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

#include <IKOR/general.h>

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Functions
void	IKerror (int error_vector, int fatal, char *mesg)
Solutions *	Solutions_init (int M, int N)
void	Solutions_free (Solutions *Temp)
	GetData (MATRIX *A, MATRIX *b)
int	spheres (spheredata, FILE *datafp)
void	fmat_pr (FILE *checkfile, char *string, MATRIX *a)
void	fmat_prf (FILE *checkfile, char *string, MATRIX *a)
void	fprint_norm (FILE *outfile, MATRIX *dq, FILE *datafp)
void	fprint_hist (FILE *outfile, History *Old_DQs)
void	fdq_pr (FILE *DQFile, History Old_DQs)

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Function Documentation

void fdq_pr (  FILE *  DQFile, History  Old_DQs )

Definition at line 385 of file useful_UTILS.c. References History_Element::DQ, History::dq, HIST_SIZE, MATRIX::p, History_Element::time, and History::whereami.

void fmat_pr (  FILE *  checkfile, char *  string, MATRIX *  a )

Definition at line 271 of file useful_UTILS.c. References MATRIX::cols, MATRIX::p, and MATRIX::rows. Referenced by avoid_obstacles(), BLOCK_COL_FIND_X(), Build_Grammian2(), CALC_PSEUDO(), 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(), IKOR_driver(), Least_Flow(), Least_Norm(), OPEN_FILES(), RestofSoln(), and Solution_generator().

void fmat_prf (  FILE *  checkfile, char *  string, MATRIX *  a )

Definition at line 286 of file useful_UTILS.c. References MATRIX::cols, MATRIX::p, and MATRIX::rows. Referenced by CALC_PSEUDO(), findt_with_Betas_Holonomic(), and IKOR_driver().

void fprint_hist (  FILE *  outfile, History *  Old_DQs )

Definition at line 353 of file useful_UTILS.c. References History_Element::DQ, History::dq, HIST_SIZE, MATRIX::p, MATRIX::rows, History_Element::time, and History::whereami.

void fprint_norm (  FILE *  outfile, MATRIX *  dq, FILE *  datafp )

Definition at line 317 of file useful_UTILS.c. References datafp, and DEBUG. Referenced by IKOR_driver().

GetData (  MATRIX *  A, MATRIX *  b )

Definition at line 156 of file useful_UTILS.c. References MATRIX::p. Referenced by IKOR_driver().

void IKerror (  int  error_vector, int  fatal, char *  mesg )

Definition at line 38 of file useful_UTILS.c. References FATAL, Manipulator_struct::NA, and Robot. Referenced by 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(), go_next(), IKOR_driver(), init_ARM(), Init_Globals(), main(), OPEN_FILES(), rm_blanks(), Solution_generator(), Solutions_init(), and spheres().

void Solutions_free (  Solutions *  Temp  )

Definition at line 131 of file useful_UTILS.c. References Solutions::betall, Solutions::g, mat_free(), Solutions::Qarray, and Solutions::Xelim. Referenced by IKOR_driver().

Solutions* Solutions_init (  int  M, int  N )

Definition at line 93 of file useful_UTILS.c. References Solutions::betall, Solutions::cn, MATRIX::cols, FATAL, Solutions::g, IKerror(), Solutions::M, mat_malloc(), Solutions::Mred, Solutions::N, Solutions::Nred, MATRIX::p, Solutions::Qarray, MATRIX::rows, and Solutions::Xelim. Referenced by IKOR_driver().

int spheres (  spheredata  , FILE *  datafp )

Definition at line 189 of file useful_UTILS.c. References CHANGE_SPHERES, datafp, IKerror(), and OK. Referenced by IKOR_driver().

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