Detailed Description

Sequence (product) of homogeneous transforms including constant and variable terms. Used to defined matrix equations.

See Also: TTransSeq, trans_seq.c.

Definition in file trans_seq.h.

Data Structures
struct	TTrans
	A step in a transform sequence. More...

struct	TTransSeq
	A sequence of transforms. More...

Macros
#define	TV (RZ+1)
	Displacement along a vector. More...

#define	PA (TV+1)
	Point on a patch. More...

#define	CT_TRANS (PA+1)
	Constant transform. More...

#define	dRX (CT_TRANS+1)
	Derivative of a Rx transform. More...

#define	dRY (dRX+1)
	Derivative of a Ry transform. More...

#define	dRZ (dRY+1)
	Derivative of a Rz transform. More...

#define	dPA_U (dRZ+1)
	Derivative of a PA transform. More...

#define	dPA_V (dPA_U+1)
	Derivative of a PA transform. More...

#define	ddRX (dPA_V+1)
	Double derivative of a Rx transform. More...

#define	ddRY (ddRX+1)
	Double derivative of a Rx transform. More...

#define	ddRZ (ddRY+1)
	Double derivative of a Rx transform. More...

#define	ddPA_UU (ddRZ+1)
	Double derivative of a PA transform. More...

#define	ddPA_UV (ddPA_UU+1)
	Double derivative of a PA transform. More...

#define	ddPA_VV (ddPA_UV+1)
	Double derivative of a PA transform. More...

#define	INIT_NUM_TERMS_TS 10
	Initial room for terms in a transform sequence. More...

#define	IS_PATCH_TRANS(t) ((t==PA)\|\|(t==dPA_U)\|\|(t==dPA_V)\|\|(t==ddPA_UU)\|\|(t==ddPA_UV)\|\|(t==ddPA_VV))
	Checks if a transform is a parametrized patch (or derived). More...

Functions
void	InitCtTrans (THTransform ct, TTrans t)
	Initializes a constant transform. More...

void	InitVarTrans (unsigned int tp, int s, unsigned int v, TTrans *t)
	Initializes a variable transform. More...

void	InitTVTrans (int s, unsigned int v, double vect, TTrans t)
	Initializes a TV transform. More...

void	InitPatchTrans (unsigned int tp, int s, unsigned int u, unsigned int v, double *p, TTrans t)
	Initializes a parametrized-patch transform. More...

void	CopyTrans (TTrans t_dst, TTrans t_src)
	Constructor. More...

void	TransInvert (TTrans ti, TTrans t)
	Invert a transform. More...

boolean	TransHasVar (unsigned int v, TTrans *t)
	Identifies if a variable is involved in a given transform. More...

void	EvaluateVectorsPATrans (double u, double v, double x, double y, double h, TTrans t)
	Computes the vectors defining a PA transform. More...

void	EvaluateTrans (double v1, double v2, THTransform a, TTrans t)
	Evaluates a transform. More...

void	EvaluatePATrans (double u, double v, THTransform a, TTrans t)
	Evaluates a PA transform. More...

void	DeleteTrans (TTrans *t)
	Destructor. More...

void	InitTransSeq (TTransSeq *ts)
	Constructor. More...

void	CopyTransSeq (TTransSeq ts_dst, TTransSeq ts_src)
	Constructor. More...

void	ResetTransSeq (TTransSeq *ts)
	Semi-destructor. More...

boolean	IsEmptyTransSeq (TTransSeq *ts)
	Identify empty transform sequences. More...

boolean	HasCtRotTransSeq (TTransSeq *ts)
	Checks if the tranform sequence includes contant rotations. More...

unsigned int	TransSeqSize (TTransSeq *ts)
	Number of elements in the transform sequence. More...

TTrans *	GetElementFromTransSeq (unsigned int i, TTransSeq *ts)
	Returns an element from a transform sequence. More...

void	AddTrans2TransSeq (TTrans t, TTransSeq ts)
	Adds a transform to a transform sequence. More...

void	AddCtTrans2TransSeq (THTransform t, TTransSeq ts)
	Adds a constant transform to the sequence. More...

void	AddVarTrans2TransSeq (unsigned int t, int s, unsigned int v, TTransSeq *ts)
	Adds a variable transform to the sequence. More...

void	AddDispTrans2TransSeq (int s, unsigned int v, double vect, TTransSeq ts)
	Adds a displacement transform to the sequence. More...

void	AddPatchTrans2TransSeq (unsigned int t, int s, unsigned int u, unsigned int v, double *p, TTransSeq ts)
	Adds a Parametrized-Patch transform to a transform sequence. More...

boolean	VarIncludedinTransSeq (unsigned int v, TTransSeq *ts)
	Determines if the sequence includes a given variable. More...

void	UpdateUsedDOF (unsigned int dof, TTransSeq ts)
	Determines the dof used in a transform sequence. More...

void	ShiftVariablesInTransSeq (unsigned int nv, TTransSeq *ts)
	Adjust variable indices after removing a variable. More...

boolean	FixVarInTransSeq (unsigned int nv, double v, THTransform ctt, TTransSeq ts)
	Set a variable to a constant value. More...

void	ReplaceVarInTransSeq (unsigned int nv, unsigned int nvNew, TTransSeq *ts)
	Replaces a variable. More...

void	SimplifyTransSeq (TTransSeq *ts)
	Reduces the complexity of the tranform sequence. More...

void	DeriveTransSeq (unsigned int v, unsigned int n, TTransSeq *tsd, TTransSeq ts)
	Derive a sequence of transforms. More...

void	EvaluateTransSeq (double v, THTransform r, TTransSeq *ts)
	Evaluates the transform sequence. More...

void	PrintTransSeq (FILE f, char varNames, TTransSeq ts)
	Prints a transform sequence to a file. More...

void	DeleteTransSeq (TTransSeq *ts)
	Destructor. More...

Macro Definition Documentation

#define TV (RZ+1)

Displacement along a vector. The vector is stored in the form of a constant transform.

Definition at line 24 of file trans_seq.h.

Referenced by AddVarTrans2TransSeq(), DeriveTransSeq(), EvaluateTrans(), EvaluateTransSeq(), InitTVTrans(), InitVarTrans(), PrintTransSeq(), and UpdateUsedDOF().

#define PA (TV+1)

Point on a patch given by two parameters. This defines a parametrized transform.

Definition at line 31 of file trans_seq.h.

Referenced by DeriveTransSeq(), EvaluateTrans(), EvaluateTransSeq(), FixVarInTransSeq(), GetJointTransSeq(), InitPatchTrans(), PrintTransSeq(), and UpdateUsedDOF().

#define CT_TRANS (PA+1)

One of the possible transforms in the sequence. These are added to the types of transforms defined in htransform.h

Definition at line 38 of file trans_seq.h.

Referenced by AddCtTrans2TransSeq(), AddDispTrans2TransSeq(), AddPatchTrans2TransSeq(), AddTrans2TransSeq(), AddVarTrans2TransSeq(), EvaluateTrans(), EvaluateTransSeq(), FixVarInTransSeq(), HasCtRotTransSeq(), InitCtTrans(), InitVarTrans(), PrintTransSeq(), SimplifyTransSeq(), TransInvert(), and UpdateUsedDOF().

#define dRX (CT_TRANS+1)

Derivative of a Rx transform.

Definition at line 44 of file trans_seq.h.

Referenced by DeriveTransSeq(), EvaluateTrans(), EvaluateTransSeq(), PrintTransSeq(), and UpdateUsedDOF().

#define dRY (dRX+1)

Derivative of a Rx transform.

Definition at line 50 of file trans_seq.h.

Referenced by DeriveTransSeq(), EvaluateTrans(), EvaluateTransSeq(), PrintTransSeq(), and UpdateUsedDOF().

#define dRZ (dRY+1)

Derivative of a Rx transform.

Definition at line 56 of file trans_seq.h.

Referenced by DeriveTransSeq(), EvaluateTrans(), EvaluateTransSeq(), PrintTransSeq(), and UpdateUsedDOF().

#define dPA_U (dRZ+1)

Derivative of a PA transform with respect to the first parameter.

Definition at line 63 of file trans_seq.h.

Referenced by DeriveTransSeq(), EvaluateTrans(), EvaluateTransSeq(), FixVarInTransSeq(), PrintTransSeq(), and UpdateUsedDOF().

#define dPA_V (dPA_U+1)

Derivative of a PA transform with respect to the second parameter.

Definition at line 70 of file trans_seq.h.

Referenced by DeriveTransSeq(), EvaluateTrans(), EvaluateTransSeq(), FixVarInTransSeq(), PrintTransSeq(), and UpdateUsedDOF().

#define ddRX (dPA_V+1)

Double derivative of a Rx transform.

Definition at line 76 of file trans_seq.h.

Referenced by DeriveTransSeq(), EvaluateTrans(), EvaluateTransSeq(), PrintTransSeq(), and UpdateUsedDOF().

#define ddRY (ddRX+1)

Double derivative of a Ry transform.

Definition at line 82 of file trans_seq.h.

Referenced by DeriveTransSeq(), EvaluateTrans(), EvaluateTransSeq(), PrintTransSeq(), and UpdateUsedDOF().

#define ddRZ (ddRY+1)

Double derivative of a Rz transform.

Definition at line 88 of file trans_seq.h.

Referenced by DeriveTransSeq(), EvaluateTrans(), EvaluateTransSeq(), PrintTransSeq(), and UpdateUsedDOF().

#define ddPA_UU (ddRZ+1)

Double derivative of a PA transform with respect to the first parameter.

Definition at line 95 of file trans_seq.h.

Referenced by DeriveTransSeq(), EvaluateTrans(), EvaluateTransSeq(), FixVarInTransSeq(), PrintTransSeq(), and UpdateUsedDOF().

#define ddPA_UV (ddPA_UU+1)

Derivative of a PA transform with respect to the first parameter and then with respect to the second

Definition at line 102 of file trans_seq.h.

Referenced by DeriveTransSeq(), EvaluateTrans(), EvaluateTransSeq(), FixVarInTransSeq(), PrintTransSeq(), and UpdateUsedDOF().

#define ddPA_VV (ddPA_UV+1)

Double derivative of a PA transform with respect to the second parameter.

Definition at line 109 of file trans_seq.h.

Referenced by DeriveTransSeq(), EvaluateTrans(), EvaluateTransSeq(), FixVarInTransSeq(), PrintTransSeq(), and UpdateUsedDOF().

#define INIT_NUM_TERMS_TS 10

Initial room for terms in a transform sequence. It will be enlarged if necessary.

See Also: TTransSeq

Definition at line 117 of file trans_seq.h.

Referenced by InitTransSeq().

#define IS_PATCH_TRANS ( t ) ((t==PA)||(t==dPA_U)||(t==dPA_V)||(t==ddPA_UU)||(t==ddPA_UV)||(t==ddPA_VV))

Checks if a transform is a parametrized patch or a derived transform.

Parameters

t	The type of transform to check.

Definition at line 126 of file trans_seq.h.

Referenced by AddVarTrans2TransSeq(), EvaluateVectorsPATrans(), InitPatchTrans(), and InitVarTrans().

Function Documentation

void InitCtTrans	(	THTransform *	ct,
		TTrans *	t
	)

Initializes a constant transform.

Parameters

ct	The constant transform.
t	The transform to initialize.

Definition at line 21 of file trans_seq.c.

References TTrans::ct, CT_TRANS, HTransformCopy(), NEW, NO_UINT, TTrans::p, TTrans::s, TTrans::t, TTrans::u, TTrans::v, TTrans::val, and TTrans::vect.

Referenced by AddCtTrans2TransSeq().

void InitVarTrans	(	unsigned int	tp,
		int	s,
		unsigned int	v,
		TTrans *	t
	)

Initializes a variable transform (all variable transforms but those of type TV or PA).

Parameters

tp	The type of transform.
s	The sign of the transform (-1 to invert the transform).
v	The variable involved in the transform.
t	The transform to initialize.

Definition at line 34 of file trans_seq.c.

References TTrans::ct, CT_TRANS, Error(), IS_PATCH_TRANS, NO_UINT, TTrans::p, TTrans::s, TTrans::t, TV, TTrans::u, TTrans::v, TTrans::val, and TTrans::vect.

Referenced by AddVarTrans2TransSeq().

void InitTVTrans	(	int	s,
		unsigned int	v,
		double *	vect,
		TTrans *	t
	)

Initializes a TV transform: a displacement along a vector scaled by a variable.

Parameters

s	The sign of the transform (-1 to invert the transform).
v	The variable involved in the transform.
vect	Vector giving the displacement direction.
t	The transform to initialize.

Definition at line 48 of file trans_seq.c.

References TTrans::ct, NEW, NO_UINT, TTrans::p, TTrans::s, TTrans::t, TV, TTrans::u, TTrans::v, TTrans::val, and TTrans::vect.

Referenced by AddDispTrans2TransSeq().

void InitPatchTrans	(	unsigned int	tp,
		int	s,
		unsigned int	u,
		unsigned int	v,
		double **	p,
		TTrans *	t
	)

Initializes a parametrized-patch transform.

Note that the given points are NOT the vertices defining the patch but some combinations of them

p_0
p_1-p_0
p_2-p_0
p_0-p_1-p_2+p_3

Parameters

tp	Subtype of PA transform (PA,dPA_U,dPA_V,ddPA_UU,d2PA_UV,ddPA_VV).
s	The sign of the transform (-1 to invert the transform).
u	The first variable (parametre) of the parametrized-patch transform.
v	The second variable (parametre) of the parametrized-patch transform.
p	The 4 auxiliary points defining the patch. If we define a PA transform these are the four points defining its extremes. Otherwise, these are points derived from those original points.
t	The transform to initialize.

Definition at line 61 of file trans_seq.c.

References AccumulateVector(), CrossProduct(), TTrans::ct, DifferenceVector(), Error(), IS_PATCH_TRANS, NEW, TTrans::p, PA, TTrans::s, TTrans::t, TTrans::u, TTrans::v, TTrans::val, and TTrans::vect.

Referenced by AddPatchTrans2TransSeq().

void CopyTrans	(	TTrans *	t_dst,
		TTrans *	t_src
	)

Initializes a transform form another transform.

Definition at line 103 of file trans_seq.c.

References TTrans::ct, HTransformCopy(), NEW, TTrans::p, TTrans::s, TTrans::t, TTrans::u, TTrans::v, TTrans::val, and TTrans::vect.

Referenced by AddTrans2TransSeq(), CopyTransSeq(), and TransInvert().

void TransInvert	(	TTrans *	ti,
		TTrans *	t
	)

Invert a transform.

Parameters

ti	The resulting inverted transform.
t	The transform to invert.

Definition at line 141 of file trans_seq.c.

References CopyTrans(), TTrans::ct, CT_TRANS, HTransformInverse(), TTrans::s, and TTrans::t.

Referenced by AddTransSeq2MEquation().

boolean TransHasVar	(	unsigned int	v,
		TTrans *	t
	)

Checks if a variable is involved in a given transform.

Parameters

v	The variable to check.
t	The transform to query.

Returns: TRUE if the variable is involved in the transform.

Definition at line 150 of file trans_seq.c.

References TTrans::u, and TTrans::v.

Referenced by DeriveTransSeq(), ShiftVariablesInTransSeq(), and VarIncludedinTransSeq().

void EvaluateVectorsPATrans	(	double	u,
		double	v,
		double *	x,
		double *	y,
		double *	h,
		TTrans *	t
	)

Computes the basic, unnormalized vectors defining a PA transform. This can be applied to PA transforms and to their derivatives (dPA_U, dPA_V, ddPA_UU, ddPA_UV, and ddPA_VV) BUT in all cases it returns the vector for the original PA

Parameters

u	Value for the 1st parameter.
v	Value for the 2nd parameter.
x	Output vector with the non-normalized 1st column of the transform.
y	Output vector with the non-normalized 2nd column of the transform.
h	Output vector with the 4th column of the transform (translation).
t	The PA-like transform to evaluate.

Definition at line 155 of file trans_seq.c.

References Error(), IS_PATCH_TRANS, TTrans::p, SumVectorScale(), and TTrans::t.

Referenced by EvaluatePATrans(), and EvaluateTrans().

void EvaluateTrans	(	double	v1,
		double	v2,
		THTransform *	a,
		TTrans *	t
	)

Computes the homogeneous transform corresponding to a given variable transform given values for the involved variables.

If used on a constant transform, the constant matrix is returned.

Parameters

v1	Value of the first variable of the transform.
v2	Value of the second variable of the transform. Only used in PA-like transforms.
a	The output homgeneous transform.
t	The transform to evaluate.

Definition at line 174 of file trans_seq.c.

References AccumulateVector(), AXIS_H, AXIS_X, AXIS_Y, AXIS_Z, CrossProduct(), TTrans::ct, CT_TRANS, ddPA_UU, ddPA_UV, ddPA_VV, ddRX, ddRY, ddRZ, DotProduct(), dPA_U, dPA_V, dRX, dRY, dRZ, Error(), EvaluatePATrans(), EvaluateVectorsPATrans(), HTransformApplyRot(), HTransformCopy(), HTransformFromVectors(), HTransformRx(), HTransformRx2(), HTransformRy(), HTransformRy2(), HTransformRz(), HTransformRz2(), HTransformSetElement(), HTransformTranspose(), HTransformTx(), HTransformTxyz(), HTransformTy(), HTransformTz(), Norm(), TTrans::p, PA, RX, RY, RZ, TTrans::s, ScaleVector2(), SumVectorScale(), TTrans::t, TV, TX, TY, TZ, and TTrans::vect.

Referenced by EvaluateTransSeq(), and FixVarInTransSeq().

void EvaluatePATrans	(	double	u,
		double	v,
		THTransform *	a,
		TTrans *	t
	)

Evaluates a PA transform. This can be applied to PA transforms and to their derivatives (dPA_U, dPA_V, ddPA_UU, ddPA_UV, and ddPA_VV) BUT in all cases it returns the evaluation of the original PA

Parameters

u	Value for the 1st parameter.
v	Value for the 2nd parameter.
a	The resulting transform (inverted if the transform is "negative".
t	The PA-like transform to evaluate.

See Also: EvaluateVectorsPATrans.

Definition at line 406 of file trans_seq.c.

References CrossProduct(), EvaluateVectorsPATrans(), HTransformFromVectors(), HTransformInverse(), Normalize(), and TTrans::s.

Referenced by EvaluateTrans().

void DeleteTrans ( TTrans * t )

Releases the memory used in a transform.

Parameters

t	The transform to delete.

Definition at line 421 of file trans_seq.c.

References TTrans::ct, HTransformDelete(), TTrans::p, and TTrans::vect.

Referenced by AddCtTrans2TransSeq(), AddTrans2TransSeq(), AddTransSeq2MEquation(), FixVarInTransSeq(), ResetTransSeq(), and SimplifyTransSeq().

void InitTransSeq ( TTransSeq * ts )

Initializes an empty sequence of transforms.

Parameters

ts	The transform sequence to initilize.

Definition at line 450 of file trans_seq.c.

References INIT_NUM_TERMS_TS, TTransSeq::m, TTransSeq::n, NEW, and TTransSeq::t.

Referenced by DeriveTransSeq(), GetJointTransSeq(), GetLinkTransSeq(), and InitMEquation().

void CopyTransSeq	(	TTransSeq *	ts_dst,
		TTransSeq *	ts_src
	)

Copy constructor.

Parameters

ts_dst	The sequence to initialize.
ts_src	the sequence from where to copy.

Definition at line 457 of file trans_seq.c.

References CopyTrans(), TTransSeq::m, TTransSeq::n, NEW, and TTransSeq::t.

Referenced by CopyMEquation().

void ResetTransSeq ( TTransSeq * ts )

Resets a sequence of transforms. Removes all the elements but does not release memory.

Parameters

ts	The transform sequence to reset.

Definition at line 472 of file trans_seq.c.

References DeleteTrans(), TTransSeq::n, and TTransSeq::t.

Referenced by DeleteTransSeq(), and ResetMEquation().

boolean IsEmptyTransSeq ( TTransSeq * ts )

Identifies empty transform sequences.

Parameters

ts	The transforms sequence to check.

Definition at line 484 of file trans_seq.c.

References TTransSeq::n.

boolean HasCtRotTransSeq ( TTransSeq * ts )

Determines if the transform sequence includes a rotation among its constants elements.

Transform sequences without constant rotations are typicaly used in planar manipulators. We want to detect them in order to avoid considering redundant equations.

Parameters

ts	The transforms sequence to check.

Returns: TRUE if the sequence includes at least one constnat rotation.

Definition at line 489 of file trans_seq.c.

References TTrans::ct, CT_TRANS, FALSE, HTransformIsTranslation(), TTrans::t, and TTransSeq::t.

Referenced by RecomputeScalarEquations().

unsigned int TransSeqSize ( TTransSeq * ts )

Number of elements in the transform sequence.

Parameters

ts	The transform sequence to query.

Returns: Number of elements in the transform sequence.

Definition at line 501 of file trans_seq.c.

References TTransSeq::n.

Referenced by AddTransSeq2MEquation(), and MEquationSize().

TTrans* GetElementFromTransSeq	(	unsigned int	i,
		TTransSeq *	ts
	)

Returns an element from a transform sequence.

Parameters

i	The index of the transform to retrive.
ts	The transform sequence to query.

Returns: A pointer to the trans structure. Be careful with the use of this pointer.

Definition at line 506 of file trans_seq.c.

References Error(), TTransSeq::n, and TTransSeq::t.

Referenced by AddTransSeq2MEquation().

void AddTrans2TransSeq	(	TTrans *	t,
		TTransSeq *	ts
	)

Adds a transform to a transform sequence.

t The transform to add. ts The sequence where to add the transform.

Definition at line 514 of file trans_seq.c.

References AddCtTrans2TransSeq(), CopyTrans(), TTrans::ct, CT_TRANS, DeleteTrans(), HTransformDelete(), HTransformInverse(), HTransformIsIdentity(), TTransSeq::m, MEM_DUP, TTransSeq::n, NEW, TTrans::s, TTrans::t, and TTransSeq::t.

Referenced by AddTransSeq2MEquation(), and DeriveTransSeq().

void AddCtTrans2TransSeq	(	THTransform *	t,
		TTransSeq *	ts
	)

Adds a constant transform at the end of a transform sequence.

Note that identity transforms or matrices that result in identity transforms when added at the end of the sequence are skipped.

Parameters

t	The transform to add.
ts	The transform sequence to enlarge.

Definition at line 550 of file trans_seq.c.

References TTrans::ct, CT_TRANS, DeleteTrans(), HTransformIsIdentity(), HTransformProduct(), InitCtTrans(), TTransSeq::m, MEM_DUP, TTransSeq::n, NEW, TTrans::t, and TTransSeq::t.

Referenced by AddCtTrans2MEquation(), AddTrans2TransSeq(), DeriveTransSeq(), FixVarInTransSeq(), GetJointTransSeq(), and InitMEquation().

void AddVarTrans2TransSeq	(	unsigned int	t,
		int	s,
		unsigned int	v,
		TTransSeq *	ts
	)

Adds a variable transform at the end of a transform sequence.

Parameters

t	Type of transform.
s	The sign of the variable.
v	Variable involved in the transform.
ts	The transform sequence to enlarge.

Definition at line 578 of file trans_seq.c.

References TTrans::ct, CT_TRANS, Error(), HTransformIsIdentity(), InitVarTrans(), IS_PATCH_TRANS, TTransSeq::m, MEM_DUP, TTransSeq::n, NEW, TTrans::t, TTransSeq::t, and TV.

Referenced by AddVarTrans2MEquation(), DeriveTransSeq(), GetJointTransSeq(), and GetLinkTransSeq().

void AddDispTrans2TransSeq	(	int	s,
		unsigned int	v,
		double *	vect,
		TTransSeq *	ts
	)

Adds a variable scaled displacement along a vector.

Parameters

s	The sign of the variable.
v	Variable involved in the transform.
vect	Vector defining the displacement. Used only for Tv Transforms.
ts	The transform sequence to enlarge.

Definition at line 601 of file trans_seq.c.

References TTrans::ct, CT_TRANS, HTransformIsIdentity(), InitTVTrans(), TTransSeq::m, MEM_DUP, TTransSeq::n, NEW, TTrans::t, and TTransSeq::t.

Referenced by AddDispTrans2MEquation(), and GetJointTransSeq().

void AddPatchTrans2TransSeq	(	unsigned int	t,
		int	s,
		unsigned int	u,
		unsigned int	v,
		double **	p,
		TTransSeq *	ts
	)

Adds a Parametrized-Patch transform to a transform sequence.

Parameters

t	Subtype of PA transform (PA,dPA_U,dPA_V,ddPA_UU,d2PA_UV,ddPA_VV).
s	The sign of the transform (-1 means to invert the transform).
u	First variable (parameter) involved in the transform.
v	Second variable (parameter) involved in the transform.
p	The four points defining the patch.
ts	The transform sequence to enlarge.

Definition at line 615 of file trans_seq.c.

References TTrans::ct, CT_TRANS, HTransformIsIdentity(), InitPatchTrans(), TTransSeq::m, MEM_DUP, TTransSeq::n, NEW, TTrans::t, and TTransSeq::t.

Referenced by AddPatchTrans2MEquation(), DeriveTransSeq(), and GetJointTransSeq().

boolean VarIncludedinTransSeq	(	unsigned int	v,
		TTransSeq *	ts
	)

Determines if the sequence includes a given variable. Used in the derivation of transform sequence.

Parameters

v	The variable identifier.
ts	The transform sequence to check.

Definition at line 630 of file trans_seq.c.

References FALSE, TTransSeq::t, and TransHasVar().

Referenced by VarIncludedinMEquation().

void UpdateUsedDOF	(	unsigned int *	dof,
		TTransSeq *	ts
	)

Determines the dof used in a transform sequence. This is done by adding the transforms used in each degree of freedom into a given array.

Parameters

dof	6-dim array where we add the types of dof used in the transform sequence.
ts	The transform sequence to analyze.

Definition at line 645 of file trans_seq.c.

References CT_TRANS, ddPA_UU, ddPA_UV, ddPA_VV, ddRX, ddRY, ddRZ, dPA_U, dPA_V, dRX, dRY, dRZ, Error(), TTransSeq::n, PA, RX, RY, RZ, TTrans::t, TTransSeq::t, TV, TX, TY, and TZ.

Referenced by HasRotations(), and RecomputeScalarEquations().

void ShiftVariablesInTransSeq	(	unsigned int	nv,
		TTransSeq *	ts
	)

After removing a variable not used in the system we have to shift down the indices of the variables with larger index than the removed one.

This triggers an error if the variable is actually in use in the transform sequence.

Parameters

nv	The removed variable.
ts	The transform sequence to update.

Definition at line 705 of file trans_seq.c.

References Error(), TTransSeq::n, NO_UINT, TTransSeq::t, TransHasVar(), TTrans::u, and TTrans::v.

Referenced by FixVarInTransSeq(), ReplaceVarInTransSeq(), and ShiftVariablesInMEquation().

boolean FixVarInTransSeq	(	unsigned int	nv,
		double	v,
		THTransform *	ctt,
		TTransSeq *	ts
	)

Replaces a variable by a constant value. Used when simplifying problems.

Parameters

nv	The identifier of the variable to replace.
v	The value to use.
ctt	The transform when the transformation sequence becomes constant (output 1 or 2).
ts	The transform sequence to modify.

Returns: TRUE if the transform became constant.

Definition at line 723 of file trans_seq.c.

References AddCtTrans2TransSeq(), TTrans::ct, CT_TRANS, ddPA_UU, ddPA_UV, ddPA_VV, DeleteTrans(), dPA_U, dPA_V, EvaluateTrans(), FALSE, HTransformCopy(), HTransformDelete(), HTransformIdentity(), HTransformIsIdentity(), TTransSeq::m, TTransSeq::n, NEW, NO_UINT, PA, ShiftVariablesInTransSeq(), TTrans::t, TTransSeq::t, TRUE, TTrans::u, TTrans::v, and TTrans::val.

Referenced by FixVarInMEquation().

void ReplaceVarInTransSeq	(	unsigned int	nv,
		unsigned int	nvNew,
		TTransSeq *	ts
	)

Replaces a variable by another variable. Used when simplifying problems.

Parameters

nv	The identifier of the variable to replace.
nvNew	The identifier of the new variable.
ts	The transform sequence to modify.

Definition at line 831 of file trans_seq.c.

References TTransSeq::n, ShiftVariablesInTransSeq(), TTransSeq::t, TTrans::u, and TTrans::v.

Referenced by ReplaceVarInMEquation().

void SimplifyTransSeq ( TTransSeq * ts )

Accumulates the constant transform at the end of the sequence with the first one (if this is also constant). This produces no change in the expression if the transform sequence is equal to the identity. otherwise the change is dramatic and the simplification is not valid.

This is only used from SimplifyMEquation. Do not use in another context.

Parameters

ts	The transform sequence to simplify.

Definition at line 846 of file trans_seq.c.

References TTrans::ct, CT_TRANS, DeleteTrans(), HTransformIsIdentity(), HTransformProduct(), TTransSeq::n, TTrans::t, and TTransSeq::t.

Referenced by SimplifyMEquation().

void DeriveTransSeq	(	unsigned int	v,
		unsigned int *	n,
		TTransSeq ***	tsd,
		TTransSeq *	ts
	)

Derive a sequence of transforms with respect to a given variable

If a given sequence includes the same variable more than once, the output can be a set of transform sequences.

Parameters

v	The derivation variable
n	Number of transform sequences returned
tsd	The derived sequences (initialized internally. not initialized if the variable is not used in the given sequence).
ts	the sequence to derive.

Definition at line 868 of file trans_seq.c.

References AddCtTrans2TransSeq(), AddPatchTrans2TransSeq(), AddTrans2TransSeq(), AddVarTrans2TransSeq(), AXIS_H, AXIS_X, AXIS_Y, AXIS_Z, ddPA_UU, ddPA_UV, ddPA_VV, ddRX, ddRY, ddRZ, dPA_U, dPA_V, dRX, dRY, dRZ, Error(), HTransformDelete(), HTransformSetElement(), HTransformZero(), InitTransSeq(), TTransSeq::n, NEW, TTrans::p, PA, RX, RY, RZ, TTrans::s, TTrans::t, TTransSeq::t, TransHasVar(), TV, TX, TY, TZ, TTrans::u, TTrans::v, and TTrans::vect.

Referenced by DeriveMEquation().

void EvaluateTransSeq	(	double *	v,
		THTransform *	r,
		TTransSeq *	ts
	)

Evaluates the transform sequence given some values for the variables.

Parameters

v	The variable values.
r	The resulting transform.
ts	The transform sequence to evaluate.

Definition at line 997 of file trans_seq.c.

References TTrans::ct, CT_TRANS, ddPA_UU, ddPA_UV, ddPA_VV, ddRX, ddRY, ddRZ, dPA_U, dPA_V, dRX, dRY, dRZ, Error(), EvaluateTrans(), HTransformAcumRot(), HTransformAcumTrans(), HTransformDelete(), HTransformIdentity(), HTransformProduct(), TTransSeq::n, NO_UINT, PA, RX, RY, RZ, TTrans::s, TTrans::t, TTransSeq::t, TV, TX, TY, TZ, TTrans::u, TTrans::v, TTrans::val, and TTrans::vect.

Referenced by EvaluateMEquation(), and EvaluateMEquationXVectors().

void PrintTransSeq	(	FILE *	f,
		char **	varNames,
		TTransSeq *	ts
	)

Prints a transform sequence to a file.

Parameters

f	The file.
varNames	The variable names, if available (otherwise set thie to NULL).
ts	The transform sequence to print.

Definition at line 1074 of file trans_seq.c.

References AccumulateVector(), TTrans::ct, CT_TRANS, ddPA_UU, ddPA_UV, ddPA_VV, ddRX, ddRY, ddRZ, DIM_SP, dPA_U, dPA_V, dRX, dRY, dRZ, Error(), HTransformGetElement(), HTransformIsIdentity(), TTransSeq::n, NO_UINT, TTrans::p, PA, PRINT_VARIABLE_NAME, PrintReal(), RX, RY, RZ, TTrans::s, SumVector(), TTrans::t, TTransSeq::t, TV, TX, TY, TZ, TTrans::u, TTrans::v, TTrans::val, and TTrans::vect.

Referenced by PrintMEquation().

void DeleteTransSeq ( TTransSeq * ts )

Deleltes a transform sequence.

Parameters

ts	The transform sequence to delete.

Definition at line 1288 of file trans_seq.c.

References ResetTransSeq(), and TTransSeq::t.

Referenced by DeleteMEquation(), FixVarInMEquation(), and GenerateMEquationFromBranch().

Institut de Robòtica i Informàtica Industrial

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Institut de Robòtica
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