Detailed Description

All the necessary information to generate equations for mechanisms and the equations themselves.

It also includes the information about the obstacles around the mechanisms and, thus, provide methods to detect collisions.

Finally, the functions associated to this structure allow to animate solution paths (i.e. to move the mechanisms along a set of configurations).

Definition at line 229 of file world.h.

Data Fields
unsigned int	stage

Tenvironment	e

Tmechanism	m

unsigned int	nl

unsigned int	nb

unsigned int	nj

unsigned int	no

unsigned int	np

unsigned int	endEffector

double	maxCoord

boolean **	checkCollisionsLL

boolean **	checkCollisionsLO

TCuikSystem	kinCS

unsigned int	nvars

unsigned int	nsvars

boolean *	systemVars

unsigned int *	sortedLinks

unsigned int *	jointTo

Tbranch *	branch2Link

Tequations	refEqs

TJacobian	refEqsJ

boolean *	openLink

unsigned int	nwcd

TworldCD *	wcd

unsigned int	ndof

unsigned int *	link2dof

unsigned int *	dof2link

unsigned int *	dof2param

unsigned int *	joint2dof

unsigned int *	dof2joint

unsigned int *	dof2range

Field Documentation

unsigned int Tworld::stage

Stage of the world structure: EMPTY_WORLD, WORLD_WITH_GEOMETRY, WORLD_WITH_COLLISIONS, WORLD_WITH_EQUATIONS. Latter stages imply the previous ones.

Definition at line 230 of file world.h.

Referenced by AddJoint2World(), AddLink2World(), AddObstacle2World(), AnimateWorld(), CheckAllCollisions(), CheckLinkLinkCollision(), CheckLinkObstacleCollision(), CheckSelfCollisions(), DeleteWorld(), EvaluateWorldJacobian(), FixLinks(), FixZToZero(), GenerateForceEquilibriumEquations(), GenerateWorldEquations(), GenerateWorldSingularityEquations(), GetLinkTransformsFromSolutionPoint(), GetWorldInitialBox(), GetWorldJacobian(), GetWorldNumSystemVariables(), GetWorldNumVariables(), GetWorldSimpInitialBox(), GetWorldSimpJacobian(), GetWorldSimpTopology(), GetWorldSimpVariableMask(), GetWorldSystemVarName(), GetWorldSystemVars(), GetWorldTopology(), GetWorldVarNames(), InitWorld(), InitWorldCD(), IsWorldPolynomial(), MaxWorldReduction(), MoveWorld(), MoveWorldDOF(), NewtonInWorld(), NoCheckAllCollisions(), NoCheckLinkLinkCollision(), NoCheckLinkObstacleCollision(), NoCheckSelfCollisions(), PlotWorld(), PrintWorldAxes(), PrintWorldCS(), RegenerateWorldOriginalPoint(), RegenerateWorldSolutionPoint(), WorldCoupleTensegrityVariable(), WorldDOF2Sol(), WorldErrorInEquations(), WorldErrorInSimpEquations(), WorldErrorInSimpInequalities(), WorldEvaluateEquations(), WorldEvaluateSimpEquations(), WorldEvaluateSubSetSimpEquations(), WorldForceField(), WorldForceVars(), WorldGenerateSimplifiedPoint(), WorldGenerateSimplifiedPointFromSystem(), WorldInequalitiesHold(), WorldInitDOFInfo(), WorldManifoldDimension(), WorldPotentialEnergy(), WorldSample2DOF(), WorldSimpInequalitiesHold(), and WorldSimpKinematicVars().

Tenvironment Tworld::e

The environment.

Definition at line 235 of file world.h.

Referenced by AddObstacle2World(), CheckAllCollisions(), DeleteWorld(), GenerateWorldEquations(), GetWorldObstacleID(), InitWorld(), InitWorldCD(), MoveAndCheckCDFromTransforms(), PlotWorld(), PrintCollisions(), PrintWorld(), WorldPrintAtoms(), and WorldStoreRigidGroups().

Tmechanism Tworld::m

The mechanism.

Definition at line 236 of file world.h.

Referenced by AddJoint2World(), AddLink2World(), Branches2Links(), DeleteWorld(), FixLinks(), FixZToZero(), GenerateEquationsFromBranch(), GenerateForceEquilibriumEquations(), GenerateKinTree(), GenerateWorldEquations(), GenerateWorldSingularityEquations(), GetLinkTransformsFromDOF(), GetLinkTransformsFromSolution(), GetLinkTransformsFromSolutionPoint(), GetSolutionPointFromLinkTransforms(), GetWorldDOFLabel(), GetWorldJoint(), GetWorldJointLabel(), GetWorldLink(), GetWorldLinkID(), GetWorldMobility(), GetWorldRangeDOF(), GetWorldSimpVariableMask(), InitWorld(), InitWorldCD(), InitWorldKinCS(), IsMechanismInWorldAllSpheres(), IsRevoluteBinaryLink(), MoveAndCheckCDFromTransforms(), MoveWorld(), MoveWorldDOF(), NoCheckConnectedCollisions(), PlotWorld(), PrintCollisions(), PrintWorld(), PrintWorldAxes(), PrintWorldCollisionInfo(), RegenerateWorldOriginalPoint(), RegenerateWorldSolutionPoint(), WorldAtomJacobian(), WorldDOF2Sol(), WorldDOFTopology(), WorldFixTensegrityAddon(), WorldForceField(), WorldForceVars(), WorldInitDOFInfo(), WorldPotentialEnergy(), WorldPrintAtoms(), WorldSample2DOF(), WorldSimpKinematicVars(), and WorldStoreRigidGroups().

unsigned int Tworld::nl

Number of links in the mechanism.

Definition at line 238 of file world.h.

Referenced by AddLink2World(), AddObstacle2World(), AnyCollision(), Branches2Links(), CheckAllCollisions(), CheckObstacleCollision(), CheckSelfCollisions(), DeleteLinkTransforms(), DeleteWorldCollisionInfo(), DeleteWorldCS(), FixLinks(), FixZToZero(), GenerateForceEquilibriumEquations(), GenerateKinTree(), GenerateWorldEquations(), GetLinkTransformsFromDOF(), GetLinkTransformsFromSolution(), GetWorldNLinks(), GetWorldSimpVariableMask(), InitWorld(), InitWorldKinCS(), NoCheckAllCollisions(), NoCheckConnectedCollisions(), NoCheckObstacleCollision(), NoCheckSelfCollisions(), PrintCollisions(), PrintWorldAxes(), WorldAtomJacobian(), WorldDOF2Sol(), WorldForceField(), WorldForceVars(), WorldInitDOFInfo(), WorldPotentialEnergy(), and WorldSimpKinematicVars().

unsigned int Tworld::nb

Number of convex bodies forming the links.

Definition at line 239 of file world.h.

Referenced by AddLink2World(), GetWorldNConvexBodiesInLinks(), and InitWorld().

unsigned int Tworld::nj

Number of joints.

Definition at line 240 of file world.h.

Referenced by AddJoint2World(), GenerateForceEquilibriumEquations(), GenerateKinTree(), GenerateWorldSingularityEquations(), GetLinkTransformsFromDOF(), GetWorldNJoints(), InitWorld(), InitWorldKinCS(), NoCheckConnectedCollisions(), PrintWorldAxes(), WorldDOF2Sol(), and WorldInitDOFInfo().

unsigned int Tworld::no

Number of obstacles.

Definition at line 241 of file world.h.

Referenced by AddLink2World(), AddObstacle2World(), AnyCollision(), CheckAllCollisions(), GetWorldNObstacles(), InitWorld(), NoCheckAllCollisions(), and PrintCollisions().

unsigned int Tworld::np

Number of convex bodies in the links and in the environment (nb+no).

Definition at line 242 of file world.h.

Referenced by AddLink2World(), AddObstacle2World(), GetWorldNConvexBodies(), and InitWorld().

unsigned int Tworld::endEffector

Identifier of the link that has to be considered as the manipulated object (or end effector).

Definition at line 245 of file world.h.

Referenced by AddLink2World(), InitWorld(), and PrintWorldCollisionInfo().

double Tworld::maxCoord

Sum of the maximum coordinate values for all objects in the mechanism.

Definition at line 247 of file world.h.

Referenced by GenerateEquationsFromBranch(), GenerateWorldEquations(), GenerateWorldSingularityEquations(), GetWorldRangeDOF(), and InitWorldKinCS().

boolean** Tworld::checkCollisionsLL

TRUE if we have to chek the collision between the corresponding pair of links. Note that in the wold definition file we can not activate/desactive the collision checking for sub-parts of a link. To get this effect you can use assign the DECOR type to the link sub-parts not to be considered in the collision detection.

Definition at line 250 of file world.h.

Referenced by AddLink2World(), AnyCollision(), CheckLinkLinkCollision(), CheckSelfCollisions(), DeleteWorldCollisionInfo(), InitWorld(), InitWorldCD(), NoCheckLinkLinkCollision(), NoCheckSelfCollisions(), and PrintCollisions().

boolean** Tworld::checkCollisionsLO

TRUE if we have to chek the collision between the corresponding link and object in the environment. Note that in the wold definition file we can not activate/desactive the collision checking for sub-parts of a link. To get this effect you can use assign the DECOR type to the link sub-parts not to be considered in the collision detection.

Definition at line 259 of file world.h.

Referenced by AddLink2World(), AddObstacle2World(), AnyCollision(), CheckAllCollisions(), CheckLinkObstacleCollision(), DeleteWorldCollisionInfo(), InitWorld(), InitWorldCD(), NoCheckAllCollisions(), NoCheckLinkObstacleCollision(), and PrintCollisions().

TCuikSystem Tworld::kinCS

The cuiksystem derived form the mechanism.

Definition at line 270 of file world.h.

Referenced by AnimateWorld(), DeleteWorldCS(), EvaluateWorldJacobian(), FixLinks(), FixZToZero(), GenerateForceEquilibriumEquations(), GenerateMEquationFromBranch(), GenerateTransEquationsFromBranch(), GenerateWorldEquations(), GenerateWorldSingularityEquations(), GetLinkTransformsFromSolution(), GetLinkTransformsFromSolutionPoint(), GetSolutionPointFromLinkTransforms(), GetWorldInitialBox(), GetWorldJacobian(), GetWorldNumSystemVariables(), GetWorldNumVariables(), GetWorldSimpInitialBox(), GetWorldSimpJacobian(), GetWorldSimpTopology(), GetWorldSimpVariableMask(), GetWorldSystemVarName(), GetWorldSystemVars(), GetWorldTopology(), GetWorldVarNames(), GetWorldVarTopology(), InitWorldCS(), InitWorldKinCS(), IsWorldPolynomial(), MaxWorldReduction(), MoveWorld(), NewtonInWorld(), PrintWorldAxes(), PrintWorldCS(), RegenerateWorldOriginalPoint(), RegenerateWorldOriginalSystemPoint(), RegenerateWorldSolutionPoint(), WorldCoupleTensegrityVariable(), WorldDOF2Sol(), WorldErrorInEquations(), WorldErrorInSimpEquations(), WorldErrorInSimpInequalities(), WorldEvaluateEquations(), WorldEvaluateSimpEquations(), WorldEvaluateSubSetSimpEquations(), WorldFixTensegrityAddon(), WorldForceField(), WorldForceVars(), WorldGenerateSimplifiedPoint(), WorldGenerateSimplifiedPointFromSystem(), WorldInequalitiesHold(), WorldManifoldDimension(), WorldPotentialEnergy(), WorldSimpCuikNewton(), WorldSimpInequalitiesHold(), and WorldSimpKinematicVars().

unsigned int Tworld::nvars

Number of variables in the kinCS

Definition at line 272 of file world.h.

Referenced by GenerateWorldEquations(), InitWorld(), WorldForceField(), WorldForceVars(), and WorldSimpKinematicVars().

unsigned int Tworld::nsvars

Number of system variables in the kinCS

Definition at line 273 of file world.h.

Referenced by GenerateWorldEquations(), and InitWorld().

boolean* Tworld::systemVars

Array of booleans with as many elements as variables has the cuiksystem and where each entry is TRUE if the corresponding variable is a system variable.

Definition at line 274 of file world.h.

Referenced by DeleteWorldCS(), GenerateWorldEquations(), GetSolutionPointFromLinkTransforms(), InitWorld(), MaxWorldReduction(), RegenerateWorldOriginalSystemPoint(), RegenerateWorldSolutionPoint(), and WorldForceVars().

unsigned int* Tworld::sortedLinks

Links as they are encountered when expanding graph implicitly defined by links and joints.

Definition at line 279 of file world.h.

Referenced by DeleteWorldCS(), GenerateKinTree(), and GetLinkTransformsFromDOF().

unsigned int* Tworld::jointTo

Joint taking to a given link when expanding graph implicitly defined by links and joints.

Definition at line 281 of file world.h.

Referenced by DeleteWorldCS(), GenerateKinTree(), and GetLinkTransformsFromDOF().

Tbranch* Tworld::branch2Link

Sequence of joints taking from the ground link to each of the other links. This is used to compute the refEqs (see below) and to transfrom from dof to matrices. This informatin is redundant with the one encoded in 'sortedLinks' and 'joinsTo' but we keep it for convenience.

Definition at line 283 of file world.h.

Referenced by DeleteWorldCS(), FixLinks(), GenerateKinTree(), GenerateWorldEquations(), GetLinkTransformsFromDOF(), InitWorld(), and WorldFixTensegrityAddon().

Tequations Tworld::refEqs

Equations giving (part of) the forward kinemtics for all links. In matrix-like representations this includes three equations for each link giving the position of the frame of reference of each link in the global frame of reference. They define the translations using rotation variables and fixed vectors. When using a REP_DOF this includes matrix equations giving the homogeneous matrix for each link.

Definition at line 291 of file world.h.

Referenced by DeleteWorldCS(), GenerateWorldEquations(), GenerateWorldSingularityEquations(), GetLinkTransformsFromSolution(), and PrintWorldAxes().

TJacobian Tworld::refEqsJ

Jacobian of the equations in refEqs. This is computed in all the cases, but only actually used if the representation is DOF-based in the WorldAtomJacobian function. Note that the refEqs are given in the original variables (i.e., without any simplification) and so it is the Jacobian.

Definition at line 301 of file world.h.

Referenced by DeleteWorldCS(), GenerateWorldEquations(), and WorldAtomJacobian().

boolean* Tworld::openLink

TRUE if the link is at the end of an open branch. In this case the kinematic system includes variables with the position of this link and we have to take this into account when generating configurations from degrees of freedom (see WorldDOF2Sol)

Definition at line 309 of file world.h.

Referenced by DeleteWorldCS(), GenerateKinTree(), and WorldDOF2Sol().

unsigned int Tworld::nwcd

Number of wcd structures being initialized. When using OpenMP we initiliaze as many wcd structures as threads so that we can check for collision detection in parallel.

Definition at line 316 of file world.h.

Referenced by DeleteWorldCD(), InitWorldCD(), and MoveAndCheckCDFromTransforms().

TworldCD* Tworld::wcd

The collision detection information, if any.

Definition at line 320 of file world.h.

Referenced by DeleteWorldCD(), InitWorld(), InitWorldCD(), MoveAndCheckCD(), MoveAndCheckCDFromTransforms(), PlotWorld(), PrintWorldCollisionInfo(), WorldCanCollide(), and WorldContinuousCD().