robot/control/oldikor/IKOR/IKOR_driver.c File Reference

#include <IKOR/general.h>
#include <IKOR/Globals.h>

Include dependency graph for IKOR_driver.c:

Go to the source code of this file.

Defines
#define	DEBUG_OUT   1
Functions
int	IKOR_driver (int *IKCriterion, int *IKMethod, int Optimization, int N_use, int M_use)
void	Euler_to_Velocities (MATRIX *x_of_link, MATRIX *dx)
float	correct_euler (float angle, float curr, float dest)
MATRIX *	CALC_PSEUDO (MATRIX *Jacob, MATRIX *dx)
MATRIX *	FSP (Solutions *FSP_data, History *Old_DQs, MATRIX *Jacob, MATRIX *dx, int *IKCriterion, int *IKMethod, int Optimization, int ns, spheredata, MATRIX *x_of_link, FILE *datafp)
int	OPEN_FILES (XTraj, char *PoorMansFile, MATRIX *Qarray)
int	Init_Globals ()
void	Update_History (History *Old_DQs, MATRIX *dq)

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Define Documentation

#define DEBUG_OUT   1

Definition at line 27 of file IKOR_driver.c.

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Function Documentation

MATRIX* CALC_PSEUDO (  MATRIX *  Jacob, MATRIX *  dx )

Definition at line 419 of file IKOR_driver.c. References MATRIX::cols, datafp, DEBUG, fmat_pr(), fmat_prf(), mat_cp(), mat_free(), mat_malloc(), mat_mul2(), mat_pseudoinv(), and MATRIX::p. Referenced by IKOR_driver().

float correct_euler (  float  angle, float  curr, float  dest )

Definition at line 383 of file IKOR_driver.c. References datafp, DEBUG, and PI. Referenced by IKOR_driver().

void Euler_to_Velocities (  MATRIX *  x_of_link, MATRIX *  dx )

Definition at line 335 of file IKOR_driver.c. References datafp, DEBUG, Manipulator_struct::NL, MATRIX::p, and Robot. Referenced by IKOR_driver().

MATRIX* FSP (  Solutions *  FSP_data, History *  Old_DQs, MATRIX *  Jacob, MATRIX *  dx, int *  IKCriterion, int *  IKMethod, int  Optimization, int  ns, spheredata  , MATRIX *  x_of_link, FILE *  datafp )

Definition at line 471 of file IKOR_driver.c. References Manipulator_struct::Angles, avoid_limits(), avoid_obstacles(), BANGBANG, Solutions::cn, datafp, History::dq, FALSE, FATAL, findt_with_Betas_Holonomic(), findt_with_Betas_Nonholonomic(), findt_without_Betas_BANGBANG(), findt_without_Betas_Holonomic(), findt_without_Betas_Nonholonomic(), findt_without_Betas_SIMPLX(), Platform::Holonomic, IKerror(), JN_LIMITS, LAGRANGIAN, Least_Flow(), Least_Norm(), mat_free(), mat_malloc(), NOT_COMPLETE, OBSTACLES, ONE, MATRIX::p, PI, Manipulator_struct::PLAT, ANGLE::Prism, Solutions::Qarray, Robot, SIMPLEX, SMALL, Solution_generator(), SPAN, STEP, TRUE, TWO, Update_History(), History::whereami, Solutions::Xelim, and ZERO. Referenced by IKOR_driver().

int IKOR_driver (  int *  IKCriterion, int *  IKMethod, int  Optimization, int  N_use, int  M_use )

Definition at line 52 of file IKOR_driver.c. References Manipulator_struct::Angles, BIG, CALC_PSEUDO(), CheezyFile, Solutions::cn, MATRIX::cols, correct_euler(), datafp, DEBUG, History_Element::DQ, History::dq, dqfile, dxLabel, ErrorFile, Euler_to_Velocities(), fmat_pr(), fmat_prf(), fprint_norm(), FSP(), GET_ACTUAL_X(), GET_JACOBIAN(), GetData(), HIST_SIZE, IKerror(), LL, mat_free(), mat_malloc(), mat_mul(), MAX_PTS, Manipulator_struct::NA, Manipulator_struct::NL, NormFile, OK, OPEN_FILES(), Manipulator_struct::Orient, MATRIX::p, PI, PoorMansFile, ANGLE::Prism, Solutions::Qarray, Robot, MATRIX::rows, SMALL, Solutions_free(), Solutions_init(), spheres(), STEP, Update_History(), Manipulator_struct::Weights, History::whereami, Solutions::Xelim, ZERO, and ZEROD_OMEGAS. Referenced by main().

int Init_Globals (   )

Definition at line 728 of file IKOR_driver.c. References all_links, datafp, E1, E2, E3, E4, EW1, EW2, EW3, EW4, Platform::Exist, FATAL, IKerror(), init_ARM(), Platform::Length, link_location, Manipulator_struct::LINKS, mat_malloc(), Manipulator_struct::NL, MATRIX::p, P2, P3, P4, Manipulator_struct::PLAT, PW1, PW2, PW3, PW4, Robot, RW, Platform::Width, XW, and ZERO. Referenced by main().

int OPEN_FILES (  XTraj  , char *  PoorMansFile, MATRIX *  Qarray )

Definition at line 622 of file IKOR_driver.c. References CheezyFile, datafp, distfp, dqfile, ErrorFile, FATAL, FLWfile, fmat_pr(), IKerror(), MAX_PTS, Manipulator_struct::NA, NormFile, OK, Manipulator_struct::Orient, MATRIX::p, PoorMansFile, rad, and Robot. Referenced by IKOR_driver().

void Update_History (  History *  Old_DQs, MATRIX *  dq )

Definition at line 833 of file IKOR_driver.c. References History::dq, HIST_SIZE, mat_cp(), History_Element::time, and History::whereami. Referenced by FSP(), and IKOR_driver().

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