Detailed Description

Definition of the Tmechanism type and the associated functions.

See Also: Tmechanism, mechanism.c.

Definition in file mechanism.h.

Data Structures
struct	Tmechanism
	A mechanism description. More...

Macros
#define	INIT_NUM_LINKS 10
	Initial room for links in a mechanism. More...

#define	INIT_NUM_JOINTS 10
	Initial room for joints in a mechanism. More...

Functions
void	InitMechanism (Tmechanism *m)
	Constructor. More...

unsigned int	GetMechanismNLinks (Tmechanism *m)
	Gets the number of links of a mechanism. More...

unsigned int	GetMechanismNJoints (Tmechanism *m)
	Gets the number of joints of a mechanism. More...

unsigned int	GetMechanismNBodies (Tmechanism *m)
	Gets the number of convex sub-parts (or bodies) of a mechanism. More...

boolean	IsMechanismAllSpheres (Tmechanism *m)
	TRUE if the mechanism is composed by spheres only. More...

double	GetMechanismMaxCoordinate (Tmechanism *m)
	Returns the sum of the maximum coordinate value for all the links and joints in the mechanism. More...

signed int	GetMechanismMobility (Tmechanism *m)
	Computes the mobility of a given mechanism. More...

void	GetMechanismDefiningPoint (unsigned int lID, unsigned int bID, unsigned int pID, double p, Tmechanism m)
	Gets a point from the mechanism. More...

unsigned int	AddLink2Mechanism (Tlink l, Tmechanism m)
	Adds a link to a mechanism. More...

unsigned int	AddJoint2Mechanism (Tjoint j, Tmechanism m)
	Adds a joint to a mechanism. More...

unsigned int	AddBody2Mechanism (unsigned int lID, Tpolyhedron b, Tmechanism m)
	Adds a convex sub-part to a mechanism. More...

unsigned int	GetLinkID (char name, Tmechanism m)
	Gets the identifier of a link given its name. More...

Tlink *	GetMechanismLink (unsigned int i, Tmechanism *m)
	Gets a link given its identifier. More...

unsigned int	GetMechanismLinkID (char ln, Tmechanism m)
	Gets a link identifier given its name. More...

Tjoint *	GetMechanismJoint (unsigned int i, Tmechanism *m)
	Gets a joint given its identifier. More...

boolean	AllRevolute (Tmechanism *m)
	TRUE if all joints are revolute joints. More...

void	PlotMechanism (Tplot3d pt, double axesLength, Tmechanism m)
	Adds a mechanism to a 3d scene. More...

void	RegenerateMechanismSolution (Tparameters p, TCuikSystem cs, double sol, Tmechanism m)
	Computes the values for the non-system variables used to represent the rotation matrices for all links in the mechanism. More...

void	RegenerateMechanismBox (Tparameters p, TCuikSystem cs, Tbox b, Tmechanism m)
	Computes the values for the non-system variables. More...

void	GetMechanismDOFsFromTransforms (Tparameters p, THTransform tl, double dof, Tmechanism m)
	Extract the joint DOF values form the poses of all links. More...

void	MechanismPrintAtoms (FILE f, THTransform tl, Tmechanism *m)
	Prints the center of the atoms in a mechanism. More...

void	MechanismStoreRigidAtoms (FILE f, THTransform tl, Tmechanism *m)
	Auxiliary function for WorldStoreRigidGroups. More...

void	MoveMechanismFromTransforms (Tparameters pr, Tplot3d pt, THTransform tl, Tmechanism m)
	Displaces a mechanism in a 3d scene. More...

void	PrintMechanism (FILE f, char path, char prefix, Tmechanism m)
	Stores the mechanisms information into a file. More...

void	DeleteMechanism (Tmechanism *m)
	Destructor. More...

Macro Definition Documentation

#define INIT_NUM_LINKS 10

Initial room for links in a mechanisms. It will be enlarged if necessary.

See Also: Tmechanism

Definition at line 28 of file mechanism.h.

Referenced by InitMechanism().

#define INIT_NUM_JOINTS 10

Initial room for joints in a mechanisms. It will be enlarged if necessary.

See Also: Tmechanism

Definition at line 36 of file mechanism.h.

Referenced by CreateBranch(), and InitMechanism().

Function Documentation

void InitMechanism ( Tmechanism * m )

Defines an empty mechanism.

Parameters

m	The mechanism to initialize.

Definition at line 16 of file mechanism.c.

References Tmechanism::allSpheres, CopyVoidPtr(), DeleteVoidPtr(), INIT_NUM_JOINTS, INIT_NUM_LINKS, InitVector(), Tmechanism::joints, Tmechanism::links, Tmechanism::maxCoord, Tmechanism::nbodies, and TRUE.

Referenced by InitWorld().

unsigned int GetMechanismNLinks ( Tmechanism * m )

Gets the number of links of a mechanism.

Parameters

m	The mechanism to query.

Returns: The number of links of a mechanism.

Definition at line 25 of file mechanism.c.

References Tmechanism::links, and VectorSize().

Referenced by AddLink2Mechanism(), DeleteMechanism(), GetLinkID(), GetMechanismMobility(), InitPQPCD(), InitSolidCD(), InitVcollideCD(), MechanismPrintAtoms(), MechanismStoreRigidAtoms(), MoveMechanismFromTransforms(), PlotMechanism(), PrintMechanism(), RegenerateMechanismBox(), and RegenerateMechanismSolution().

unsigned int GetMechanismNJoints ( Tmechanism * m )

Gets the number of joints of a mechanism.

Parameters

m	The mechanism to query.

Returns: The number of joints of a mechanism.

Definition at line 30 of file mechanism.c.

References Tmechanism::joints, and VectorSize().

Referenced by AddJoint2Mechanism(), AllRevolute(), DeleteMechanism(), GetMechanismDOFsFromTransforms(), GetMechanismMobility(), MoveMechanismFromTransforms(), PlotMechanism(), PrintMechanism(), RegenerateMechanismBox(), and RegenerateMechanismSolution().

unsigned int GetMechanismNBodies ( Tmechanism * m )

Gets the number of convex sub-parts of a mechanism added all over the links of the mechanism.

Parameters

m	The mechanism to query.

Returns: The number of convex bodies of a mechanism.

Definition at line 35 of file mechanism.c.

References Tmechanism::nbodies.

Referenced by InitPQPCD(), InitSolidCD(), and InitVcollideCD().

boolean IsMechanismAllSpheres ( Tmechanism * m )

Identifies mechanisms composed by spheres only. Mechanism derived from molecules are typically composed by spheres only and we can take advantage of this by implementing speciallzed collision detection precedures.

Parameters

m	The mechanism to query.

Returns: TRUE if all (relevant) bodies are spheres.

Definition at line 40 of file mechanism.c.

References Tmechanism::allSpheres.

Referenced by IsMechanismInWorldAllSpheres(), and WorldAtomJacobian().

double GetMechanismMaxCoordinate ( Tmechanism * m )

Returns the sum of the maximum coordinate value for all the links and joints in the mechanism. This is used in higher levels to define an over-estimate bounding-box of the mechanism. This bounding box is used to define the ranges for some of the coordinate and separating planes variables.

Parameters

m	The mechanism to query.

Returns: The sum of the maximum coordinate values for all links and joints.

Definition at line 45 of file mechanism.c.

References Tmechanism::maxCoord.

Referenced by GenerateWorldEquations().

signed int GetMechanismMobility ( Tmechanism * m )

Computes the degrees of freedom of a mechanism.

The degrees of freedom are computed as 6 per link (but for the ground link) less the degrees of freedom reduced by the joints (6-the degrees of freedom of the joint given by GetJointDOF). Of course, this computation assumes that all link dimensions are general. For special link sizes/joint points the mechanisms can have more degrees of freedom than the returned by this function (i.e., the mechanism can be architecturally singular).

Parameters

m	The mechanism to query.

Returns: The degrees of freedom of the mechanism.

Definition at line 73 of file mechanism.c.

References GetJointDOF(), GetMechanismJoint(), GetMechanismNJoints(), and GetMechanismNLinks().

Referenced by GetWorldMobility().

void GetMechanismDefiningPoint	(	unsigned int	lID,
		unsigned int	bID,
		unsigned int	pID,
		double *	p,
		Tmechanism *	m
	)

Gets a 3d point from the mechanism, i.e., from a convex body of a link of the mechanism.

Note that identifier are numbered form 0.

Parameters

lID	Identifier of the link.
bID	Identifier of the convex body.
pID	Identifier of the point.
p	3d vector where to store the point.
m	The mechanisms to query.

Definition at line 88 of file mechanism.c.

References GetLinkBody(), GetMechanismLink(), and GetPolyhedronDefiningPoint().

unsigned int AddLink2Mechanism	(	Tlink *	l,
		Tmechanism *	m
	)

Adds a link to a mechanism.

Parameters

l	The link to add.
m	The mechanism to update.

Returns: The identifier assigned to the new link (in principle this is the position of the vector of links where the new link is stored).

Definition at line 94 of file mechanism.c.

References Tmechanism::allSpheres, CopyLink(), GetLinkMaxCoordinate(), GetMechanismNLinks(), IsLinkAllSpheres(), LinkNBodies(), Tmechanism::links, Tmechanism::maxCoord, Tmechanism::nbodies, NEW, and SetVectorElement().

Referenced by AddLink2World().

unsigned int AddJoint2Mechanism	(	Tjoint *	j,
		Tmechanism *	m
	)

Adds a joint to a mechanism.

Parameters

j	The joint to add.
m	The mechanism to update.

Returns: The identifier assigned to the new joint (in principle this is the position of the vector of joints where the new joint is stored).

Definition at line 111 of file mechanism.c.

References Tmechanism::allSpheres, CopyJoint(), GetJointMaxCoordinate(), GetMechanismNJoints(), IsJointAllSpheres(), Tmechanism::joints, Tmechanism::maxCoord, NEW, and SetVectorElement().

Referenced by AddJoint2World(), and GenerateKinTree().

unsigned int AddBody2Mechanism	(	unsigned int	lID,
		Tpolyhedron *	b,
		Tmechanism *	m
	)

Adds a convex sub-part to a mechanism.

Parameters

lID	The link where the new sub-part has to be added.
b	The convex sub-part to add.
m	The mechanism to update.

Returns: The total number of convex bodies in the mechanism after adding the new body.

Definition at line 127 of file mechanism.c.

References AddBody2Link(), Tmechanism::allSpheres, Error(), GetLinkMaxCoordinate(), GetMechanismLink(), IsLinkAllSpheres(), Tmechanism::maxCoord, and Tmechanism::nbodies.

unsigned int GetLinkID	(	char *	name,
		Tmechanism *	m
	)

Gets the identifier of a link given its name.

Parameters

name	The name of the link.
m	The mechanisms to query

Returns: The identifier of the link with the given name or NO_UINT if the mechanisms does not include any link with that name.

Definition at line 50 of file mechanism.c.

References FALSE, GetLinkName(), GetMechanismLink(), GetMechanismNLinks(), NO_UINT, and TRUE.

Referenced by GetWorldLinkID().

Tlink* GetMechanismLink	(	unsigned int	i,
		Tmechanism *	m
	)

Gets a link given its identifier.

Parameters

i	The identifier of the link to retrive.
m	The mechanism to query.

Returns: A pointer to the link with the given identifier or NULL if there is no link with the provided identifier.

Definition at line 146 of file mechanism.c.

References GetVectorElement(), and Tmechanism::links.

Referenced by AddBody2Mechanism(), DeleteMechanism(), GenerateEquationsFromBranch(), GenerateKinTree(), GenerateWorldSingularityEquations(), GetLinkID(), GetLinkTransformsFromSolution(), GetMechanismDefiningPoint(), GetWorldLink(), GetWorldSimpVariableMask(), InitPQPCD(), InitSolidCD(), InitVcollideCD(), InitWorldKinCS(), MechanismPrintAtoms(), MechanismStoreRigidAtoms(), MoveMechanismFromTransforms(), PlotMechanism(), PrintCollisionInfoInt(), PrintCollisions(), PrintMechanism(), RegenerateMechanismBox(), RegenerateMechanismSolution(), StoreCollisionInfoInt(), WorldAtomJacobian(), and WorldDOF2Sol().

unsigned int GetMechanismLinkID	(	char *	ln,
		Tmechanism *	m
	)

Gets a link identifier given its name.

Parameters

ln	The name of the link.
m	The mechanism to query.

Returns: The identifier of the link with the given name or NO_UINT if there is no link with the provided name.

Definition at line 157 of file mechanism.c.

References FALSE, GetLinkName(), GetVectorElement(), Tmechanism::links, NO_UINT, TRUE, and VectorSize().

Referenced by GenerateWorldSingularityEquations().

Tjoint* GetMechanismJoint	(	unsigned int	i,
		Tmechanism *	m
	)

Gets a joint given its identifier.

Parameters

i	The identifier of the joint to retrive.
m	The mechanism to query.

Returns: A pointer to the joint with the given identifier or NULL if there is no joint with the provided identifier.

Definition at line 182 of file mechanism.c.

References GetVectorElement(), and Tmechanism::joints.

Referenced by AllRevolute(), Branches2Links(), DeleteMechanism(), GenerateKinTree(), GenerateWorldSingularityEquations(), GetLinkTransformsFromDOF(), GetMechanismDOFsFromTransforms(), GetMechanismMobility(), GetWorldDOFLabel(), GetWorldJoint(), GetWorldJointLabel(), GetWorldRangeDOF(), InitWorldKinCS(), IsRevoluteBinaryLink(), MoveMechanismFromTransforms(), PlotMechanism(), PrintMechanism(), PrintWorldAxes(), RegenerateMechanismBox(), RegenerateMechanismSolution(), WorldDOF2Sol(), and WorldInitDOFInfo().

boolean AllRevolute ( Tmechanism * m )

Determines if all the joints in a mechanisms are revolute joints.

In mechanisms that are all revolute-based and that have revolute binary links, the reference for some links are adjusted so that we get simpler equations. (see ChangeLinkReferenceFrame)

Parameters

m	The mechanism.

Returns: TRUE if all joints are revolute joints.

Definition at line 193 of file mechanism.c.

References GetJointType(), GetMechanismJoint(), GetMechanismNJoints(), REV_JOINT, and TRUE.

Referenced by InitWorldKinCS().

void PlotMechanism	(	Tplot3d *	pt,
		double	axesLength,
		Tmechanism *	m
	)

Adds a mechanism to a 3d scene. All convex parts of all links are added using the same frame of reference (i.e, the global one) and thus they will be displayed colliding unless they are moved.

Parameters

pt	The 3d scene where to add the mechanism.
axesLength	Length for the axes for each link. 0 not to display them.
m	The mechanism display.

See Also: MoveMechanismFromTransforms

Definition at line 209 of file mechanism.c.

References Close3dBlock(), GetMechanismJoint(), GetMechanismLink(), GetMechanismNJoints(), GetMechanismNLinks(), PlotJoint(), PlotLink(), and Start3dBlock().

Referenced by PlotWorld().

void RegenerateMechanismSolution	(	Tparameters *	p,
		TCuikSystem *	cs,
		double *	sol,
		Tmechanism *	m
	)

Solution points only include values for the system variables. However, in some formulations, the frame of reference for each link is represented using not only system variables, but dummy variable too. This function computes the values for the link-related dummy variables form the system ones for all the links in the mechanism.

Parameters

p	The set of parameters.
cs	The cuik system on which the solutions are defiened. It is used to, given the name of the variables corresponding the reference frame of the given link, retrive its numerical identifiers, i.e., the number of range of the box to use to instantiate each variable.
sol	The solution point with the values for the system variables. At the end of the function, this vector also has values for the link-related dummy variables.
m	The mechanism.

Definition at line 242 of file mechanism.c.

References GetMechanismJoint(), GetMechanismLink(), GetMechanismNJoints(), GetMechanismNLinks(), IsGroundLink, RegenerateJointSolution(), and RegenerateLinkSolution().

Referenced by GetLinkTransformsFromSolutionPoint(), MoveWorld(), PrintWorldAxes(), RegenerateWorldOriginalPoint(), RegenerateWorldSolutionPoint(), and WorldSample2DOF().

void RegenerateMechanismBox	(	Tparameters *	p,
		TCuikSystem *	cs,
		Tbox *	b,
		Tmechanism *	m
	)

This is the same as RegenerateMechanismSolution but it works in solution boxes instead of on solution points (i.e. it is interval-based instead of floating point based).

Parameters

p	The set of parameters.
cs	The cuik system on which the solutions are defiened. It is used to, given the name of the variables corresponding the reference frame of the given link, retrive its numerical identifiers, i.e., the number of range of the box to use to instantiate each variable.
b	The solution box with the values for the system variables. At the end of the function, this box also has values for the link-related dummy variables.
m	The mechanism.

Definition at line 267 of file mechanism.c.

References CT_REPRESENTATION, GetMechanismJoint(), GetMechanismLink(), GetMechanismNJoints(), GetMechanismNLinks(), GetParameter(), IsGroundLink, RegenerateJointBox(), RegenerateLinkBox(), and REP_JOINTS.

void GetMechanismDOFsFromTransforms	(	Tparameters *	p,
		THTransform *	tl,
		double *	dof,
		Tmechanism *	m
	)

Obtains the value of the degrees of freedom given the poses for all links.

Parameters

p	The set of parameters.
tl	Homogeneous transform giving the pose of the link in global coordinates.
dof	The space where to store the computed dof.
m	The mechanism to query.

Definition at line 298 of file mechanism.c.

References GetJointDOF(), GetJointDOFValues(), GetMechanismJoint(), GetMechanismNJoints(), JointFromID(), and JointToID().

Referenced by GetSolutionPointFromLinkTransforms(), and WorldSample2DOF().

void MechanismPrintAtoms	(	FILE *	f,
		THTransform *	tl,
		Tmechanism *	m
	)

Stores the centers of the atoms in a mechanism.

This is used only whent the world represents a molecule and we want to store the atom (i.e., the sphere) positions into a file.

Parameters

f	The file where to store the atom centers.
tl	Array of transforms giving the global pose for each link.
m	The mechanism to process.

Definition at line 320 of file mechanism.c.

References GetMechanismLink(), GetMechanismNLinks(), and LinkPrintAtoms().

Referenced by WorldPrintAtoms().

void MechanismStoreRigidAtoms	(	FILE *	f,
		THTransform *	tl,
		Tmechanism *	m
	)

Auxiliary function for WorldStoreRigidGroups. It basically stores the spheres giving its center and radius.

Parameters

f	The file where to store the atom centers.
tl	Array of transforms giving the global pose for each link.
m	The mechanism to process.

Definition at line 335 of file mechanism.c.

References GetMechanismLink(), GetMechanismNLinks(), IsGroundLink, LinkNAtoms(), and LinkStoreAtoms().

Referenced by WorldStoreRigidGroups().

void MoveMechanismFromTransforms	(	Tparameters *	pr,
		Tplot3d *	pt,
		THTransform *	tl,
		Tmechanism *	m
	)

Displaces a mechanism previously added to a 3d scene to a given solution piont.

Parameters

pr	The set of parameters. Only used for debug.
pt	The 3d scene where the apply the displacement.
tl	Homogeneous transform giving the pose of the link in global coordinates.
m	The mechanism to move.

Definition at line 372 of file mechanism.c.

References Close3dBlock(), GetJointDOF(), GetMechanismJoint(), GetMechanismLink(), GetMechanismNJoints(), GetMechanismNLinks(), JointFromID(), JointToID(), MoveJointFromTransforms(), MoveLinkFromTransform(), and Start3dBlock().

Referenced by MoveWorld(), and MoveWorldDOF().

void PrintMechanism	(	FILE *	f,
		char *	path,
		char *	prefix,
		Tmechanism *	m
	)

Stores the link/joint information into a file in the format valid to be read by InitWorldFromFile.

Parameters

f	The file where to store the information.
path	The working folder.
prefix	Prefix to add to the sub-files generated to describe the mechanisms (i.e., files with the geometry, mainly).
m	The mechanism with the links/joints to store.

Definition at line 414 of file mechanism.c.

References GetMechanismJoint(), GetMechanismLink(), GetMechanismNJoints(), GetMechanismNLinks(), PrintJoint(), and PrintLink().

Referenced by PrintWorld().

void DeleteMechanism ( Tmechanism * m )

Deletes the information stored in a mechanism and frees the allocated memory.

Parameters

m	The mechanism to delete.

Definition at line 441 of file mechanism.c.

References DeleteJoint(), DeleteLink(), DeleteVector(), GetMechanismJoint(), GetMechanismLink(), GetMechanismNJoints(), GetMechanismNLinks(), Tmechanism::joints, and Tmechanism::links.

Referenced by DeleteWorld().

Institut de Robòtica i Informàtica Industrial

Detailed Description

Data Structures

Macros

Functions

Macro Definition Documentation

Function Documentation

Institut de Robòtica
i Informàtica Industrial