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

#include <IKOR/general.h>

Include dependency graph for constraints.c:

Go to the source code of this file.

Functions
int	avoid_limits (Solutions *FSP_data, MATRIX *Jacob, MATRIX *dx, int *got_gs, FILE *datafp)
int	avoid_obstacles (Solutions *FSP_data, MATRIX *Jacob, MATRIX *dx, MATRIX *x_of_link, int ns, spheredata, int *got_gs, FILE *datafp)
int	find_intersection_sphere (pt1, pt2, int ws, int ns, spheredata, int *elbow_check,*newl,*delta, normal, FILE *datafp)

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Function Documentation

int avoid_limits (  Solutions *  FSP_data, MATRIX *  Jacob, MATRIX *  dx, int *  got_gs, FILE *  datafp )

Definition at line 36 of file constraints.c. References Manipulator_struct::Angles, datafp, DEBUG, deg, FALSE, find_jl_beta(), GET_JACOBIAN(), ANGLE::Max_limit, ANGLE::Min_limit, MATRIX::p, ANGLE::Prism, Solutions::Qarray, rad, Robot, Solution_generator(), STEP, TRUE, and TWO. Referenced by FSP().

int avoid_obstacles (  Solutions *  FSP_data, MATRIX *  Jacob, MATRIX *  dx, MATRIX *  x_of_link, int  ns, spheredata  , int *  got_gs, FILE *  datafp )

Definition at line 113 of file constraints.c. References datafp, DEBUG, find_intersection_sphere(), find_obs_beta(), fmat_pr(), GET_ACTUAL_X(), GET_JACOBIAN(), Manipulator_struct::NL, MATRIX::p, Solutions::Qarray, Robot, Solution_generator(), STEP, TRUE, and TWO.

int find_intersection_sphere (  pt1  , pt2  , int  ws, int  ns, spheredata  , int *  elbow_check, *  newl, *  delta, normal  , FILE *  datafp )

Definition at line 199 of file constraints.c. References datafp, DEBUG, FALSE, SQUARE, and TRUE.

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