readworld.y
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85 %token _CONSTANTS _ASSIGN _PI _COS _SIN _SQRT _LINKS _JOINTS _OBSTACLES _COLLISIONS _CHECK _NO _ALL _BODY _GRANULARITY _FIX _ID _TX _TY _TZ _TXYZ _RX _RY _RZ _PRISMATIC _REVOLUTE _CREVOLUTE _SPHERICAL _UNIVERSAL _SPH_SPH _SPH_PRS_SPH _IN_PATCH _BOX _SPHERE _CYLINDER _LINE _SEGMENTS _LENGTH _RADIUS _SELFCOLLISIONS _RANGE _COLOR _RED _GREEN _BLUE _PURPLE _CYAN _YELLOW _WHITE _BLACK _GREY _DECORATION _HIDDEN _AVOID _LIMITS _INCLUDE
1241 /*we initalize the global pointer to make the parameters accesibles to any one inside the YACC module*/
Definition of the boolean type. unsigned int RWline Number of the line currently parsed when reading a .world file. Definition: error_world.c:45 void NewSegments(unsigned int n, double *x, double *y, double *z, Tcolor *c, Tpolyhedron *p) Constructor. Definition: polyhedron.c:1004 void HTransformTxyz(double tx, double ty, double tz, THTransform *t) Constructor. Definition: htransform.c:140 double GetConstantValue(unsigned int n, Tconstants *cts) Retrives a the value of a constant. Definition: constants.c:113 Tpolyhedron * GetLinkBody(unsigned int i, Tlink *l) Gets one of the convex parts of the link. Definition: link.c:271 Data structure to hold the information about the name of a file. Definition: filename.h:248 A homgeneous transform in R^3. Definition of a table of Tconstants. unsigned int CoupledWith(Tjoint *j) Returns the identifier of the joint coupled with the query joint. Definition: joint.c:1216 void NewSphere(double r, double *center, Tcolor *c, unsigned int gr, unsigned int bs, Tpolyhedron *p) Constructor. Definition: polyhedron.c:926 void NoCheckLinkObstacleCollision(unsigned int a, unsigned int b, Tworld *w) Desactivates the possible collision between a particular link and an object in the environment... Definition: world.c:1712 void NewBox(double xl, double yl, double zl, double xu, double yu, double zu, Tcolor *c, unsigned int bs, Tpolyhedron *p) Constructor. Definition: polyhedron.c:857 void NoCheckAllCollisions(unsigned int fl, unsigned int fo, Tworld *w) Desactivates all the possible collision between links and links and obstacles. Definition: world.c:1637 CBLAS_INLINE void HTransformProduct(THTransform *t1, THTransform *t2, THTransform *t3) Product of two homogeneous transforms. Definition: htransform.c:404 Definition of the Tworld type and the associated functions. Error and warning functions. void CheckAllCollisions(unsigned int fl, unsigned int fo, Tworld *w) Activates all the possible collision between links and links and obstacles. Definition: world.c:1615 unsigned int GetWorldObstacleID(char *obsName, Tworld *w) Gets the identifier of an obstacle from its name. Definition: world.c:1442 void GenerateWorldEquations(Tparameters *p, Tworld *w) Generates all the cuiksystems derived from the world information. Definition: world.c:1850 void CheckSelfCollisions(unsigned int fl, Tworld *w) Activates all the possible collision between links. Definition: world.c:1656 void AddObstacle2World(char *name, Tpolyhedron *o, Tworld *w) Adds an obstacle to the environment in the world. Definition: world.c:1393 unsigned int AddLink2World(Tlink *l, boolean object, Tworld *w) Adds a link to the mechanism in the world. Definition: world.c:1333 Definitions of constants and macros used in several parts of the cuik library. 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 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. void CreateFileName(char *path, char *name, char *suffix, char *ext, Tfilename *fn) Constructor. Definition: filename.c:22 void NewCylinder(double r, double *p1, double *p2, Tcolor *c, unsigned int gr, unsigned int bs, Tpolyhedron *p) Constructor. Definition: polyhedron.c:950 Definition of the THTransform type and the associated functions. unsigned int AddJoint2World(Tjoint *j, Tworld *w) Adds a joint to the mechanism in the world. Definition: world.c:1383 unsigned int AddConstant(char *name, double v, Tconstants *cts) Add a constant. Definition: constants.c:65 void InitPolyhedronFromFile(Tfilename *fname, Tcolor *c, unsigned int gr, unsigned int bs, Tpolyhedron *p) Constructor. Definition: polyhedron.c:727 void NewFixJoint(unsigned int id, unsigned int linkID1, Tlink *link1, unsigned int linkID2, Tlink *link2, THTransform *t, Tjoint *j) Constructor. Definition: joint.c:110 char * GetFileFullName(Tfilename *fn) Gets the file full name (paht+name+extension). Definition: filename.c:151 void CheckLinkLinkCollision(unsigned int a, unsigned int b, Tworld *w) Activates the possible collision between a particular pair of links. Definition: world.c:1685 #define MEM_DUP(_var, _n, _type) Duplicates a previously allocated memory space. Definition: defines.h:414 Definition of the Tcolor type and the associated functions. #define NO_UINT Used to denote an identifier that has not been initialized. Definition: defines.h:435 unsigned int GetWorldLinkID(char *linkName, Tworld *w) Gets the identifier of a link from its name. Definition: world.c:1437 Definition of the Tvector type and the associated functions. 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 Tlink * GetWorldLink(unsigned int linkID, Tworld *w) Gets a link from its identifier. Definition: world.c:1447 void NoCheckLinkLinkCollision(unsigned int a, unsigned int b, Tworld *w) Desactivates the possible collision between a particular pair of links. Definition: world.c:1694 Tjoint * GetWorldJoint(unsigned int jointID, Tworld *w) Gets a joint from its identifier. Definition: world.c:1452 unsigned int GetWorldNJoints(Tworld *w) Gets the number of joints in the mechanism included in the world. Definition: world.c:1462 unsigned int GetConstantWithName(char *name, Tconstants *cts) Retrives a constant from the set. Definition: constants.c:88 #define MEM_EXPAND(_var, _n, _type) Expands a previously allocated memory space. Definition: defines.h:404 void GetPolyhedronDefiningPoint(unsigned int i, double *point, Tpolyhedron *p) Gets a point defining a a object. Definition: polyhedron.c:1190 double GetParameter(unsigned int n, Tparameters *p) Gets the value for a particular parameter. Definition: parameters.c:93 void NoCheckSelfCollisions(unsigned int fl, Tworld *w) Desactivates all the possible collision between links. Definition: world.c:1671 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 void CheckLinkObstacleCollision(unsigned int a, unsigned int b, Tworld *w) Activates the possible collision between a particular link and an object in the environment. Definition: world.c:1703 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 Error function specific of world. 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 void NewLine(double *p1, double *p2, Tcolor *c, unsigned int bs, Tpolyhedron *p) Constructor. Definition: polyhedron.c:977 |
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