Institut de Robòtica i Informàtica Industrial
KRD Group

The CuikSuite Project

Tequation Struct Reference

An equation. More...

#include <equation.h>

Collaboration diagram for Tequation:
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Data Fields

unsigned int type
unsigned int cmp
unsigned int order
double value
unsigned int maxMonomials
unsigned int nMonomials
Tmonomial ** monomials
Tvariable_set vars

Detailed Description

An equation with linear, quadratic or bilinear terms.

NOTE: An equation can be seen as a polynomial (in)equated to a constant value and, thus, as a polynomial with an offset (equal to the opposite of the righ-hand value of the equation). Therefore in many places in the CuikSuite equations are used as polynomials, ignoring the associated (in)equality. This can be a bit confusing but implementing a separate type for the polynomials will let the equation type almost empty.

We can have different types of equations according to their role in the problem:

  • SYSTEM_EQ An equation obtained from the kinematic constraints.
  • COORD_EQ Equations defined to obtain cartesian variables (i.e., variables for corners of the mechanism links and bodies) from system ones (i.e., variables defining the valid mechanism poses).
  • DUMMY_EQ Parabolas and saddle equations obtained from the linealization of non-linear equations.
  • DERIVED_EQ Equation obtained via the function DeriveEquation
See also:
equation.h equation.c

Definition at line 215 of file equation.h.

Field Documentation

unsigned int Tequation::type

Type of equation SYSTEM_EQ, COORD_EQ, DUMMY_EQ, DERIVED_EQ.

Definition at line 216 of file equation.h.

Referenced by CmpEquations(), CopyEquation(), DeriveEquation(), GetEquationType(), InitEquation(), PurgeEquation(), ResetEquation(), RewriteEquation(), and SetEquationType().

unsigned int Tequation::cmp

Relational operator in the equation LEQ, GEQ, EQU.

Definition at line 218 of file equation.h.

Referenced by CmpEquations(), CopyEquation(), CtScaleEquation(), DeriveEquation(), EquationFromLinearConstraint(), EvaluateEquation(), EvaluateEquationInt(), GetEquationCmp(), InitEquation(), IsSimplificable(), NormalizeEquation(), ParabolaEquation(), PrintEquation(), PrintMonomials(), PurgeEquation(), ReplaceVariableInEquation(), ResetEquation(), RewriteEquation(), SaddleEquation(), SetEquationCmp(), SphereEquation(), and VarScaleEquation().

unsigned int Tequation::order

Order of the equation (1-lineal, 2-bilineal, 2-quadratic).

Definition at line 219 of file equation.h.

Referenced by AddMonomial(), CopyEquation(), DeriveEquation(), GetEquationOrder(), InitEquation(), and ResetEquation().

double Tequation::value

Right-hand value of the equation.

Definition at line 220 of file equation.h.

Referenced by AccumulateEquations(), AddMonomial(), CircleEquation(), CmpEquations(), CopyEquation(), CtScaleEquation(), DeriveEquation(), EquationFromLinearConstraint(), GetEquationValue(), InitEquation(), IsSimplificable(), LinearEquation2LinearConstraint(), NormalizeEquation(), ParabolaEquation(), PrintEquation(), PrintMonomials(), PurgeEquation(), ReplaceVariableInEquation(), ResetEquation(), RewriteEquation(), SaddleEquation(), SetEquationValue(), SphereEquation(), and VarScaleEquation().

unsigned int Tequation::maxMonomials

Maximum number of monomials in the equation.

Definition at line 222 of file equation.h.

Referenced by AddMonomial(), CopyEquation(), DeriveEquation(), and InitEquation().

unsigned int Tequation::nMonomials

Current number of monomials in the equation.

Definition at line 223 of file equation.h.

Referenced by AccumulateEquations(), AddMonomial(), CircleEquation(), CmpEquations(), CopyEquation(), CtScaleEquation(), DeriveEquation(), EvaluateEquation(), EvaluateEquationInt(), GetNumMonomials(), InitEquation(), IsSimplificable(), LinearEquation2LinearConstraint(), NormalizeEquation(), ParabolaEquation(), PrintEquation(), PrintMonomials(), PurgeEquation(), ReplaceVariableInEquation(), ResetEquationMonomials(), RewriteEquation(), SaddleEquation(), SphereEquation(), and VarScaleEquation().

Tmonomial** Tequation::monomials

Array with pointers to the monomials of the equation.

Definition at line 224 of file equation.h.

Referenced by AccumulateEquations(), AddMonomial(), BilinearEquation(), CircleEquation(), CmpEquations(), CopyEquation(), CtScaleEquation(), DeleteEquation(), DeriveEquation(), EvaluateEquation(), EvaluateEquationInt(), FindMonomial(), GetMonomial(), InitEquation(), IsSimplificable(), LinearEquation(), LinearEquation2LinearConstraint(), NormalizeEquation(), ParabolaEquation(), PrintEquation(), PrintMonomials(), PurgeEquation(), ReplaceVariableInEquation(), ResetEquationMonomials(), RewriteEquation(), SaddleEquation(), SphereEquation(), and VarScaleEquation().

Tvariable_set Tequation::vars

Variables involved in the equation monomials.

Definition at line 226 of file equation.h.

Referenced by AddMonomial(), CopyEquation(), DeleteEquation(), DeriveEquation(), GetEquationVariables(), InitEquation(), IsSimplificable(), ResetEquation(), and VarScaleEquation().

The documentation for this struct was generated from the following file: