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

#include <IKOR/general.h>

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Defines
#define	DEBUG   1
Functions
int	Solution_generator (Solutions *FSP_data, MATRIX *Aorig, MATRIX *borig, FILE *check)
void	RestofSoln (int Mred, int Nred, int NextToFind, MATRIX *block, MATRIX *g, MATRIX *bred, MATRIX *Ared, int *Tackon, int *FirstOK, FILE *check)
int	Dependency (MATRIX *Atemp, int *SLRow, int Nred, int first, int second)
	BLOCK_COL_FIND_X (int *Tackon, float *g, float *block, MATRIX *b, MATRIX *A, int Mred, int Nred, FILE *check)
	ReduceA (Solutions *FSP_data, MATRIX *Aorig, MATRIX *Ared, MATRIX *borig, MATRIX *bred, int *ColElim, int *RowElim, int *NumSpg, MATRIX *Specialg)
int	CheckB (MATRIX *b, int m)
int	CheckRange (MATRIX *b, MATRIX *Aorig, MATRIX *g, int *RowElim, int Mred)
void	Rebuild_gs (Solutions *FSP_data, int *ColElim, MATRIX *Specialg, int NumSpg)
Variables
int	SystemComplete
int	DEBUG_FSP = TRUE
FILE *	gcheck

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Define Documentation

#define DEBUG   1

Definition at line 27 of file fsp.c. Referenced by avoid_limits(), avoid_obstacles(), Build_Grammian2(), calc_flow(), CALC_PSEUDO(), correct_euler(), Euler_to_Velocities(), find_intersection_sphere(), 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(), IKOR_driver(), init_ARM(), Least_Flow(), Least_Norm(), main(), base::Referenced::Referenced(), and Solution_generator().

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Function Documentation

BLOCK_COL_FIND_X (  int *  Tackon, float *  g, float *  block, MATRIX *  b, MATRIX *  A, int  Mred, int  Nred, FILE *  check )

Definition at line 559 of file fsp.c. References DEBUG_FSP, fmat_pr(), gcheck, mat_free(), mat_LU_inv(), mat_malloc(), mat_mul2(), and MATRIX::p. Referenced by RestofSoln(), and Solution_generator().

int CheckB (  MATRIX *  b, int  m )

Definition at line 1076 of file fsp.c. References MATRIX::p, and SMALL. Referenced by Solution_generator().

int CheckRange (  MATRIX *  b, MATRIX *  Aorig, MATRIX *  g, int *  RowElim, int  Mred )

Definition at line 1106 of file fsp.c. Referenced by Solution_generator().

int Dependency (  MATRIX *  Atemp, int *  SLRow, int  Nred, int  first, int  second )

Definition at line 510 of file fsp.c. References FALSE, MATRIX::p, SMALL, and TRUE. Referenced by ReduceA().

void Rebuild_gs (  Solutions *  FSP_data, int *  ColElim, MATRIX *  Specialg, int  NumSpg )

Definition at line 1152 of file fsp.c. References Solutions::g, Solutions::M, mat_cp2(), mat_free(), Solutions::Mred, Solutions::Nred, MATRIX::p, MATRIX::rows, and ZERO. Referenced by Solution_generator().

ReduceA (  Solutions *  FSP_data, MATRIX *  Aorig, MATRIX *  Ared, MATRIX *  borig, MATRIX *  bred, int *  ColElim, int *  RowElim, int *  NumSpg, MATRIX *  Specialg )

Definition at line 664 of file fsp.c. References Dependency(), FALSE, Solutions::M, mat_free(), mat_malloc(), mat_null(), Solutions::Mred, Solutions::Nred, Solutions::Null_Space, MATRIX::p, MATRIX::rows, SMALL, TRUE, and Solutions::Xelim. Referenced by Solution_generator().

void RestofSoln (  int  Mred, int  Nred, int  NextToFind, MATRIX *  block, MATRIX *  g, MATRIX *  bred, MATRIX *  Ared, int *  Tackon, int *  FirstOK, FILE *  check )

Definition at line 351 of file fsp.c. References BLOCK_COL_FIND_X(), DEBUG_FSP, fmat_pr(), mat_free(), mat_malloc(), mat_null(), MATRIX::p, SMALL, SystemComplete, and TRUE. Referenced by Solution_generator().

int Solution_generator (  Solutions *  FSP_data, MATRIX *  Aorig, MATRIX *  borig, FILE *  check )

Definition at line 49 of file fsp.c. References BLOCK_COL_FIND_X(), CheckB(), CheckRange(), Solutions::cn, COMPLETE, DEBUG, DEBUG_FSP, FALSE, fmat_pr(), Solutions::g, gcheck, IKerror(), mat_free(), mat_malloc(), mat_null(), Solutions::Mred, Solutions::N, NOT_COMPLETE, Solutions::Nred, Solutions::Null_Space, OK, MATRIX::p, Rebuild_gs(), ReduceA(), RestofSoln(), RESTRICTED, SPAN, SPAN2, SystemComplete, TRUE, Solutions::Xelim, and ZERO. Referenced by avoid_limits(), avoid_obstacles(), and FSP().

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Variable Documentation

int DEBUG_FSP = TRUE

Definition at line 26 of file fsp.c. Referenced by BLOCK_COL_FIND_X(), RestofSoln(), and Solution_generator().

FILE* gcheck

Definition at line 47 of file fsp.c. Referenced by BLOCK_COL_FIND_X(), and Solution_generator().

int SystemComplete

Definition at line 25 of file fsp.c. Referenced by RestofSoln(), and Solution_generator().

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