variable.c File Reference

Detailed Description

Implementation of the functions operating on box Tvariable.

See Also

Tvariable, variable.h.

Definition in file variable.c.

Functions
void	NewVariable (unsigned int type, char *name, Tvariable *v)
	Constructor. More...
void	CopyVariable (Tvariable *v_dst, Tvariable *v_src)
	Copy constructor. More...
void	SetVariableTopology (unsigned int t, Tvariable *v)
	Sets the topology of the variable. More...
unsigned int	GetVariableTopology (Tvariable *v)
	Gets the topology of the variable. More...
unsigned int	GetVariableType (Tvariable *v)
	Gets the variable type. More...
char *	GetVariableName (Tvariable *v)
	Gets the variable name. More...
void	SetVariableInterval (Tinterval *i, Tvariable *v)
	Sets the new range for the variable. More...
Tinterval *	GetVariableInterval (Tvariable *v)
	Gets the range of valid values for the variable. More...
void	PrintVariable (FILE *f, Tvariable *v)
	Prints a variable. More...
void	DeleteVariable (Tvariable *v)
	Destructor. More...

Function Documentation

void NewVariable	(	unsigned int	type,
		char *	name,
		Tvariable *	v
	)

Creates a new variable.

Parameters

type	Type for the new variable.
name	Name for the new variable.
v	The variable to create.

Definition at line 21 of file variable.c.

References INF, Tvariable::is, Tvariable::name, NEW, NewInterval(), Tvariable::topology, TOPOLOGY_R, and Tvariable::type.

Referenced by AddJacobianEquationsInt(), AdjustBioWorldGeometry(), DummifyAndAddEquation(), GenerateEquationsFromBranch(), GenerateJointEquations(), GenerateJointRangeEquations(), GenerateJointRangeSingularityEquations(), GenerateLinkRotFLinks(), GenerateLinkRotLinks(), GenerateLinkRotQLinks(), GenerateWorldSingularityEquations(), and GetSCpSystem().

void CopyVariable	(	Tvariable *	v_dst,
		Tvariable *	v_src
	)

Creates a new variable from another one.

Parameters

v_dst	The variable to create.
v_src	The variable from where to copy.

Definition at line 33 of file variable.c.

References CopyInterval(), Tvariable::is, Tvariable::name, NEW, Tvariable::topology, and Tvariable::type.

Referenced by AddVariable(), CopyVariables(), and GetCSVariable().

void SetVariableTopology	(	unsigned int	t,
		Tvariable *	v
	)

Changes the topology of the variable. The default value for the topology is TOPOLOGY_R.

Parameters

t	The new topology.
v	The variable to modify.

Definition at line 44 of file variable.c.

References Error(), Tvariable::topology, TOPOLOGY_R, and TOPOLOGY_S.

Referenced by GenerateJointEquations().

unsigned int GetVariableTopology

(

Tvariable *

v

)

Returns the topology of the variable. Note that even if a variable has TOPOLOGY_S, it is set to TOPOLOGY_R if its associated range is smaller than 2*pi. Only variables with ranges larger than 2*pi have to routes to connect any two given points.

Parameters

v	The variable to query.

Returns

The variable's topology.

Definition at line 52 of file variable.c.

References IntervalSize(), Tvariable::is, M_2PI, Tvariable::topology, TOPOLOGY_R, TOPOLOGY_S, and ZERO.

Referenced by GetCSVarTopology(), and GetVariablesTopology().

unsigned int GetVariableType

(

Tvariable *

v

)

Gets the variable type.

Parameters

v	The variable to query.

Returns

The variable type.

Definition at line 60 of file variable.c.

References Tvariable::type.

Referenced by AddVariable(), GetVariableTypeN(), IsCartesianVariable(), IsDummyVariable(), IsSecondaryVariable(), IsSystemVariable(), PrintVariables(), and RemoveVariable().

char* GetVariableName

(

Tvariable *

v

)

Gets the variable name.

Parameters

v	The variable to query.

Returns

The a pointer to the variable name.

Definition at line 65 of file variable.c.

References Tvariable::name.

Referenced by AddVariable(), AddVariable2CS(), CSRemoveLCVars(), CSRemoveVarsWithCtRange(), DummifyAndAddEquation(), GetVariableID(), GetVariableNames(), InitMapping(), IsInSimple(), SimplifyCuikSystem(), and VariableName().

void SetVariableInterval	(	Tinterval *	i,
		Tvariable *	v
	)

Sets the new range for the variable.

Parameters

i	The new range for the variable.
v	The variable to query.

Definition at line 70 of file variable.c.

References CopyInterval(), and Tvariable::is.

Referenced by AddJacobianEquationsInt(), AdjustBioWorldGeometry(), DummifyAndAddEquation(), GenerateEquationsFromBranch(), GenerateJointEquations(), GenerateJointRangeEquations(), GenerateJointRangeSingularityEquations(), GenerateLinkRotFLinks(), GenerateLinkRotLinks(), GenerateLinkRotQLinks(), GenerateWorldSingularityEquations(), GetSCpSystem(), SampleCuikSystemInBox(), SetCSVariableRange(), SimplifyCuikSystem(), and VariablesFromBox().

Tinterval* GetVariableInterval

(

Tvariable *

v

)

Gets the range of valid values for the variable.

Parameters

v	The variable to query.

Returns

A pointer to the range of valid values for the variable.

Definition at line 75 of file variable.c.

References Tvariable::is.

Referenced by BoxFromVariables(), CSRemoveLCVars(), DummifyAndAddEquation(), and PointFromVariables().

void PrintVariable	(	FILE *	f,
		Tvariable *	v
	)

Prints a variable (name plus valid range) to a stream that can be stdout.

Parameters

f	The file where to print.
v	The variable to print.

Definition at line 80 of file variable.c.

References Tvariable::is, Tvariable::name, PRINT_VARIABLE_NAME, PrintInterval(), PrintSymbolInterval(), Tvariable::topology, and TOPOLOGY_S.

Referenced by PrintVariables().

void DeleteVariable

(

Tvariable *

v

)

Deletes the Tvariable structure and frees the allocated memory.

Parameters

v	The variable to delete.

Definition at line 95 of file variable.c.

References Tvariable::name.

Referenced by AddJacobianEquationsInt(), AdjustBioWorldGeometry(), DeleteVariables(), DummifyAndAddEquation(), GenerateEquationsFromBranch(), GenerateJointEquations(), GenerateJointRangeEquations(), GenerateJointRangeSingularityEquations(), GenerateLinkRotFLinks(), GenerateLinkRotLinks(), GenerateLinkRotQLinks(), GenerateWorldSingularityEquations(), GetSCpSystem(), and RemoveVariable().