variable.h File Reference Detailed DescriptionDefinition of the Tvariable type and the associated functions.
Definition in file variable.h.
Macro Definition Documentation
One of the possible type of variables. System variables are those defining the motion of the mechanism at hand.
Definition at line 24 of file variable.h. Referenced by AddJacobianEquationsInt(), AddVariable(), AdjustBioWorldGeometry(), CSRemoveUnusedVars(), GenerateEquationsFromBranch(), GenerateJointEquations(), GenerateJointRangeEquations(), GenerateJointRangeSingularityEquations(), GenerateLinkConf(), GenerateLinkRotAxisX(), GenerateLinkRotFLinks(), GenerateLinkRotLinks(), GenerateLinkRotQLinks(), GetSCpSystem(), IsSystemVariable(), MaxWorldReduction(), PrintVariables(), RemoveVariable(), and SampleCuikSystemInBox().
One of the possible type of variables. Secondary vars are system variables that are not necessary to completely determine the configuration of the mechanisms. For instance, the variables for sph-sph joints (i.e, the director vector for the cylinder defined in the joint) can be determined from the pose of the connected links. The variables associated with ranges (vectors, cosinus,...) are also secondary variables. In practice, secondary vars are not used for bisection and are not taken into account when computing the size/volume for a given box.
Definition at line 44 of file variable.h. Referenced by AddVariable(), GenerateJointEquations(), GenerateJointRangeEquations(), IsSecondaryVariable(), PrintVariables(), and RemoveVariable().
One of the possible type of variables. Dummy variables are variables that appear in the linearization process.
Definition at line 53 of file variable.h. Referenced by AddVariable(), AdjustBioWorldGeometry(), CSRemoveUnusedVars(), DummifyAndAddEquation(), GenerateJointEquations(), GenerateLinkRotLinks(), GenerateLinkRotQLinks(), IncrementalSampleCuikSystemInBox(), IsDummyVariable(), MaxReduction(), MPI_TreatBox(), PrintVariables(), RegenerateSolution(), RemoveVariable(), SampleCuikSystemInBox(), and SolveCuikSystem().
One of the possible type of variables. Cartesian variables are those given coordinates for points in the mechanism structure.
Definition at line 62 of file variable.h. Referenced by AddVariable(), GenerateWorldSingularityEquations(), IsCartesianVariable(), PrintVariables(), RegenerateSolution(), and RemoveVariable().
Auxiliary definition to jointly refer to variables of any type. Definition at line 68 of file variable.h. Referenced by AddEquation2Simplex(), CSRemoveLCVars(), and ReduceBoxEquationWise().
Used for equations with non-assigned role yet. Definition at line 74 of file variable.h. Function Documentation
Creates a new variable.
Definition at line 20 of file variable.c. References INF, Tvariable::is, Tvariable::name, NEW, NewInterval(), Tvariable::topology, TOPOLOGY_R, and Tvariable::type. Referenced by AddJacobianEquationsInt(), AdjustBioWorldGeometry(), DummifyAndAddEquation(), GenerateEquationsFromBranch(), GenerateJointEquations(), GenerateJointRangeEquations(), GenerateJointRangeSingularityEquations(), GenerateLinkConf(), GenerateLinkRotAxisX(), GenerateLinkRotFLinks(), GenerateLinkRotLinks(), GenerateLinkRotQLinks(), GenerateWorldSingularityEquations(), and GetSCpSystem(). Creates a new variable from another one.
Definition at line 31 of file variable.c. References CopyInterval(), Tvariable::is, Tvariable::name, NEW, Tvariable::topology, and Tvariable::type. Referenced by AddVariable(), CopyVariables(), and GetCSVariable().
Changes the topology of the variable. The default value for the topology is TOPOLOGY_R.
Definition at line 42 of file variable.c. References Error(), Tvariable::topology, TOPOLOGY_R, and TOPOLOGY_S. Referenced by GenerateJointEquations().
Returns the topology of the variable. Note that even if a variable has TOPOLOGY_S, it is set to TOPOLOGY_R if its associated range is smaller than 2*pi. Only variables with ranges larger than 2*pi have to routes to connect any two given points.
Definition at line 50 of file variable.c. References IntervalSize(), Tvariable::is, M_2PI, Tvariable::topology, TOPOLOGY_R, TOPOLOGY_S, and ZERO. Referenced by GetCSVarTopology(), and GetVariablesTopology().
Gets the variable type.
Definition at line 58 of file variable.c. References Tvariable::type. Referenced by AddVariable(), GetVariableTypeN(), IsCartesianVariable(), IsDummyVariable(), IsSecondaryVariable(), IsSystemVariable(), PrintVariables(), and RemoveVariable().
Gets the variable name.
Definition at line 63 of file variable.c. References Tvariable::name. Referenced by AddVariable(), AddVariable2CS(), CSRemoveLCVars(), CSRemoveVarsWithCtRange(), DummifyAndAddEquation(), GetVariableID(), GetVariableNames(), InitMapping(), IsInSimple(), SimplifyCuikSystem(), and VariableName(). Sets the new range for the variable.
Definition at line 68 of file variable.c. References CopyInterval(), and Tvariable::is. Referenced by AddJacobianEquationsInt(), AdjustBioWorldGeometry(), DummifyAndAddEquation(), GenerateEquationsFromBranch(), GenerateJointEquations(), GenerateJointRangeEquations(), GenerateJointRangeSingularityEquations(), GenerateLinkConf(), GenerateLinkRotAxisX(), GenerateLinkRotFLinks(), GenerateLinkRotLinks(), GenerateLinkRotQLinks(), GenerateWorldSingularityEquations(), GetSCpSystem(), SampleCuikSystemInBox(), SetCSVariableRange(), SimplifyCuikSystem(), and VariablesFromBox(). Gets the range of valid values for the variable.
Definition at line 73 of file variable.c. References Tvariable::is. Referenced by BoxFromVariables(), CSRemoveLCVars(), DummifyAndAddEquation(), and PointFromVariables().
Prints a variable (name plus valid range) to a stream that can be stdout.
Definition at line 78 of file variable.c. References Tvariable::is, Tvariable::name, PRINT_VARIABLE_NAME, PrintInterval(), PrintSymbolInterval(), Tvariable::topology, and TOPOLOGY_S. Referenced by PrintVariables().
Deletes the Tvariable structure and frees the allocated memory.
Definition at line 93 of file variable.c. References Tvariable::name. Referenced by AddJacobianEquationsInt(), AdjustBioWorldGeometry(), DeleteVariables(), DummifyAndAddEquation(), GenerateEquationsFromBranch(), GenerateJointEquations(), GenerateJointRangeEquations(), GenerateJointRangeSingularityEquations(), GenerateLinkConf(), GenerateLinkRotAxisX(), GenerateLinkRotFLinks(), GenerateLinkRotLinks(), GenerateLinkRotQLinks(), GenerateWorldSingularityEquations(), GetSCpSystem(), and RemoveVariable(). |
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