigned int	nvs,
		unsigned int	ns,
		double **	path
	)

Saves a set of samples (possibly defining a solution path) to a file. This function is used to save sets of paths.

Parameters

fname	The file where to store the samples.
smooth	TRUE if the set of samples is the result of a smoothing process.
n	The number of this path. Used to define a different name for a sequence of paths to store.
nvs	The dimensionality of each sample.
ns	The number of samples defining the path.
path	The collection of samples defining the path.

Definition at line 2894 of file samples.c.

References CreateFileName(), DeleteFileName(), SaveSamplesInt(), and SOL_EXT.

Referenced by MinimizeOnAtlas().

boolean LoadSamples	(	Tfilename *	fname,
		unsigned int *	nvs,
		unsigned int *	ns,
		double ***	path
	)

Reads a set of samples from a file created using SaveSamples.

Parameters

fname	Name of the file containing the samples.
nvs	Number of entries for each sample.
ns	Number of samples (output).
path	The set of samples (output).

Returns

TRUE if the sample set could be actually read.

Definition at line 2913 of file samples.c.

References Advance(), DeleteListOfBoxes(), EndOfList(), Error(), FALSE, First(), GetBoxCenter(), GetBoxNIntervals(), GetCurrent(), GetFileFullName(), InitIterator(), ListSize(), NEW, ReadListOfBoxes(), and TRUE.

Referenced by main().

void PlotSamples	(	Tparameters *	p,
		Tplot3d *	p3d,
		unsigned int	xID,
		unsigned int	yID,
		unsigned int	zID,
		unsigned int	ns,
		double **	path
	)

Plots a 3D projection of a set of samples representing a path. The path is represented by a red line.

Parameters

p	The set of parametres.
p3d	The 3d plot where to add the plot.
xID	First dimension for the projection (in the original system including system vars only).
yID	Second dimension for the projection (in the original system including system vars only).
zID	Third dimension for the projection (in the original system including system vars only).
ns	The number of samples.
path	The set of samples.

Definition at line 2960 of file samples.c.

References Close3dObject(), CT_CUT_X, CT_CUT_Y, CT_CUT_Z, DeleteColor(), GetParameter(), M_2PI, NEW, NewColor(), PlotVect3d(), and StartNew3dObject().

Referenced by main().

void PlotForceField	(	Tparameters *	p,
		Tplot3d *	p3d,
		unsigned int	xID,
		unsigned int	yID,
		unsigned int	zID,
		Tworld *	w,
		unsigned int	ns,
		double **	sols
	)

Plots a 3D projection of the force field on a set of points. The force filed is represented as a short line on each point pointing in the direction of the force field and with length proportional to the force-field magnitude.

Parameters

p	The set of parametres.
p3d	The 3d plot where to add the plot.
xID	First dimension for the projection (in the original system including system vars only).
yID	Second dimension for the projection (in the original system including system vars only).
zID	Third dimension for the projection (in the original system including system vars only).
w	The world from where to compute the force field.
ns	The number of solution points.
sols	The set of solution points.

Definition at line 3056 of file samples.c.

References Close3dObject(), CT_DELTA, CT_EPSILON, DeleteColor(), Error(), FALSE, GetParameter(), GetWorldSystemVars(), INF, NEW, NewColor(), NO_UINT, Norm(), PlotLine(), RegenerateWorldSolutionPoint(), ScaleVector(), StartNew3dObject(), Warning(), and WorldForceField().

Referenced by main().

void DeleteSamples	(	unsigned int	ns,
		double **	path
	)

Release the memory used by a set of samples.

Parameters

ns	The number of samples.
path	The set of samples.

Definition at line 3159 of file samples.c.

Referenced by ConnectSamples(), ConnectSamplesChart(), main(), PathStart2GoalInRRT(), RandomSmooth(), ReconstructAtlasRRTPath(), ShortcutSmooth(), Steps2PathinAtlasRRT(), and Steps2PathinRRT().