Tequation Struct Reference

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 236 of file equation.h.

Data Fields
unsigned int	type
boolean	polynomial
unsigned int	cmp
unsigned int	order
double	value
unsigned int	maxMonomials
unsigned int	nMonomials
Tmonomial **	monomials
Tvariable_set	vars

Field Documentation

unsigned int Tequation::type

Type of equation SYSTEM_EQ, COORD_EQ, DUMMY_EQ, DERIVED_EQ.

Definition at line 237 of file equation.h.

Referenced by CleanInfEquation(), CmpEquations(), CopyEquation(), DeriveEquation(), GetEquationType(), InitEquation(), ProductEquations(), PurgeEquation(), ResetEquation(), RewriteEquation2Orig(), RewriteEquation2Simp(), and SetEquationType().

boolean Tequation::polynomial

TRUE if the equation is polynomial

Definition at line 239 of file equation.h.

Referenced by AddScaledMonomial(), BilinealMonomialEquation(), BilinearEquation(), CircleEquation(), CmpEquations(), CopyEquation(), DeriveEquation(), InitEquation(), IsSimplificable(), LinearEquation(), LinearEquation2LinearConstraint(), ParabolaEquation(), PolynomialEquation(), ReplaceVariableInEquation(), ResetEquation(), ResetEquationMonomials(), RewriteEquation2Orig(), RewriteEquation2Simp(), SaddleEquation(), and SphereEquation().

unsigned int Tequation::cmp

Relational operator in the equation LEQ, GEQ, EQU.

Definition at line 241 of file equation.h.

Referenced by BilinealMonomialEquation(), CleanInfEquation(), CmpEquations(), CopyEquation(), CtScaleEquation(), DeriveEquation(), EquationFromLinearConstraint(), EvaluateEquation(), EvaluateEquationInt(), EvaluateWholeEquation(), GetEquationBounds(), GetEquationCmp(), InitEquation(), IsSimplificable(), NormalizeEquation(), ParabolaEquation(), PrintEquation(), PrintMonomials(), ProductEquations(), PurgeEquation(), ReplaceVariableInEquation(), ResetEquation(), RewriteEquation2Orig(), RewriteEquation2Simp(), SaddleEquation(), SetEquationCmp(), and VarScaleEquation().

unsigned int Tequation::order

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

Definition at line 242 of file equation.h.

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

double Tequation::value

Right-hand value of the equation.

Definition at line 243 of file equation.h.

Referenced by AccumulateEquations(), AddScaledMonomial(), CircleEquation(), CleanInfEquation(), CmpEquations(), CopyEquation(), CtScaleEquation(), DeriveEquation(), EmptyEquation(), EquationFromLinearConstraint(), EvaluateWholeEquation(), GetEquationBounds(), GetEquationValue(), InitEquation(), IsSimplificable(), LinearEquation2LinearConstraint(), NormalizeEquation(), PrintEquation(), PrintMonomials(), ProductEquations(), PurgeEquation(), ReplaceVariableInEquation(), ResetEquation(), RewriteEquation2Orig(), RewriteEquation2Simp(), SetEquationValue(), SphereEquation(), VarAccumulateEquations(), and VarScaleEquation().

unsigned int Tequation::maxMonomials

Maximum number of monomials in the equation.

Definition at line 245 of file equation.h.

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

unsigned int Tequation::nMonomials

Current number of monomials in the equation.

Definition at line 246 of file equation.h.

Referenced by AccumulateEquations(), AddScaledMonomial(), BilinealMonomialEquation(), CircleEquation(), CleanInfEquation(), CmpEquations(), CopyEquation(), CtScaleEquation(), DeriveEquation(), EmptyEquation(), EvaluateEquation(), EvaluateEquationInt(), EvaluateWholeEquation(), GetNumMonomials(), InitEquation(), IsSimplificable(), LinearEquation2LinearConstraint(), NormalizeEquation(), ParabolaEquation(), PrintEquation(), PrintMonomials(), ProductEquations(), PurgeEquation(), ReplaceVariableInEquation(), ResetEquationMonomials(), RewriteEquation2Orig(), RewriteEquation2Simp(), SaddleEquation(), SphereEquation(), VarAccumulateEquations(), and VarScaleEquation().

Tmonomial** Tequation::monomials

Array with pointers to the monomials of the equation.

Definition at line 247 of file equation.h.

Referenced by AccumulateEquations(), AddScaledMonomial(), BilinealMonomialEquation(), BilinearEquation(), CircleEquation(), CleanInfEquation(), CmpEquations(), CopyEquation(), CtScaleEquation(), DeleteEquation(), DeriveEquation(), EvaluateEquation(), EvaluateEquationInt(), EvaluateWholeEquation(), FindMonomial(), GetMonomial(), InitEquation(), IsSimplificable(), LinearEquation(), LinearEquation2LinearConstraint(), NormalizeEquation(), ParabolaEquation(), PrintEquation(), PrintMonomials(), ProductEquations(), PurgeEquation(), ReplaceVariableInEquation(), ResetEquationMonomials(), RewriteEquation2Orig(), RewriteEquation2Simp(), SaddleEquation(), SphereEquation(), VarAccumulateEquations(), and VarScaleEquation().

Tvariable_set Tequation::vars

Variables involved in the equation monomials.

Definition at line 249 of file equation.h.

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