robot/control/oldikor/IKOR/Globals.h File Reference

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Variables
int	N
FILE *	datafp
FILE *	NormFile
FILE *	ErrorFile
FILE *	CheezyFile
FILE *	NHDfile
FILE *	dqfile
FILE *	distfp
FILE *	FLWfile
char *	PoorMansFile
FILE *	gcheck
MATRIX **	all_links
MATRIX *	RW
MATRIX *	XW
MATRIX **	link_location
MATRIX *	R
MATRIX *	X
MATRIX *	PW1
MATRIX *	PW2
MATRIX *	PW3
MATRIX *	PW4
MATRIX *	EW1
MATRIX *	EW2
MATRIX *	EW3
MATRIX *	EW4
MATRIX *	P1
MATRIX *	P2
MATRIX *	P3
MATRIX *	P4
MATRIX *	E1
MATRIX *	E2
MATRIX *	E3
MATRIX *	E4
char	ARM_file [15] = "ROBOT.dat"
Manipulator_struct *	Robot
double *	LL
float	EEzaxis = 0
float	EEyaxis = 0
float	EExaxis = 0

---

Variable Documentation

MATRIX** all_links

Globals.h * Definition at line 40 of file Globals.h. Referenced by Init_Globals().

char ARM_file[15] = "ROBOT.dat"

Globals.h * Definition at line 50 of file Globals.h. Referenced by init_ARM().

FILE * CheezyFile

Definition at line 21 of file Globals.h. Referenced by IKOR_driver(), and OPEN_FILES().

FILE* datafp

Definition at line 21 of file Globals.h. Referenced by avoid_limits(), avoid_obstacles(), Build_Grammian2(), calc_flow(), CALC_PSEUDO(), correct_euler(), Euler_to_Velocities(), ExtractRPY2(), find_intersection_sphere(), find_jl_beta(), find_obs_beta(), findt_with_Betas_Holonomic(), findt_with_Betas_Nonholonomic(), findt_without_Betas_BANGBANG(), findt_without_Betas_Holonomic(), findt_without_Betas_Nonholonomic(), findt_without_Betas_SIMPLX(), fprint_norm(), FSP(), IKOR_driver(), Init_Globals(), Least_Flow(), Least_Norm(), OPEN_FILES(), and spheres().

FILE * distfp

Definition at line 21 of file Globals.h. Referenced by calc_flow(), and OPEN_FILES().

FILE * dqfile

Definition at line 21 of file Globals.h. Referenced by IKOR_driver(), and OPEN_FILES().

MATRIX * E1

Definition at line 40 of file Globals.h. Referenced by Init_Globals(), NoDivTriTriIsect(), tri_tri_intersect(), and tri_tri_intersect_with_isectline().

MATRIX * E2

Definition at line 40 of file Globals.h. Referenced by Init_Globals(), NoDivTriTriIsect(), tri_tri_intersect(), and tri_tri_intersect_with_isectline().

MATRIX * E3

Definition at line 40 of file Globals.h. Referenced by Init_Globals().

MATRIX * E4

Definition at line 40 of file Globals.h. Referenced by Init_Globals().

float EExaxis = 0

Definition at line 57 of file Globals.h. Referenced by init_ARM().

float EEyaxis = 0

Definition at line 56 of file Globals.h. Referenced by init_ARM().

float EEzaxis = 0

Definition at line 55 of file Globals.h. Referenced by init_ARM().

FILE * ErrorFile

Definition at line 21 of file Globals.h. Referenced by IKOR_driver(), and OPEN_FILES().

MATRIX * EW1

Globals.h * Definition at line 40 of file Globals.h. Referenced by Init_Globals().

MATRIX * EW2

Globals.h * Definition at line 40 of file Globals.h. Referenced by Init_Globals().

MATRIX * EW3

Globals.h * Definition at line 40 of file Globals.h. Referenced by Init_Globals().

MATRIX * EW4

Globals.h * Definition at line 40 of file Globals.h. Referenced by Init_Globals().

FILE * FLWfile

Definition at line 21 of file Globals.h. Referenced by calc_flow(), and OPEN_FILES().

FILE* gcheck

Definition at line 34 of file Globals.h.

MATRIX ** link_location

Definition at line 40 of file Globals.h. Referenced by Init_Globals().

double* LL

Globals.h * Definition at line 52 of file Globals.h. Referenced by find_obs_beta(), GET_JACOBIAN(), IKOR_driver(), and init_ARM().

int N

Initial value: -1 M=-1 STEP=0 CHANGE_SPHERES=0 Definition at line 16 of file Globals.h.

FILE * NHDfile

Definition at line 21 of file Globals.h.

FILE * NormFile

Definition at line 21 of file Globals.h. Referenced by IKOR_driver(), and OPEN_FILES().

MATRIX * P1

Definition at line 40 of file Globals.h. Referenced by base::DestructiveCopy< P >::Clone().

MATRIX * P2

Definition at line 40 of file Globals.h. Referenced by Init_Globals().

MATRIX * P3

Definition at line 40 of file Globals.h. Referenced by Init_Globals().

MATRIX * P4

Definition at line 40 of file Globals.h. Referenced by Init_Globals().

char* PoorMansFile

Initial value: "CheezyAngles" Method[5][30]={ "FSP & Joint Limits", "PSEUDO INVERSE", "FSP & Obstacles" , "FSP & JL & OA ", "FSP only" } dxLabel[6][30]={ "X ", "Y ", "Z ", "YAW ", "PITCH", "ROLL " } Definition at line 29 of file Globals.h. Referenced by IKOR_driver(), and OPEN_FILES().

MATRIX * PW1

Globals.h * Definition at line 40 of file Globals.h. Referenced by Init_Globals().

MATRIX * PW2

Globals.h * Definition at line 40 of file Globals.h. Referenced by Init_Globals().

MATRIX * PW3

Globals.h * Definition at line 40 of file Globals.h. Referenced by Init_Globals().

MATRIX * PW4

Globals.h * Definition at line 40 of file Globals.h. Referenced by Init_Globals().

MATRIX * R

Definition at line 40 of file Globals.h.

Manipulator_struct* Robot

Globals.h * Definition at line 51 of file Globals.h. Referenced by avoid_limits(), avoid_obstacles(), Build_Grammian2(), Euler_to_Velocities(), ExtractRPY2(), find_obs_beta(), findt_with_Betas_Nonholonomic(), findt_without_Betas_Nonholonomic(), FSP(), GET_JACOBIAN(), IKerror(), IKOR_driver(), init_ARM(), Init_Globals(), main(), and OPEN_FILES().

MATRIX * RW

Globals.h * Definition at line 40 of file Globals.h. Referenced by Init_Globals().

MATRIX * X

Definition at line 40 of file Globals.h.

MATRIX * XW

Globals.h * Definition at line 40 of file Globals.h. Referenced by Init_Globals().

---