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78 int main( int argc, char **arg)
117 Error( "Please, set a REPRESENTATION different from JOINTS in the parameter file");
130 Error( "Could not open the file with the dof");
137 fprintf(stderr, "Writing link poses to : %s\n", GetFileFullName(&flinks));
140 Error( "Could not open the file to store the link poses");
149 Error( "Could not open the file to store the boxes");
155 NEW(dof,ndof, double);
159 for(i=0;((!end)&&(i<ndof));i++)
161 token=fscanf(fd, "%lf",&(dof[i]));
162 if ((token==EOF)||(token==0))
167 if ( WorldDOF2Sol(¶meters,dof,&sample,&bsample,&world)!=nv)
168 Error( "Missmatch variable number in cuikjoints2links");
172 { PrintReal(fs,sample[j]);fprintf(fs, " "); }
203 fprintf(stderr, "Writting variable names to : %s\n", GetFileFullName(&fvname));
206 Error( "Could not open the file to store the variable names");
208 NEW(varNames,nv, char*);
227 fprintf(stderr, "Writting variable mask to : %s\n", GetFileFullName(&fvmask));
230 Error( "Could not open the file to store the variable mask");
260 fprintf(stderr, "Use:\n");
261 fprintf(stderr, " cuikjoints2links <problem_name> <output_name>\n");
262 fprintf(stderr, " <problem_name> the file with the .world description.\n");
263 fprintf(stderr, " <output_name> [optional] Prefix for the .joints file and to generate the .links.\n");
264 fprintf(stderr, " .sol, .vname, and .vmask files. If not given the <problem_name> is used.\n");
267 return(EXIT_SUCCESS);
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