cuiksingequations.c

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#include "parameters.h"
#include "defines.h"
#include "world.h"
#include "error.h"
#include "filename.h"
 
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
 
int main(int argc, char **arg)
{
  Tparameters parameters;     /* Parameters */
  Tworld world;               /* Environemtn and mechanisms */
  TCuikSystem cs;             /* The cuiksystem to generate*/
 
  Tfilename fparam;
  Tfilename fcuik;
  
  char *ln;                    /* link name */
  char *pn;                    /* problem name */
  FILE *f;
 
  if (argc>1)
    {
      if (argc>2)
        {
          ln=arg[1];
          pn=arg[2];
        }
      else
        {
          ln=NULL;
          pn=arg[1];
        }
 
      /*Init parameters*/
      CreateFileName(NULL,pn,NULL,PARAM_EXT,&fparam);
      #if (_DEBUG>0)
        printf("Reading parameter file       : %s\n",GetFileFullName(&fparam));
      #endif
      InitParametersFromFile(GetFileFullName(&fparam),&parameters);
 
      /*Read the world file*/
      InitWorldFromFile(&parameters,FALSE,TRUE,arg[1],&world);
 
      /*Add singularity equations*/
      GenerateWorldSingularityEquations(&parameters,ln,&cs,&world);
      
      /*Print resulting extended cuiksystem*/
      CreateFileName(NULL,pn,"_sing",CUIK_EXT,&fcuik);
 
      f=fopen(GetFileFullName(&fcuik),"w");
      if (!f)
         Error("Could not open output file in cuiksingequations");     
      #if (_DEBUG>0)
        printf("Generating the _sin.cuik file: %s\n",GetFileFullName(&fcuik));
      #endif
      PrintCuikSystem(&parameters,f,&cs);
      fclose(f);
 
      /* link the parameter/joints/links files */
      LinkFileNameWithExtension(arg[1],PARAM_EXT ,&fcuik);
      LinkFileNameWithExtension(arg[1],JOINTS_EXT,&fcuik);
      LinkFileNameWithExtension(arg[1],LINKS_EXT ,&fcuik);
 
      /* Delete the data structures */
      DeleteCuikSystem(&cs);
      DeleteWorld(&world);
      DeleteParameters(&parameters);
 
      /* Delete the file names */
      DeleteFileName(&fparam);
      DeleteFileName(&fcuik);
    }
  else
    {
      fprintf(stderr,"  Wrong number of parameters.\n");
      fprintf(stderr,"  Use:\n");   
      fprintf(stderr,"      cuiksingequations <Sing> <problem name>\n");
      fprintf(stderr,"  where \n");
      fprintf(stderr,"       <Sing> [Optional] It must be the name of the link to focus\n");
      fprintf(stderr,"              None for no particular link\n");
      fprintf(stderr,"       <problem name> is the world file from which to generate the equations\n");
    }
 
  return(EXIT_SUCCESS);
}