joint.h
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Definition of the boolean type. void GetJointTransform(double *dof, THTransform *t, Tjoint *j) Computes the transform induced by the joint. Definition: joint.c:2527 void RegenerateJointSolution(Tparameters *p, TCuikSystem *cs, double *sol, Tjoint *j) Computes the values for the dummy variables used in the joint equations. Definition: joint.c:2256 void GetJointPoint(unsigned int link, unsigned int point, double *p, Tjoint *j) Gets one of the points defining the rotation/sliding axis for the joint. Definition: joint.c:1012 signed int GetJointDOF(Tjoint *j) Computes the degrees of freedom allowed by a given joint. Definition: joint.c:1224 double GetJointMaxCoordinate(Tjoint *j) Returns the maximum coordinate value for all the objects in the joint. Definition: joint.c:3130 void GetJointDOFValues(Tparameters *p, THTransform *t1, THTransform *t2, double *dof, Tjoint *j) Recovers the joint DOFs from the absolute poses of the links. Definition: joint.c:2644 A homgeneous transform in R^3. Tinterval * GetJointSecondRange(Tjoint *j) Checks the second limit of a universal joint. Definition: joint.c:1032 Tlink * JointFrom(Tjoint *j) Gets a pointer to the first link involved in the joint. Definition: joint.c:946 unsigned int CoupledWith(Tjoint *j) Returns the identifier of the joint coupled with the query joint. Definition: joint.c:1216 Definition of the TEqVEctor type and the associated functions. void GenerateJointEquationsInBranch(Tparameters *p, double s, TCuikSystem *cs, Tequation *eq, Tjoint *j) Generate the constraints of a joint in a sequence. Definition: joint.c:1755 void GetJointName(char **name, Tjoint *j) Returns a string identifying the joint. Definition: joint.c:961 Tlink * JointTo(Tjoint *j) Gets a pointer to the second link involved in the joint. Definition: joint.c:956 void NewFreeJoint(unsigned int id, unsigned int linkID1, Tlink *link1, unsigned int linkID2, Tlink *link2, Tjoint *j) Constructor. Definition: joint.c:101 unsigned int GetJointRangeTopology(unsigned int nr, Tjoint *j) Returns the topology of one of the ranges of the joint. Definition: joint.c:1137 void NewRevoluteJoint(unsigned int id, unsigned int r, unsigned int linkID1, Tlink *link1, unsigned int linkID2, Tlink *link2, double **points, boolean hasLimits, Tinterval *range, double **rPoints, boolean avoidLimits, double avoidLimitsWeight, Tjoint *coupled, Tjoint *j) Constructor. Definition: joint.c:132 void NewUniversalJoint(unsigned int id, unsigned int r, unsigned int linkID1, Tlink *link1, unsigned int linkID2, Tlink *link2, double **points, boolean hasLimits, Tinterval *range1, Tinterval *range2, double **rPoints, boolean avoidLimits, double avoidLimitsWeight, Tjoint *j) Constructor. Definition: joint.c:288 void PrintJointAxes(Tparameters *p, FILE *f, TCuikSystem *cs, double *sol, double *r, Tjoint *j) Prints the joint axis in world coordinates. Definition: joint.c:3271 void NewInPatchJoint(unsigned int id, unsigned int linkID1, Tlink *link1, unsigned int linkID2, Tlink *link2, double **points, double **patch, boolean avoidLimits, double avoidLimitsWeight, Tjoint *j) Constructor. Definition: joint.c:709 A table of parameters. Definition of the TCuikSystem type and the associated functions. Definition of the THTransform type and the associated functions. void MoveJointFromTransforms(Tparameters *p, Tplot3d *pt, THTransform *t1, THTransform *t2, Tjoint *j) Displaces a joint in a 3d scene. Definition: joint.c:3199 void NewFixJoint(unsigned int id, unsigned int linkID1, Tlink *link1, unsigned int linkID2, Tlink *link2, THTransform *t, Tjoint *j) Constructor. Definition: joint.c:110 void GetJointTransSeq(Tparameters *p, TCuikSystem *cs, TTransSeq *ts, Tjoint *j) Build the sequence of transforms passing through the joint. Definition: joint.c:2895 void PrintJoint(FILE *f, Tjoint *j) Stores the joint information into a file. Definition: joint.c:3310 A cuiksystem, i.e., a set of variables and equations defining a position analysis problem... Definition: cuiksystem.h:181 Definition of the Tcolor type and the associated functions. unsigned int JointFromID(Tjoint *j) Gets the identifier of the first link involved in the joint. Definition: joint.c:941 void GenerateJointSolution(Tparameters *p, double *dof, THTransform *t1, THTransform *t2, TCuikSystem *cs, double *sol, Tjoint *j) Generates a solution point from degrees of freedom. Definition: joint.c:2330 void NewSphPrsSphJoint(unsigned int id, unsigned int linkID1, Tlink *link1, unsigned int linkID2, Tlink *link2, double **points, Tinterval *range, double r, Tcolor *color, Tjoint *j) Constructor. Definition: joint.c:652 void NewSphericalJoint(unsigned int id, unsigned int linkID1, Tlink *link1, unsigned int linkID2, Tlink *link2, double **points, boolean hasLimits, double range, double **rPoints, boolean avoidLimits, double avoidLimitsWeight, Tjoint *j) Constructor. Definition: joint.c:452 Definition of the Tlink type and the associated functions. boolean IsJointAllSpheres(Tjoint *j) Identifies joint formed only by spheres. Definition: joint.c:1004 void GenerateJointRangeSingularityEquations(Tparameters *p, TCuikSystem *cs, Tjoint *j) Modifies the cuik system to detect end range singularities. Definition: joint.c:1276 double GetJointLength(Tjoint *j) Returns the length of a spherical-spherical joint. Definition: joint.c:1268 void GenerateJointRangeEquations(Tparameters *p, TCuikSystem *cs, Tjoint *j) Generate the constraints related with the joint limits. Definition: joint.c:1463 void GenerateJointEquations(Tparameters *p, double maxCoord, TCuikSystem *cs, Tjoint *j) Generate the constraints related with the joint. Definition: joint.c:1920 void GetJointRangeN(unsigned int nr, double mt, Tinterval *r, Tjoint *j) Returns one of the ranges of the joint. Definition: joint.c:1037 void NewPrismaticJoint(unsigned int id, unsigned int linkID1, Tlink *link1, unsigned int linkID2, Tlink *link2, double **points, Tinterval *range, boolean avoidLimits, double avoidLimitsWeight, Tjoint *j) Constructor. Definition: joint.c:541 unsigned int JointToID(Tjoint *j) Gets the identifier of the second link involved in the joint. Definition: joint.c:951 void NewSphSphJoint(unsigned int id, unsigned int linkID1, Tlink *link1, unsigned int linkID2, Tlink *link2, double **points, double l, double r, Tcolor *color, Tjoint *j) Constructor. Definition: joint.c:609 Definition of the Tinterval type and the associated functions. void RegenerateJointBox(Tparameters *p, TCuikSystem *cs, Tbox *b, Tjoint *j) Computes the values for the dummy variables used in the joint equations. Definition: joint.c:2292 |
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