varnames.h

Go to the documentation of this file.

#ifndef VARNAMESH
#define VARNAMESH

#include <stdio.h>

#define IN_PATCH_DOF_VAR(vname,id,ln1,ln2,i) sprintf(vname,"_n_%s_%s_%s_%u",ln1,ln2,(i==0?"x":"y"),id)

#define DOF_VAR(vname,id,ln1,ln2,i) sprintf(vname,"_d_%s_%s_%u_%u",ln1,ln2,i,id)

#define LINK_ROT(vname,linkName,vn,cn) sprintf(vname,"_%s_%s_%s",linkName,(vn==0?"u":(vn==1?"v":"w")),(cn==0?"x":(cn==1?"y":"z")))

#define LINK_ROT2(vname,linkName,vn,cn) (vn<3?LINK_ROT(vname,linkName,vn,cn):sprintf(vname,"_%s_wp_%s",linkName,(cn==0?"x":(cn==1?"y":"z"))))

#define LINK_LENGTH(vname,linkName) sprintf(vname,"_l_%s",linkName)
  
#define LINK_REST(vname,linkName) sprintf(vname,"_r_%s",linkName)

#define LINK_MAX_FORCE(vname,linkName) sprintf(vname,"_f_%s",linkName)

#define LINK_ROT3_E(vname,linkName,rn,cn) (rn==cn?sprintf(vname,"_%s_qq_%u",linkName,rn):sprintf(vname,"_%s_qq_%u_%u",linkName,rn,cn)) 

#define LINK_ROT3_Q(vname,linkName,j) sprintf(vname,"_%s_q_%u",linkName,j)

#define LINK_TRANS(vname,linkName,cn) sprintf(vname,"_%s_r_%s",linkName,(cn==0?"x":(cn==1?"y":"z")))

#define FREE_JOINT_VAR(vname,id,id1,ln1,id2,ln2,k) (id1==0?LINK_TRANS(vname,ln2,k):(id2==0?LINK_TRANS(vname,ln1,k):sprintf(vname,"_%s_%s_%s_%u",ln1,ln2,(k==0?"x":(k==1?"y":"z")),id)))

#define PRS_JOINT_VAR(vname,id,ln1,ln2) sprintf(vname,"_d_%s_%s_%u",ln1,ln2,id)

#define PRS_JOINT_VAR_SING_SIN(vname,id,ln1,ln2) sprintf(vname,"_d_sing_sin_%s_%s_%u",ln1,ln2,id)

#define PRS_JOINT_VAR_SING_COS(vname,id,ln1,ln2) sprintf(vname,"_d_sing_cos_%s_%s_%u",ln1,ln2,id)

#define UNV_JOINT_VAR(vname,id,ln1,ln2,i,k) sprintf(vname,"_uni_%s_%s_%s_%s_%u",(i==0?"u":"v"),ln1,ln2,(k==0?"x":(k==1?"y":"z")),id)

#define IN_PATCH_JOINT_CTRL_VAR(vname,id,ln1,ln2,i) sprintf(vname,"_in_patch_%s_%s_%s_%u",ln1,ln2,(i==0?"u":(i==1?"v":"w")),id)

#define IN_PATCH_JOINT_CTRL_VAR_SING_SIN(vname,id,ln1,ln2,i) sprintf(vname,"_in_patch_sing_sin_%s_%s_%s_%u",ln1,ln2,(i==0?"u":(i==1?"v":"w")),id)

#define IN_PATCH_JOINT_CTRL_VAR_SING_COS(vname,id,ln1,ln2,i) sprintf(vname,"_in_patch_sing_cos_%s_%s_%s_%u",ln1,ln2,(i==0?"u":(i==1?"v":"w")),id)


#define IN_PATCH_JOINT_SCALE_VAR(vname,id,ln1,ln2) sprintf(vname,"_in_patch_%s_%s_l_%u",ln1,ln2,id)

#define ROT_JOINT_VAR_REF(vname,id,k,ln1,ln2,i) sprintf(vname,"_%s_%s_%s_%s_%u",(k==0?"w1":"w2"),ln1,ln2,(i==0?"x":(i==1?"y":"z")),id)


#define UNV_JOINT_VAR_REF(vname,id,k,ln1,ln2,i) sprintf(vname,"_%s_%s_%s_%s_%u",(k==0?"w1":"w2"),ln1,ln2,(i==0?"x":(i==1?"y":"z")),id)

#define COS_VAR(vname,id,ln1,ln2) sprintf(vname,"_cos_%s_%s_%u",ln1,ln2,id)

#define COS_VAR_SING(vname,id,ln1,ln2) sprintf(vname,"_cos_sing_%s_%s_%u",ln1,ln2,id)

#define COS_VAR_UNI(vname,id,ln1,ln2,k) sprintf(vname,"_cos_%u_%s_%s_%u",k,ln1,ln2,id)

#define COS_VAR_UNI_SING(vname,id,ln1,ln2,k) sprintf(vname,"_cos_sing_%u_%s_%s_%u",k,ln1,ln2,id)

#define SPH_JOINT_VAR_REF(vname,id,v,ln1,ln2,k) sprintf(vname,"_sph_%s_%s_%s_%s_%u",(v==0?"w1":"w2"),ln1,ln2,(k==0?"x":(k==1?"y":"z")),id)

#endif