Detailed Description

Implementation of the functions operating on Tvector.

See Also: Tvector,vector.h,

Definition in file vector.c.

Functions
boolean	CmpID (void a, void b)
	Comparison operator for identifiers. More...

void	CopyID (void a, void b)
	Copy constructor for identifiers. More...

void	DeleteID (void *a)
	Destructor for identifiers. More...

boolean	CmpDouble (void a, void b)
	Comparison operator for doubles. More...

void	CopyDouble (void a, void b)
	Copy constructor for doubles. More...

void	DeleteDouble (void *a)
	Destructor for doubles. More...

void	NewDoublePair (double f, double s, TDoublePair *p)
	Constructor. More...

double	FirstInPair (TDoublePair *p)
	The first element of a pair. More...

double	SecondInPair (TDoublePair *p)
	The second element of a pair. More...

boolean	CmpDoublePair (void a, void b)
	Comparison operator for paris of doubles. More...

void	CopyDoublePair (void a, void b)
	Copy constructor for pairs of doubles. More...

void	DeleteDoublePair (void *a)
	Destructor for pairs of doubles. More...

boolean	CmpVoidPtr (void a, void b)
	Comparison operator for void pointers. More...

void	CopyVoidPtr (void a, void b)
	Copy constructor for void pointers. More...

void	DeleteVoidPtr (void *a)
	Destructor for void pointers. More...

void	InitVector (unsigned int ele_size, void(Copy)(void , void ), void(Delete)(void ), unsigned int max_ele, Tvector vector)
	Constructor. More...

void	ResetVector (Tvector *vector)
	Resets a vector. More...

void	CopyVector (Tvector v_dst, Tvector v_src)
	Copy constructor. More...

unsigned int	VectorFirstFreePos (Tvector *vector)
	Finds a free position in the vector. More...

unsigned int	VectorSize (Tvector *vector)
	Gets the number of elements in a vector. More...

unsigned int	VectorMaxSize (Tvector *vector)
	Gets the maximum number of elements in a vector. More...

boolean	VectorEmpty (Tvector *vector)
	Checks if a vector is empty. More...

boolean	ElementInVector (void e, boolean(cmp)(void , void ), Tvector *vector)
	Search for an element in a vector. More...

unsigned int	FindPos (void e, boolean(cmp)(void , void ), Tvector *vector)
	Search for an element in a vector. More...

unsigned int	NewVectorElement (void e, Tvector vector)
	Adds an element to the vector. More...

unsigned int	NewFreeVectorElement (void e, Tvector vector)
	Adds an element to the vector. More...

void	SetVectorElement (unsigned int i, void e, Tvector vector)
	Adds an element to the vector in a given position. More...

void *	GetVectorElement (unsigned int i, Tvector *vector)
	Returns a pointer to a vector element. More...

void *	GetLastElement (Tvector *vector)
	Returns a pointer to the last element of a vector. More...

void	RemoveVectorElement (unsigned int i, Tvector *vector)
	Removes an element from the vector. More...

void	SwapVectorElements (unsigned int i, unsigned int j, Tvector *vector)
	Swaps two elements in a vector. More...

void	ReverseVector (Tvector *vector)
	Reverses a vector. More...

void	ConcatVectors (Tvector vector1, Tvector vector)
	Concatenates two vectors. More...

void	ExtractVectorElement (unsigned int i, void e, Tvector vector)
	Extracts an element from a vector. More...

void	MoveVectorElement (unsigned int i, unsigned int ni, Tvector *vector)
	Moves a vector element from one position to another. More...

void	DeleteVector (void *vector)
	Destructor. More...

Function Documentation

boolean CmpID	(	void *	a,
		void *	b
	)

inline

Comparison operator for identifiers. To be used when defining a vector of identifiers (i.e., unsigned int).

Parameters

a	Pointer to the first identifier to compare.
b	Pointer to the second identifier to compare.

Returns: TRUE if the two inputs are the same.

Definition at line 19 of file vector.c.

Referenced by New_NewTemptativeSample().

void CopyID	(	void *	a,
		void *	b
	)

inline

Copy constructor for identifiers. To be used when defining a vector of identifiers (i.e., unsigned int). This is a direct assignation.

Parameters

a	Pointer to the identifier to initialize.
b	Pointer to the identifier from where to copy.

Definition at line 24 of file vector.c.

Referenced by DetectLinksAndJoints(), DetectLinksAndJointsFromResidues(), DetectLinksAndJointsFromRigidsAndHinges(), InitBranchStatus(), and InitHeap().

void DeleteID ( void * a )

inline

Destructor for identifiers. To be used when defining a vector of identifiers (i.e., unsigned int). This basically frees the space taken by the identifier.

Parameters

a	Pointer to the identifier to delete.

Definition at line 29 of file vector.c.

Referenced by DetectLinksAndJoints(), DetectLinksAndJointsFromResidues(), DetectLinksAndJointsFromRigidsAndHinges(), and InitHeap().

boolean CmpDouble	(	void *	a,
		void *	b
	)

inline

Comparison operator for doubles. To be used when defining a vector of doubles.

Parameters

a	Pointer to the first double to compare.
b	Pointer to the second double to compare.

Returns: TRUE if the two inputs are the same.

Definition at line 34 of file vector.c.

void CopyDouble	(	void *	a,
		void *	b
	)

inline

Copy constructor for doubles. To be used when defining a vector of doubles. This is a direct assignation.

Parameters

a	Pointer to the double to initialize.
b	Pointer to the double from where to copy.

Definition at line 39 of file vector.c.

Referenced by InitSample(), and LoadSample().

void DeleteDouble ( void * a )

inline

Destructor for doubles. To be used when defining a vector of doubles. This basically frees the space taken by the double.

Parameters

a	Pointer to the double to delete.

Definition at line 44 of file vector.c.

Referenced by InitSample(), and LoadSample().

void NewDoublePair	(	double	f,
		double	s,
		TDoublePair *	p
	)

inline

Defines a double pair form two doubles.

Parameters

f	The first double.
s	The second double.
p	The resulting pair structure.

Definition at line 49 of file vector.c.

References TDoublePair::f, and TDoublePair::s.

Referenced by RecursiveReWireRRTstar(), WireAtlasRRTstar(), and WireRRTstar().

double FirstInPair ( TDoublePair * p )

inline

Returns the first element of a pair of doubles.

Parameters

p The pair.

Returns: The first element of 'p'.

Definition at line 55 of file vector.c.

References TDoublePair::f.

Referenced by RecursiveReWireRRTstar().

double SecondInPair ( TDoublePair * p )

inline

Returns the second element of a pair of doubles.

Parameters

p The pair.

Returns: The second element of 'p'.

Definition at line 60 of file vector.c.

References TDoublePair::s.

boolean CmpDoublePair	(	void *	a,
		void *	b
	)

inline

Comparison operator for pairs of doubles. To be used when defining a vector of pairs of doubles.

Parameters

a	Pointer to the first pair of doubles to compare.
b	Pointer to the second pair of doubles to compare.

Returns: TRUE if the two inputs are the same.

Definition at line 65 of file vector.c.

void CopyDoublePair	(	void *	a,
		void *	b
	)

inline

Copy constructor for pairs of doubles. To be used when defining a vector of pairs of doubles. This is a direct assignation.

Parameters

a	Pointer to the pair of doubles to initialize.
b	Pointer to the pair of doubles from where to copy.

Definition at line 71 of file vector.c.

Referenced by AtlasBiRRTstar(), AtlasRRTstar(), BiRRTstar(), and RRTstar().

void DeleteDoublePair ( void * a )

inline

Destructor for pairs of doubles. To be used when defining a vector of doubles. This basically frees the space taken by the pair of double.

Parameters

a	Pointer to the double to delete.

Definition at line 77 of file vector.c.

Referenced by BiRRTstar(), and RRTstar().

boolean CmpVoidPtr	(	void *	a,
		void *	b
	)

inline

Comparison operator for doubles. To be used when defining a vector of pointers.

Parameters

a	Pointer to the first pointer to compare.
b	Pointer to the second pointer to compare.

Returns: TRUE if the two inputs are the same.

Definition at line 82 of file vector.c.

void CopyVoidPtr	(	void *	a,
		void *	b
	)

inline

Copy constructor for doubles. To be used when defining a vector of pointers. This is a direct assignation.

Parameters

a	Pointer to the pointer to initialize.
b	Pointer to the pointer from where to copy.

Definition at line 87 of file vector.c.

Referenced by CopyLink(), CreateBranch(), GenerateKinTree(), InitEnvironment(), InitLink(), and InitMechanism().

void DeleteVoidPtr ( void * a )

inline

Destructor for void pointers. To be used when defining a vector of pointers. This basically frees the space taken by the pointer.

Parameters

a	Pointer to the pointer to delete.

Definition at line 92 of file vector.c.

Referenced by CopyLink(), CreateBranch(), GenerateKinTree(), InitEnvironment(), InitLink(), and InitMechanism().

void InitVector	(	unsigned int	ele_size,
		void()(void , void *)	Copy,
		void()(void )	Delete,
		unsigned int	max_ele,
		Tvector *	vector
	)

Initializes an empty vector Examples of use:

InitVector(sizeof(unsigned int),CopyID,DeleteID,MaxNumEle,&vector);
InitVector(sizeof(double),CopyDouble,DeleteDouble,MaxNumEle,&vector);
InitVector(sizeof(void *),CopyPtr,DeletePtr,MaxNumEle,&vector);

Alternatively you can also use

InitVector(sizeof(unsigned int),CopyID,NULL,MaxNumEle,&vector);
InitVector(sizeof(double),CopyDouble,NULL,MaxNumEle,&vector);
InitVector(sizeof(void *),CopyPtr,NULL,MaxNumEle,&vector);

since the delete functions are actually empty.

Parameters

ele_size	Number of bytes taken by each element in the list.
Copy	Copy constructor for the elements in the list.
Delete	Destructor for the elements in the list.
max_ele	Initial number of elements in the vector. This can be extended on-line but the execution it is more efficient if we have a good guess for this value.
vector	The vector to initialize.

Definition at line 100 of file vector.c.

References Tvector::Copy, Tvector::Delete, Tvector::ele_size, Tvector::elements, Error(), Tvector::max_ele, NEW, and Tvector::num_ele.

Referenced by AtlasBiRRTstar(), BiRRTstar(), CopyLink(), CreateBranch(), DetectLinksAndJoints(), DetectLinksAndJointsFromResidues(), DetectLinksAndJointsFromRigidsAndHinges(), GenerateKinTree(), InitBranchStatus(), InitEnvironment(), InitHeap(), InitLink(), InitMechanism(), InitSample(), LoadSample(), and RRTPathSteps().

void ResetVector ( Tvector * vector )

Removes all the elements from a vector but it does not frees the allocated memory nor resets the maximum number of elements. If you plan to re-use a vector it is more efficient to reset it instead of deleting it and re-initializing it again.

Parameters

vector The vector to reset.

Definition at line 120 of file vector.c.

References Tvector::Delete, Tvector::elements, and Tvector::num_ele.

Referenced by ChangeBiRRTSteps(), DeleteVector(), and ResetHeap().

void CopyVector	(	Tvector *	v_dst,
		Tvector *	v_src
	)

Initializes a vector from another vector.

Parameters

v_dst	The vector to initialize.
v_src	The vector from where to copy.

Definition at line 138 of file vector.c.

References Tvector::Copy, Tvector::Delete, Tvector::ele_size, Tvector::elements, Tvector::max_ele, NEW, and Tvector::num_ele.

Referenced by CopyHeap(), and CopySample().

unsigned int VectorFirstFreePos ( Tvector * vector )

Returns the first (i.e., with lower identifier) free position in a vector.

Parameters

vector The vector to query.

Returns: The index of the free position.

Definition at line 162 of file vector.c.

References Tvector::elements.

Referenced by NewFreeVectorElement().

unsigned int VectorSize ( Tvector * vector )

Returns the number of elements in a vector. Note that the vector can have "holes", i.e., empty slots in position explicitly deleted using RemoveVectorElement.

Parameters

vector The vector to query.

Returns: The number of elements in the vector.

See Also: RemoveVectorElement

Definition at line 173 of file vector.c.

References Tvector::num_ele.

Referenced by ChangeBiRRTSteps(), CheckHeap(), GetEnvironmentNObstacles(), GetMechanismLinkID(), GetMechanismNJoints(), GetMechanismNLinks(), GetObstacleID(), GetSampleDim(), InitWorldKinCS(), LinkNBodies(), nStepsBranch(), PrintSample(), SaveSample(), Steps2PathinAtlasRRT(), Steps2PathinRRT(), and UpdateBiRRTSteps().

unsigned int VectorMaxSize ( Tvector * vector )

Returns the maximum number of elements in a vector. Note that the vector can have "holes", i.e., empty slots in position explicitly deleted using RemoveVectorElement.

Parameters

vector The vector to query.

Returns: The maximum number of elements in the vector.

Definition at line 178 of file vector.c.

References Tvector::max_ele.

boolean VectorEmpty ( Tvector * vector )

Checks if a vector is empty

Parameters

vector The vector to query.

Returns: TRUE if there are no elements in the vector.

Definition at line 183 of file vector.c.

References Tvector::num_ele.

boolean ElementInVector	(	void *	e,
		boolean()(void , void *)	cmp,
		Tvector *	vector
	)

Looks for an element in a vector.

Parameters

e	The element we are looking for.
cmp	The comparison operator to use to determine if two elements are the same. Note that for structured types the comparison can be based on a particular field and that only those field need to be initialized in parameter e.
vector	The vector to query.

Returns: TRUE if the vector includes the requested element.

Definition at line 188 of file vector.c.

References FindPos().

Referenced by New_NewTemptativeSample().

unsigned int FindPos	(	void *	e,
		boolean()(void , void *)	cmp,
		Tvector *	vector
	)

Looks for an element in a vector.

Parameters

e	The element we are looking for.
cmp	The comparison operator to use to determine if two elements are the same. Note that for structured types the comparison can be based on a particular field and that only those field need to be initialized in parameter e.
vector	The vector to query.

Returns: The position in the vector holding the requested element or NO_UINT if the vector does not include the element.

Definition at line 193 of file vector.c.

References Tvector::elements, FALSE, and TRUE.

Referenced by ElementInVector().

unsigned int NewVectorElement	(	void *	e,
		Tvector *	vector
	)

Adds an element at the end of the list.

Parameters

e	The element add to the vector.
vector	The vector to update.

Returns: The position in the vector where the element has been stored.

Definition at line 216 of file vector.c.

References Tvector::num_ele, and SetVectorElement().

Referenced by AddBody2Link(), AddShape2Environment(), AddStepToBranch(), ChangeBiRRTSteps(), ConcatVectors(), DetectLinksAndJoints(), DetectLinksAndJointsFromResidues(), DetectLinksAndJointsFromRigidsAndHinges(), GenerateKinTree(), InitBranchStatus(), New_AddBranchToAtlasRRT(), New_NewTemptativeSample(), and RRTPathSteps().

unsigned int NewFreeVectorElement	(	void *	e,
		Tvector *	vector
	)

Looks for a free vector position and stores the given element.

Parameters

e	The element add to the vector.
vector	The vector to update.

Returns: The position in the vector where the element has been stored.

Definition at line 227 of file vector.c.

References SetVectorElement(), and VectorFirstFreePos().

void SetVectorElement	(	unsigned int	i,
		void *	e,
		Tvector *	vector
	)

Adds an element to the vector in a given position. If the vector position was already occupied, the stored element is deleted before copying the new element.

Parameters

i	The vector position where to store the element.
e	The element add to the vector.
vector	The vector to update.

Definition at line 238 of file vector.c.

References Tvector::Copy, Tvector::Delete, Tvector::ele_size, Tvector::elements, Tvector::max_ele, MEM_EXPAND, NEW, and Tvector::num_ele.

Referenced by AddElement2Heap(), AddJoint2Mechanism(), AddLink2Mechanism(), AddShape2Environment(), InitSample(), LoadSample(), NewFreeVectorElement(), NewVectorElement(), and UpdateHeapElement().

void* GetVectorElement	(	unsigned int	i,
		Tvector *	vector
	)

Returns a pointer to a given vector element.

Parameters

i	The vector position to retrive.
vector	The vector to query.

Returns: A pointer to the requested vector element or NULL if the vector position i is free.

Definition at line 270 of file vector.c.

References Tvector::elements.

Referenced by Atoms2Transforms(), BioWordGetAtomPositionsFromConformation(), ChangeBiRRTSteps(), CheckHeap(), DeleteBranch(), DetectLinksAndJointsFromRigidsAndHinges(), DistanceToSubBoxCenter(), ExtractMinElement(), GetBranchStep(), GetHeapElement(), GetHeapPosition(), GetLinkBody(), GetLinkBodyStatus(), GetMechanismJoint(), GetMechanismLink(), GetMechanismLinkID(), GetObstacleColor(), GetObstacleID(), GetObstacleName(), GetObstacleShape(), GetObstacleShapeStatus(), GetSampleValue(), GetTransformFromBranch(), HeapDown(), HeapUp(), InitWorldFromMolecule(), InitWorldKinCS(), PointInSubBox(), PointInSystemBox(), PrintSample(), Steps2PathinAtlasRRT(), Steps2PathinRRT(), UpdateBiRRTSteps(), and UpdateHeapElement().

void* GetLastElement ( Tvector * vector )

Returns a pointer to a the last element of a vector.

Parameters

vector The vector to query.

Returns: A pointer to the last element of the vector.

Definition at line 278 of file vector.c.

References Tvector::elements, and Tvector::num_ele.

void RemoveVectorElement	(	unsigned int	i,
		Tvector *	vector
	)

Removes an element from the vector. Note that elements in the vector are not compacted after the deletion. In this way indexes in other data structured refered to this vector still hold after the deletion. The drawnback is that we can end up with a vector with "holes" and we have to be carefull when retriving elements from the vector.

Parameters

i	The vector position to delete.
vector	The vector to query.

Definition at line 286 of file vector.c.

References Tvector::Delete, Tvector::elements, and Tvector::num_ele.

Referenced by ExtractMinElement(), ExtractVectorElement(), and MoveVectorElement().

void SwapVectorElements	(	unsigned int	i,
		unsigned int	j,
		Tvector *	vector
	)

Swaps two elements in a vector. This operation is provided since it is more efficient than extracting the two elements and then inserting them again in the vector in their new positions.

If one of the two elements to swap is empty, this function triggers an error.

Parameters

i	Index of the first element to swap.
j	Index of the second element to swap.
vector	The vector to update.

Definition at line 299 of file vector.c.

References Tvector::elements, and Error().

Referenced by ExtractMinElement(), HeapDown(), and HeapUp().

void ReverseVector ( Tvector * vector )

Reverses the elements in a vector.

Parameters

vector The vector to reverse.

Definition at line 319 of file vector.c.

References Tvector::elements, and Tvector::num_ele.

void ConcatVectors	(	Tvector *	vector1,
		Tvector *	vector
	)

Adds a vector to the end of another vector.

Parameters

vector1	The vector to add.
vector	The vector where to add.

Definition at line 333 of file vector.c.

References Tvector::elements, NewVectorElement(), and Tvector::num_ele.

Referenced by ChangeBiRRTSteps().

void ExtractVectorElement	(	unsigned int	i,
		void *	e,
		Tvector *	vector
	)

Extracts an element from a vector.

The element is copied to the given buffer and removed from the vector.

If the given element of the vector is empty, this function triggers an error.

Parameters

i	Index of the element to be extracted.
e	Buffer where to copy the extracted element.
vector	The vector to update.

Definition at line 342 of file vector.c.

References Tvector::Copy, Tvector::elements, Error(), and RemoveVectorElement().

Referenced by ExtractMinElement().

void MoveVectorElement	(	unsigned int	i,
		unsigned int	ni,
		Tvector *	vector
	)

Moves a vector element from one position to another.

If the element to move is empty, this function triggers an error.

If the element where to store the moved element is full, it is removed before the moving.

Parameters

i	The index of the element to move.
ni	The desired new index for this element.
vector	The vector to update.

Definition at line 363 of file vector.c.

References Tvector::elements, Error(), and RemoveVectorElement().

void DeleteVector ( void * vector )

Deletes the information stored in the vector and frees the allocated memory space.

Parameters

vector The vector to be deleted.

Definition at line 389 of file vector.c.

References ResetVector().

Referenced by AtlasBiRRTstar(), BiRRTstar(), ChangeBiRRTSteps(), DeleteBioWorld(), DeleteBranch(), DeleteBranchStatus(), DeleteEnvironment(), DeleteHeap(), DeleteLink(), DeleteMechanism(), DeleteSample(), InitWorldKinCS(), and ReconstructRRTPath().

Institut de Robòtica i Informàtica Industrial

Detailed Description

Functions

Function Documentation

Institut de Robòtica
i Informàtica Industrial