#include <IKOR/general.h>#include <stdio.h>#include <math.h>Include dependency graph for analytical.c:
Go to the source code of this file.
Defines | |
| #define | EPS 1.0e-6 |
| #define | FREEALL |
| #define | NM1M2 (sN+sM1+sM2) |
Functions | |
| void | simp1 (float **a, int mm, ll, int nll, int iabf, int *kp, float *bmax) |
| void | simp2 (float **a, int n, l2, int nl2, int *ip, int kp, float *q1) |
| void | simp3 (float **a, int i1, int k1, int ip, int kp) |
| void | simplx (float **a, int m, int n, int m1, int m2, int m3, int *icase, izrov, iposv) |
| mysimplx (float **c, int sM, int sN, int sM1, int sM2, int sM3, NP, MP) | |
| MATRIX * | findt_without_Betas_SIMPLX (Solutions *FSP_data, MATRIX *B, MATRIX *H, FILE *datafp) |
| MATRIX * | Build_Grammian2 (Solutions *FSP_data, MATRIX *B, FILE *datafp) |
| void | find_jl_beta (Solutions *FSP_data, int chk, double distance, FILE *datafp) |
| void | find_obs_beta (Solutions *FSP_data, int chk, double *newl, double delta, normal, FILE *datafp) |
| MATRIX * | findt_without_Betas_BANGBANG (Solutions *FSP_data, MATRIX *B, MATRIX *H, MATRIX *old, FILE *datafp) |
| MATRIX * | findt_with_Betas_Holonomic (Solutions *FSP_data, MATRIX *B, MATRIX *H, FILE *datafp) |
| MATRIX * | findt_without_Betas_Holonomic (Solutions *FSP_data, MATRIX *B, MATRIX *H, FILE *datafp) |
| MATRIX * | findt_with_Betas_Nonholonomic (Solutions *FSP_data, MATRIX *B, MATRIX *H, FILE *datafp) |
| MATRIX * | findt_without_Betas_Nonholonomic (Solutions *FSP_data, MATRIX *B, MATRIX *H, FILE *datafp) |
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Definition at line 43 of file analytical.c. |
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Value: free_ivector(l3,1,m);free_ivector(l2,1,m);\ free_ivector(l1,1,n+1); Definition at line 99 of file analytical.c. Referenced by simplx(). |
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Definition at line 208 of file analytical.c. Referenced by mysimplx(). |
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Definition at line 364 of file analytical.c. References MATRIX::cols, datafp, DEBUG, fmat_pr(), Solutions::g, mat_cp(), mat_free(), mat_malloc(), mat_mul2(), MATRIX::p, Robot, MATRIX::rows, SPAN, and Manipulator_struct::Weights. Referenced by findt_with_Betas_Holonomic(), findt_with_Betas_Nonholonomic(), findt_without_Betas_Holonomic(), and findt_without_Betas_Nonholonomic(). |
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Definition at line 438 of file analytical.c. References Solutions::betall, Solutions::cn, MATRIX::cols, datafp, Solutions::g, MATRIX::p, and MATRIX::rows. Referenced by avoid_limits(). |
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Definition at line 477 of file analytical.c. References Solutions::betall, Solutions::cn, datafp, DEBUG, fmat_pr(), Solutions::g, GET_JACOBIAN_ALTERED(), Manipulator_struct::LINKS, LL, mat_free(), mat_malloc(), Manipulator_struct::NL, MATRIX::p, Solutions::Qarray, Robot, and SPAN. |
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Definition at line 653 of file analytical.c. References Solutions::betall, Build_Grammian2(), Solutions::cn, MATRIX::cols, datafp, DEBUG, FATAL, fmat_pr(), fmat_prf(), Solutions::g, IKerror(), Solutions::M, mat_cp(), mat_cp2(), mat_free(), mat_LU_inv(), mat_malloc(), mat_mul2(), Solutions::Null_Space, ONE, MATRIX::p, MATRIX::rows, SPAN, STEP, and TWO. Referenced by FSP(). |
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Definition at line 1074 of file analytical.c. References Solutions::betall, Build_Grammian2(), Solutions::cn, datafp, DEBUG, FATAL, fmat_pr(), Solutions::g, IKerror(), Platform::Length, Solutions::M, mat_add(), mat_cp2(), mat_free(), mat_LU_inv(), mat_malloc(), mat_mul(), mat_mul2(), mat_sca(), mat_sub(), mat_tra(), Solutions::Null_Space, ONE, MATRIX::p, PI, Manipulator_struct::PLAT, Solutions::Qarray, Robot, SPAN, STEP, and TWO. Referenced by FSP(). |
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Definition at line 550 of file analytical.c. References MATRIX::cols, datafp, DEBUG, FALSE, FATAL, fmat_pr(), Solutions::g, IKerror(), Solutions::M, mat_free(), mat_malloc(), Solutions::Null_Space, OK, ONE, MATRIX::p, SPAN, STEP, TRUE, TWO, and ZERO. Referenced by FSP(). |
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Definition at line 953 of file analytical.c. References Build_Grammian2(), MATRIX::cols, datafp, DEBUG, FATAL, fmat_pr(), Solutions::g, IKerror(), mat_add(), mat_cp2(), mat_free(), mat_LU_inv(), mat_malloc(), mat_mul2(), mat_sca(), Solutions::Null_Space, MATRIX::p, MATRIX::rows, and SPAN. Referenced by FSP(). |
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Definition at line 1538 of file analytical.c. References Build_Grammian2(), Solutions::cn, datafp, DEBUG, fmat_pr(), Solutions::g, IKerror(), Platform::Length, Solutions::M, mat_add(), mat_cp2(), mat_free(), mat_LU_inv(), mat_malloc(), mat_mul(), mat_mul2(), mat_sca(), Solutions::Null_Space, OK, MATRIX::p, PI, Manipulator_struct::PLAT, Solutions::Qarray, Robot, and SPAN. Referenced by FSP(). |
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Definition at line 275 of file analytical.c. References MATRIX::cols, datafp, DEBUG, FATAL, fmat_pr(), Solutions::g, IKerror(), Solutions::M, mat_malloc(), mysimplx(), Solutions::Null_Space, OK, ONE, MATRIX::p, SPAN, STEP, TWO, and ZERO. Referenced by FSP(). |
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Definition at line 210 of file analytical.c. References convert_matrix(), free_convert_matrix(), free_ivector(), ivector(), NM1M2, and simplx(). Referenced by findt_without_Betas_SIMPLX(). |
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Definition at line 21 of file analytical.c. Referenced by simplx(). |
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Definition at line 44 of file analytical.c. References EPS. Referenced by simplx(). |
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Definition at line 78 of file analytical.c. Referenced by simplx(). |
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Definition at line 102 of file analytical.c. References EPS, FREEALL, ivector(), nrerror(), simp1(), simp2(), and simp3(). Referenced by mysimplx(). |
1.3.6