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

#include <math.h>
#include <stdio.h>
#include <IKOR/structures.h>
#include <IKOR/headers.h>
#include <UTILS/nrutil.h>
#include <UTILS/matrix.h>

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Defines
#define	DEBUG   1
#define	SPAN   (FSP_data->g->rows)
#define	SPAN2   (FSP_data->g->rows - NumSpg)
#define	SQUARE(a)   ((a)*(a));
#define	rad(x)   ((x)*PI/180) /*Convert to Radians*/
#define	deg(x)   ((x)*180/PI) /*Convert to Degrees*/
#define	SWAP(a, b)   {double temp; temp=a;a=b;b=temp;}
#define	MAX(a, b)   ((a) > (b) ? (a) : (b))
#define	SIGN(a, b)   ((b) >= 0.0 ? fabs(a) : -fabs(a))
#define	PYTHAG(a, b)
#define	SPEED   .3 /* Flow Defines */
#define	MAX_PTS   5000 /* Sets Maximum Points in Trajectory */
#define	BIG   5.0e-02 /* user-defined value for IKOR */
#define	SMALL   5.0e-05 /* user-defined value for FSP & IKOR */
#define	K2_BND   1.0e+01 /* user-defined value for FSP */
#define	ZERO   0.0 /* General Defines */
#define	PI   3.14159265
#define	TRUE   1
#define	FALSE   0
#define	LAGRANGIAN   1 /* Optimization Defines */
#define	BANGBANG   2
#define	SIMPLEX   3
#define	ZEROD_OMEGAS   2 /* Constant Orientation Define */
#define	FATAL   0 /* IKerror Defines */
#define	OK   1
#define	ONE   1 /* STEP Defines */
#define	TWO   2
#define	JN_LIMITS   0 /* Constraint Defines */
#define	OBSTACLES   1
#define	ACCELRATN   2
#define	EE_IMPACT   3
#define	COMPLETE   2 /* Solution Generator Return Defines */
#define	NOT_COMPLETE   -1
#define	RESTRICTED   -2
Variables
FILE *	datafp
FILE *	FLWfile
FILE *	dqfile
FILE *	distfp
char *	PoorMansFile
char	Method [5][30]
char	dxLabel [6][30]
char	ARM_file [15]
MATRIX **	all_links
MATRIX *	RW
MATRIX *	XW
MATRIX *	PW1
MATRIX *	PW2
MATRIX *	PW3
MATRIX *	PW4
MATRIX *	EW1
MATRIX *	EW2
MATRIX *	EW3
MATRIX *	EW4
int	N
int	M
int	STEP
int	CHANGE_SPHERES
Manipulator_struct *	Robot
double *	LL

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Define Documentation

#define ACCELRATN   2

Definition at line 96 of file general.h. Referenced by main().

#define BANGBANG   2

Definition at line 83 of file general.h. Referenced by FSP(), and main().

#define BIG   5.0e-02 /* user-defined value for IKOR */

Definition at line 70 of file general.h. Referenced by IKOR_driver().

#define COMPLETE   2 /* Solution Generator Return Defines */

Definition at line 98 of file general.h. Referenced by Solution_generator().

#define DEBUG   1

The MACRO DEBUG was removed, use the commandline to see output * Definition at line 19 of file general.h.

#define deg (  x   )     ((x)*180/PI) /*Convert to Degrees*/

Definition at line 57 of file general.h. Referenced by avoid_limits(), and gfx::degToRad().

#define EE_IMPACT   3

Definition at line 97 of file general.h. Referenced by main().

#define FALSE   0

Definition at line 80 of file general.h. Referenced by avoid_limits(), Dependency(), find_intersection_sphere(), findt_without_Betas_BANGBANG(), FSP(), init_ARM(), main(), ReduceA(), and Solution_generator().

#define FATAL   0 /* IKerror Defines */

Definition at line 87 of file general.h. Referenced by findt_with_Betas_Holonomic(), findt_with_Betas_Nonholonomic(), findt_without_Betas_BANGBANG(), findt_without_Betas_Holonomic(), findt_without_Betas_SIMPLX(), FSP(), go_next(), IKerror(), init_ARM(), Init_Globals(), main(), OPEN_FILES(), rm_blanks(), and Solutions_init().

#define JN_LIMITS   0 /* Constraint Defines */

Definition at line 93 of file general.h. Referenced by FSP(), and main().

#define K2_BND   1.0e+01 /* user-defined value for FSP */

Definition at line 74 of file general.h.

#define LAGRANGIAN   1 /* Optimization Defines */

Definition at line 81 of file general.h. Referenced by FSP(), and main().

#define MAX (  a, b   )     ((a) > (b) ? (a) : (b))

Definition at line 60 of file general.h. Referenced by mat_malloc(), and svdcmp().

#define MAX_PTS   5000 /* Sets Maximum Points in Trajectory */

Definition at line 68 of file general.h. Referenced by IKOR_driver(), and OPEN_FILES().

#define NOT_COMPLETE   -1

Definition at line 100 of file general.h. Referenced by FSP(), and Solution_generator().

#define OBSTACLES   1

Definition at line 95 of file general.h. Referenced by FSP(), and main().

#define OK   1

Definition at line 89 of file general.h. Referenced by findt_without_Betas_BANGBANG(), findt_without_Betas_Nonholonomic(), findt_without_Betas_SIMPLX(), IKOR_driver(), main(), OPEN_FILES(), Solution_generator(), and spheres().

#define ONE   1 /* STEP Defines */

Definition at line 90 of file general.h. Referenced by findt_with_Betas_Holonomic(), findt_with_Betas_Nonholonomic(), findt_without_Betas_BANGBANG(), findt_without_Betas_SIMPLX(), FSP(), and main().

#define PI   3.14159265

Definition at line 78 of file general.h. Referenced by calc_flow(), correct_euler(), ExtractRPY2(), findt_with_Betas_Nonholonomic(), findt_without_Betas_Nonholonomic(), FSP(), IKOR_driver(), and init_ARM().

#define PYTHAG (  a, b   )

Value: ((at=fabs(a)) > (bt=fabs(b)) ? \ (ct=bt/at,at*sqrt(1.0+ct*ct)) : (bt ? (ct=at/bt,bt*sqrt(1.0+ct*ct)): 0.0)) Definition at line 62 of file general.h. Referenced by svdcmp().

#define rad (  x   )     ((x)*PI/180) /*Convert to Radians*/

Definition at line 55 of file general.h. Referenced by avoid_limits(), OPEN_FILES(), and gfx::radToDeg().

#define RESTRICTED   -2

Definition at line 101 of file general.h. Referenced by Solution_generator().

#define SIGN (  a, b   )     ((b) >= 0.0 ? fabs(a) : -fabs(a))

Definition at line 61 of file general.h.

#define SIMPLEX   3

Definition at line 84 of file general.h. Referenced by FSP(), and main().

#define SMALL   5.0e-05 /* user-defined value for FSP & IKOR */

Definition at line 72 of file general.h. Referenced by CheckB(), Dependency(), ExtractRPY2(), FSP(), IKOR_driver(), ReduceA(), and RestofSoln().

#define SPAN   (FSP_data->g->rows)

Globals.h * Definition at line 52 of file general.h. Referenced by Build_Grammian2(), 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(), FSP(), and Solution_generator().

#define SPAN2   (FSP_data->g->rows - NumSpg)

Definition at line 53 of file general.h. Referenced by Solution_generator().

#define SPEED   .3 /* Flow Defines */

Definition at line 66 of file general.h. Referenced by calc_flow().

#define SQUARE (  a   )     ((a)*(a));

Definition at line 54 of file general.h. Referenced by calc_flow(), and find_intersection_sphere().

#define SWAP (  a, b   )     {double temp; temp=a;a=b;b=temp;}

Definition at line 59 of file general.h. Referenced by mat_tra().

#define TRUE   1

Definition at line 79 of file general.h. Referenced by avoid_limits(), avoid_obstacles(), Dependency(), find_intersection_sphere(), findt_without_Betas_BANGBANG(), FSP(), init_ARM(), main(), ReduceA(), RestofSoln(), and Solution_generator().

#define TWO   2

Definition at line 92 of file general.h. Referenced by avoid_limits(), avoid_obstacles(), findt_with_Betas_Holonomic(), findt_with_Betas_Nonholonomic(), findt_without_Betas_BANGBANG(), findt_without_Betas_SIMPLX(), FSP(), and main().

#define ZERO   0.0 /* General Defines */

Definition at line 76 of file general.h. Referenced by calc_flow(), ExtractRPY2(), findt_without_Betas_BANGBANG(), findt_without_Betas_SIMPLX(), FSP(), IKOR_driver(), Init_Globals(), Least_Flow(), Least_Norm(), Rebuild_gs(), and Solution_generator().

#define ZEROD_OMEGAS   2 /* Constant Orientation Define */

Definition at line 85 of file general.h. Referenced by IKOR_driver(), and main().

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Variable Documentation

MATRIX** all_links

Globals.h * Definition at line 37 of file general.h. Referenced by Init_Globals().

char ARM_file[15]

Globals.h * Definition at line 32 of file general.h. Referenced by init_ARM().

int CHANGE_SPHERES

Globals.h * Definition at line 41 of file general.h. Referenced by main(), and spheres().

FILE* datafp

Definition at line 30 of file general.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 30 of file general.h. Referenced by calc_flow(), and OPEN_FILES().

FILE * dqfile

Definition at line 30 of file general.h. Referenced by IKOR_driver(), and OPEN_FILES().

char dxLabel[6][30]

Globals.h * Definition at line 32 of file general.h. Referenced by IKOR_driver().

MATRIX * EW1

Globals.h * Definition at line 37 of file general.h. Referenced by Init_Globals().

MATRIX * EW2

Globals.h * Definition at line 37 of file general.h. Referenced by Init_Globals().

MATRIX * EW3

Globals.h * Definition at line 37 of file general.h. Referenced by Init_Globals().

MATRIX * EW4

Globals.h * Definition at line 37 of file general.h. Referenced by Init_Globals().

FILE * FLWfile

Definition at line 30 of file general.h. Referenced by calc_flow(), and OPEN_FILES().

double* LL

Globals.h * Definition at line 45 of file general.h. Referenced by find_obs_beta(), GET_JACOBIAN(), IKOR_driver(), and init_ARM().

int M

Definition at line 41 of file general.h.

char Method[5][30]

Globals.h * Definition at line 32 of file general.h.

int N

Definition at line 41 of file general.h.

char* PoorMansFile

Definition at line 32 of file general.h. Referenced by IKOR_driver(), and OPEN_FILES().

MATRIX * PW1

Globals.h * Definition at line 37 of file general.h. Referenced by Init_Globals().

MATRIX * PW2

Globals.h * Definition at line 37 of file general.h. Referenced by Init_Globals().

MATRIX * PW3

Globals.h * Definition at line 37 of file general.h. Referenced by Init_Globals().

MATRIX * PW4

Globals.h * Definition at line 37 of file general.h. Referenced by Init_Globals().

Manipulator_struct* Robot

Globals.h * Definition at line 44 of file general.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 37 of file general.h. Referenced by Init_Globals().

int STEP

Globals.h * Definition at line 41 of file general.h. Referenced by avoid_limits(), avoid_obstacles(), findt_with_Betas_Holonomic(), findt_with_Betas_Nonholonomic(), findt_without_Betas_BANGBANG(), findt_without_Betas_SIMPLX(), FSP(), IKOR_driver(), and main().

MATRIX * XW

Globals.h * Definition at line 37 of file general.h. Referenced by Init_Globals().

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