world.h
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2064 void WorldAtomJacobian(Tparameters *pr,double *sol,unsigned int *nr,unsigned int *nc,double ***J,Tworld *w);
void PrintWorldCS(Tparameters *p, char *fname, Tworld *w) Prints the cuiksystems derived from a world. Definition: world.c:3881 unsigned int RegenerateWorldOriginalSystemPoint(Tparameters *p, double *s, double **o, Tworld *w) Reconstruct a point in original kinematic system from a simplified point. Definition: world.c:3334 unsigned int RegenerateWorldSolutionPoint(Tparameters *pr, double *p, double **v, Tworld *w) Computes the missing values in a kinematic solution. Definition: world.c:3468 boolean IsWorldPolynomial(Tworld *w) Checks if the system of equations is polynomial. Definition: world.c:2089 double WorldErrorInSimpInequalities(Tparameters *p, double *pt, Tworld *w) Determines the maximum error in the inequalites for the simplified system. Definition: world.c:3230 double WorldErrorInEquations(double *pt, Tworld *w) Evalates the norm of the error in the kinematic equations for a given point. Definition: world.c:3254 void GenerateForceEquilibriumEquations(Tparameters *p, Tworld *w) Adds force equilibrium equations. Definition: world.c:2510 void WorldCoupleTensegrityVariable(Tparameters *p, unsigned int t, unsigned int lID1, unsigned int lID2, double scale, THTransform *r, Tworld *w) Couple variables from different elements of a tensegrity. Definition: world.c:2889 void MoveWorld(Tparameters *pr, Tplot3d *pt, Tbox *b, Tworld *w) Moves the mechanisms defined in a world information to a given configuration. Definition: world.c:3581 void MoveWorldDOF(Tparameters *pr, Tplot3d *pt, double *dof, Tworld *w) Moves a mechanisms to a configuration given by the degrees of freedom. Definition: world.c:3680 boolean WorldCanCollide(Tworld *w) Determines if any collision is potentially possible. Definition: world.c:1063 unsigned int WorldForceVarsIndices(Tparameters *p, unsigned int **iv, Tworld *w) Creates an array with the indices of the force variables. Definition: world.c:2649 void WorldStoreRigidGroups(Tparameters *pr, FILE *f, double *pt, Tworld *w) Generates a file with the atoms grouped in rigid clusters. Definition: world.c:3511 void GetWorldRangeDOF(unsigned int ndof, Tinterval *r, Tworld *w) Gets the range for a given degree of freedom. Definition: world.c:2002 void PrintWorld(char *fname, int argc, char **arg, Tworld *w) Prints the world. Definition: world.c:3902 void GetLinkTransformsFromSolutionPoint(Tparameters *p, boolean simp, double *sol, THTransform **tl, TLinkConf **def, Tworld *w) Define transforms for the links from the a solution point. Definition: world.c:1215 void PrintWorldCollisionInfo(FILE *f, char *fname, Tworld *w) Prints information collected durint last collision check. Definition: world.c:3674 void WorldEvaluateEquations(double *pt, double *r, Tworld *w) Evaluates the kinematic equations. Definition: world.c:3206 unsigned int WorldDOF2Sol(Tparameters *p, double *dof, double **sol, Tbox *b, Tworld *w) Transforms from degrees of freedom to cuik variables. Definition: world.c:3708 A homgeneous transform in R^3. Definition of the TJacobian type and the associated functions. boolean MoveAndCheckCD(Tparameters *p, boolean all, unsigned int tID, double *sol, double *solPrev, Tworld *w) Checks a point for collision. Definition: world.c:1102 boolean WorldInequalitiesHold(double *pt, Tworld *w) Check if the inequalities hold. Definition: world.c:3214 boolean WorldContinuousCD(Tworld *w) Determines the type of collision library used. Definition: world.c:1068 unsigned int GetWorldVarTopology(unsigned int vID, Tworld *w) Get the topology of a given variable. Definition: world.c:2391 void FixLinks(Tparameters *p, Tworld *w) Generate equations to fix some links. Definition: world.c:2783 void EvaluateWorldJacobian(double *p, double ***J, Tworld *w) Evaluates the kinematic Jacobian. Definition: world.c:3198 void GetWorldKinJacobian(Tparameters *p, unsigned int *nr, unsigned int *nc, Tequation ***J, Tworld *w) Gets the simplified kinematic Jacobian. void WorldSample2DOF(Tparameters *p, double *sample, double *dof, Tworld *w) Transforms a sample degrees of freedom. Definition: world.c:3800 void NoCheckConnectedCollisions(unsigned int fl, Tworld *w) Desactivates the collision detection between connected links. Definition: world.c:2225 double WorldErrorFromDOFs(Tparameters *p, double *dof, Tworld *w) Error in equations from DOFs. Definition: world.c:3270 void WorldPrintAtoms(Tparameters *pr, FILE *f, double *pt, Tworld *w) Generates a file with the atom centers in global coordiantes. Definition: world.c:3496 void GetWorldDOFLabel(unsigned int ndof, char **string, Tworld *w) Returns a label identifying each degree of freedom. Definition: world.c:2036 Definition of the Tfilename type and the associated functions. Definition of the Tplot3d type and the associated functions. void WorldEvaluateSubSetSimpEquations(Tparameters *p, boolean *se, double *pt, double *r, Tworld *w) Evaluates a subset of the simplified kinematic equations. Definition: world.c:3246 unsigned int WorldManifoldDimension(Tparameters *p, double *point, Tworld *w) Dimensionality of the solution manifold.+. Definition: world.c:3404 unsigned int WorldSimpCuikNewton(Tparameters *p, double *pt, Tworld *w) Tries to reach the kinematic manifold. Definition: world.c:3193 void PrintWorldAxes(Tparameters *pr, FILE *f, Tbox *b, Tworld *w) Prints the axes of the mechanism. Definition: world.c:3637 unsigned int GetWorldNumSystemVariables(Tworld *w) Number of system variables in the kinematic subsystem. Definition: world.c:3297 void NoCheckLinkObstacleCollision(unsigned int a, unsigned int b, Tworld *w) Desactivates the possible collision between a particular link and an object in the environment... Definition: world.c:2200 double WorldErrorInSimpEquations(Tparameters *p, double *pt, Tworld *w) Evalates the norm of the error in the kinematic equations for a given point. Definition: world.c:3262 char * GetWorldSystemVarName(unsigned int nv, Tworld *w) Returns the name of a given system variable. Definition: world.c:2423 void DeleteLinkTransforms(THTransform *tl, TLinkConf *def, Tworld *w) Deletes transforms for each link. Definition: world.c:1336 unsigned int GetWorldNObstacles(Tworld *w) Gets the number of obstacles in the environment included in the world. Definition: world.c:1862 void CheckObstacleCollision(unsigned int fl, unsigned int b, Tworld *w) Activates the possible collision between a particular obstacle and all the links. ... Definition: world.c:2209 void NoCheckAllCollisions(unsigned int fl, unsigned int fo, Tworld *w) Desactivates all the possible collision between links and links and obstacles. Definition: world.c:2119 void WorldAtomJacobian(Tparameters *pr, double *sol, unsigned int *nr, unsigned int *nc, double ***J, Tworld *w) Jacobian of the atom position w.r.t. the variables. Definition: world.c:3526 Definition of the Tstatistics type and the associated functions. void NoCheckObstacleCollision(unsigned int fl, unsigned int b, Tworld *w) Deactivates the possible collision between a particular obstacle and all the links. Definition: world.c:2217 void GetWorldInitialBox(Tbox *b, Tworld *w) Gets the kinematic search space for a given problem. Definition: world.c:3388 unsigned int MaxWorldReduction(Tparameters *p, Tbox *b, double *reduction, Tworld *w) Reduces the system variables as much as possible using the kinematic constraints. ... Definition: world.c:3412 double EvaluateWorldCost(Tparameters *p, boolean simp, double *pt, void *w) Evaluates the functions cost defined in a world. Definition: world.c:3281 boolean IsMechanismInWorldAllSpheres(Tworld *w) TRUE if the mechanisms in the world is based on spheres. Definition: world.c:1827 void CheckAllCollisions(unsigned int fl, unsigned int fo, Tworld *w) Activates all the possible collision between links and links and obstacles. Definition: world.c:2097 unsigned int GetSolutionPointFromLinkTransforms(Tparameters *p, THTransform *tl, TLinkConf *def, double **sol, Tworld *w) Determines the mechanisms configuration from the pose of all links. Definition: world.c:1261 void AddLeg2World(char *name, boolean planar, unsigned int type, unsigned int lID1, unsigned int lID2, double **points, Tinterval *length, double stiffness, Tinterval *rest, Tinterval *force, double radius, unsigned int gr, Tcolor *color, unsigned int bs, Tworld *w) Adds a sph-sph joint to the world. Definition: world.c:1446 boolean NewtonInWorld(Tparameters *p, double *v, Tbox *b_sol, Tworld *w) Generates a sample from a the kinematic cuiksystem in the world using the Newton algorithm. Definition: world.c:2335 unsigned int GetWorldObstacleID(char *obsName, Tworld *w) Gets the identifier of an obstacle from its name. Definition: world.c:1837 void GenerateWorldEquations(Tparameters *p, Tworld *w) Generates all the cuiksystems derived from the world information. Definition: world.c:2431 void CheckSelfCollisions(unsigned int fl, Tworld *w) Activates all the possible collision between links. Definition: world.c:2138 void AnimateWorld(Tparameters *pr, char *pname, double axesLength, double frameDelay, Tlist *p, Tworld *w) Produces an animation along a path. Definition: world.c:3837 A collection of obstacles (convex polyhedrons) with their names. Definition: environment.h:39 void AddObstacle2World(char *name, Tpolyhedron *o, Tworld *w) Adds an obstacle to the environment in the world. Definition: world.c:1788 Definition of the Tbox type and the associated functions. unsigned int AddLink2World(Tlink *l, boolean object, Tworld *w) Adds a link to the mechanism in the world. Definition: world.c:1383 Definition of the Tlist type and the associated functions. boolean WorldSimpInequalitiesHold(Tparameters *p, double *pt, Tworld *w) Check if the inequalities hold for the simplified system. Definition: world.c:3222 void GenerateWorldSingularityEquations(Tparameters *p, char *ln, TCuikSystem *cs, Tworld *w) Adds variables/equations to detect singularities. Definition: world.c:3039 Definition of the Tmechanism type and the associated functions. void GetWorldJointLabel(unsigned int ndof, char **string, Tworld *w) Returns a label identifying each joint. Definition: world.c:2024 void WorldForceFieldProjectedGradient(Tparameters *p, boolean simp, double *proj, double *sol, double **g, void *w) The projected gradient of the force field. Definition: world.c:2776 unsigned int GetWorldNLinks(Tworld *w) Gets the number of links in the mechanism included in the world. Definition: world.c:1852 unsigned int GetWorldSimpTopology(Tparameters *p, unsigned int **t, Tworld *w) Gets the topology of the variables. Definition: world.c:3153 A table of parameters. Definition of the TCuikSystem type and the associated functions. unsigned int AddJoint2World(Tjoint *j, Tworld *w) Adds a joint to the mechanism in the world. Definition: world.c:1436 void FixZToZero(Tparameters *p, Tworld *w) Generate equations to fix the Z components of the links. Definition: world.c:2867 boolean AnyCollision(Tworld *w) Determines if we want to avoid any collision. Definition: world.c:2294 void WorldEvaluateSimpEquations(Tparameters *p, double *pt, double *r, Tworld *w) Evaluates the simplified kinematic equations. Definition: world.c:3238 void WorldForceField(Tparameters *p, boolean simp, double *sol, double **g, void *w) Evaluates the gradient of the potential energy of a configuration. Definition: world.c:2722 boolean InitTensegrityFromFile(Tparameters *p, char *fn, Tworld *w) Constructor. unsigned int GetWorldNConvexBodies(Tworld *w) Gets the number of convex polyhedrons that define the mechanism and the environment included in the w... Definition: world.c:1872 void CheckLinkLinkCollision(unsigned int a, unsigned int b, Tworld *w) Activates the possible collision between a particular pair of links. Definition: world.c:2167 boolean InitWorldFromFile(Tparameters *p, boolean error, char *fn, Tworld *w) Constructor. void GenerateWorldTWSEquations(Tparameters *p, char *ln, TCuikSystem *cs, Tworld *w) Adds variables/equations to detect translational workspace boundaries. Definition: world.c:3104 A cuiksystem, i.e., a set of variables and equations defining a position analysis problem... Definition: cuiksystem.h:181 unsigned int GetWorldLinkID(char *linkName, Tworld *w) Gets the identifier of a link from its name. Definition: world.c:1832 unsigned int RegenerateWorldOriginalPoint(Tparameters *p, double *s, double **o, Tworld *w) Reconstruct a point in original kinematic system from a simplified point. Definition: world.c:3305 unsigned int WorldGenerateSimplifiedPointFromSystem(Tparameters *p, double *o, double **s, Tworld *w) Reconstruct a point in simplified kinematic system from an original point. Definition: world.c:3370 Definition of the Tvector type and the associated functions. void PlotWorld(Tparameters *pr, Tplot3d *pt, double axesLength, Tworld *w) Adds a world (environment plus mechanism) in a 3D scene. Definition: world.c:3452 unsigned int GetWorldSystemVars(boolean **sv, Tworld *w) Gets the system vars of the kinematic cuiksystem. Definition: world.c:2383 Tlink * GetWorldLink(unsigned int linkID, Tworld *w) Gets a link from its identifier. Definition: world.c:1842 void NoCheckLinkLinkCollision(unsigned int a, unsigned int b, Tworld *w) Desactivates the possible collision between a particular pair of links. Definition: world.c:2179 Tjoint * GetWorldJoint(unsigned int jointID, Tworld *w) Gets a joint from its identifier. Definition: world.c:1847 unsigned int GetWorldNJoints(Tworld *w) Gets the number of joints in the mechanism included in the world. Definition: world.c:1857 Definition of the Tenvironment type and the associated functions. void NoCheckSelfCollisions(unsigned int fl, Tworld *w) Desactivates all the possible collision between links. Definition: world.c:2153 Headers of the interface with the collision detection engine. boolean MoveAndCheckCDFromTransforms(boolean all, unsigned int tID, THTransform *tl, TLinkConf *def, THTransform *tlPrev, TLinkConf *defPrev, Tworld *w) Checks a point for collision. Definition: world.c:1077 unsigned int GetWorldSimpVariableMask(Tparameters *p, boolean **sv, Tworld *w) Identifies pose related variable that survied in the simplified system. Definition: world.c:2396 void GetWorldSimpJacobian(Tparameters *p, TJacobian *J, Tworld *w) Gets the simplified kinematic Jacobian. Definition: world.c:3145 unsigned int WorldGenerateSimplifiedPoint(Tparameters *p, double *o, double **s, Tworld *w) Reconstruct a point in simplified kinematic system from an original point. Definition: world.c:3362 unsigned int GetWorldTopology(Tparameters *p, unsigned int **t, Tworld *w) Gets the topology of the variables. Definition: world.c:3162 Definition of the Tmapping type and the associated functions. unsigned int GetWorldNDOF(Tworld *w) Gets the number of degrees of freedom in the world. Definition: world.c:1997 unsigned int WorldForceVars(Tparameters *p, boolean **fv, Tworld *w) Creates a boolean array identifying force variables. Definition: world.c:2585 void InitWorldCD(Tparameters *pr, unsigned int mt, Tworld *w) Initializes the collision detector. Definition: world.c:1030 void PrintCollisions(FILE *f, Tworld *w) Stores the collision information into a file. Definition: world.c:2306 unsigned int GetWorldNumVariables(Tworld *w) Number of variables in the kinematic subsystem. Definition: world.c:3289 unsigned int WorldSimpKinematicVars(Tparameters *p, boolean **kv, Tworld *w) Creates a boolean array to identify kinematic variables. Definition: world.c:2616 unsigned int GetWorldNConvexBodiesInLinks(Tworld *w) Gets the number of convex polyhedrons that define the mechanism included in the world. Definition: world.c:1867 Definition of the Tparameters type and the associated functions. double WorldPotentialEnergy(Tparameters *p, boolean simp, double *sol, void *w) Evaluates the potential energy of a configuration. Definition: world.c:2680 Definition of the Tequations type and the associated functions. void GetWorldSimpInitialBox(Tparameters *p, Tbox *b, Tworld *w) Gets the kinematic simplified search space for a given problem. Definition: world.c:3396 unsigned int GetWorldMobility(Tworld *w) Returns the number of degrees of freedom of the mechanism in the world. Definition: world.c:1822 void CheckLinkObstacleCollision(unsigned int a, unsigned int b, Tworld *w) Activates the possible collision between a particular link and an object in the environment. Definition: world.c:2191 unsigned int WorldDOFTopology(unsigned int **t, Tworld *w) Gets the topology of the degrees of freedom. Definition: world.c:3171 void WorldFixTensegrityAddon(Tparameters *p, unsigned int linkID, double **point, unsigned int *n, Tworld *w) Fixes a tensegrity addon. Definition: world.c:2819 |
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