cuikdim.c File Reference Detailed DescriptionA tool compute the dimension of the manifold implicitly defined by a set of equations (or encoded in a world file). To compute this dimension we assume that the configuration given in the joints/links file is a regular configuration. The dimension of the implicit manifold is know typically a priori (and set in the N_DOF parameter) In many cases, however the presence of redundant constraints or special parameters (symmetries, etc) make it hard to figure out this dimension. To address this problems we provide this small application that numerically determines the dimension of the implicitly defined manifold. Note that the dimension is computed up to the given numerical accuracy (parameter EPSILON). Additonally note that the tools relying on an atlas can automatially determine the dimension of the implicit manifold. This is achieved setting N_DOF to 0. Definition in file cuikdim.c.
Function Documentation
Main body of the cuikdim application. A tool compute the dimension of the manifold implicitly defined by a set of equations (or encoded in a world file). To compute this dimension we assume that the configuration given in the joints/links file is a regular configuration. The dimension of the implicit manifold is know typically a priori (and set in the N_DOF parameter) In many cases, however the presence of redundant constraints or special parameters (symmetries, etc) make it hard to figure out this dimension. To address this problems we provide this small application that numerically determines the dimension of the implicitly defined manifold. Note that the dimension is computed up to the given numerical accuracy (parameter EPSILON). Additonally note that the tools relying on an atlas can automatially determine the dimension of the implicit manifold. This is achieved setting N_DOF to 0. Use:
where
The file extensions are not required.
Definition at line 95 of file cuikdim.c. References ChangeParameter(), CreateFileName(), CS_WD_DELETE, CS_WD_GET_NUM_SYSTEM_VARS, CS_WD_INIT, CT_N_DOF, DeleteAtlas(), DeleteFileName(), DeleteParameters(), FALSE, GetFileFullName(), InitAtlasFromPoint(), InitParametersFromFile(), PARAM_EXT, ReadOneSample(), and TRUE. |
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