parameters.h

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#ifndef PARAMETERSH
#define PARAMETERSH 
 
#include "boolean.h"
 
#include <stdio.h>
 
#define REP_LINKS       0
 
#define REP_FLINKS      1
 
 
#define REP_QLINKS      2
 
#define REP_JOINTS      3
 
#define SOLID 0
 
#define VCOLLIDE 1
 
#define PQP 2
 
#define FCL 3
 
#define C_FCL 4
 
#define BULLET 5
 
#define C_BULLET 6
 
#define RIGIDCLL 7
 
#define NOCD 8
 
#define AMBIENT_SAMPLING 0
 
#define KDTREE_SAMPLING 1
 
#define TANGENT_SAMPLING 2
 
 
/************************************************************************************/
#define DEFAULT_PARAMS "share/CuikSuite/default.param"
/************************************************************************************/
 
#define CT_EPSILON                   0
 
#define CT_REPRESENTATION            1
 
#define CT_RHO                       2
 
#define CT_SMALL_SIGMA               3
 
#define CT_SIGMA                     4
 
#define CT_E                         5
 
#define CT_CE                        6
 
#define CT_R                         7
 
#define CT_SR                         8
 
#define CT_DELTA                      9
 
#define CT_ATLASGBF_BETA             10
 
#define CT_STATE_PERIOD             11
 
#define CT_N_SOLUTIONS              12
 
#define CT_MAX_NEWTON_ITERATIONS    13
 
#define CT_N_DOF                    14
 
#define CT_GAMMA                    15
 
 
#define CT_DUMMIFY                  16
 
#define CT_SPLIT_TYPE               17
 
#define CT_SAFE_SIMPLEX             18
 
#define CT_SIMPLIFICATION_LEVEL     19
 
#define CT_LR2TM_Q                  20
 
#define CT_LR2TM_S                  21
 
#define CT_VDW_RATIO                22
 
#define CT_CUT_X                    23
 
#define CT_CUT_Y                    24
 
#define CT_CUT_Z                    25
 
#define CT_COEF_TEMP                26
 
#define CT_NFAIL_MAX                27
 
#define CT_DETECT_BIFURCATIONS      28
 
#define CT_MAX_PLANNING_TIME        29
 
#define CT_MAX_PLANNING_ITERATIONS  30
 
#define CT_MAX_CHARTS               31
 
#define CT_MAX_NODES_RRT            32
 
#define CT_BI_RRT                   33
 
#define CT_RRT_GRAPH                34
 
#define CT_DYNAMIC_DOMAIN           35
 
#define CT_CD_ENGINE                36
 
#define CT_SAMPLING                 37
 
#define CT_PRETENSION               38
 
#define CT_DYNAMICS                 39
 
#define CT_INTEGRATION_TIME     40
 
#define CT_DEFAULT_MAX_VELOCITY   41
 
#define CT_N_DYNAMIC_ACTIONS    42
 
#define CT_DYNAMIC_GOAL_ERROR    43
 
#define CT_G_COMPENSATION  44
 
#define CT_NEG_LM         45
 
#define CT_G_AXIS     46
 
#define CT_TAU     47
 
#define CT_LQR_PLANNING_TIME   48
 
#define NPARAMETERS (CT_LQR_PLANNING_TIME+1)
 
typedef struct
 {
   char *name;            
   double value;          
   unsigned int timesSet; 
} Tparameter;
 
typedef Tparameter Tparameters[NPARAMETERS];
 
void InitParameters(Tparameters *p);
 
void InitParametersFromFile(char *file,Tparameters *p);
 
double GetParameter(unsigned int n,Tparameters *p);
 
unsigned int GetParameterID(char *name,Tparameters *p);
 
boolean ParameterSet(unsigned int n,Tparameters *p);
 
void SetParameter(unsigned int n,char *name,double v,Tparameters *p);
 
void ChangeParameter(unsigned int n,double v,Tparameters *p);
 
void PrintParameters(FILE *f,Tparameters *p);
 
void DeleteParameters(Tparameters *p);
 
#endif