wcs.h
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176 #define CS_WD_EVALUATE_SIMP_EQUATIONS(pr,p,r,wcs) if ((wcs)->isCS) EvaluateSimpCSEquations(pr,p,r,(wcs)->cs); else WorldEvaluateSimpEquations(pr,p,r,(wcs)->w);
192 #define CS_WD_EVALUATE_SUBSET_SIMP_EQUATIONS(pr,st,p,r,wcs) if ((wcs)->isCS) EvaluateSubSetSimpCSEquations(pr,st,p,r,(wcs)->cs); else WorldEvaluateSubSetSimpEquations(pr,st,p,r,(wcs)->w);
207 #define CS_WD_SIMP_INEQUALITIES_HOLD(pr,p,wcs) ((wcs)->isCS ? SimpInequalitiesHoldOnPoint(pr,p,(wcs)->cs) : WorldSimpInequalitiesHold(pr,p,(wcs)->w))
223 #define CS_WD_SIMP_INEQUALITIES_ERROR(pr,p,wcs) ((wcs)->isCS ? ErrorInSimpInequalitiesOnPoint(pr,p,(wcs)->cs) : WorldErrorInSimpInequalities(pr,p,(wcs)->w))
238 #define CS_WD_GET_SYSTEM_VARS(sv,wcs) ((wcs)->isCS ? GetCSSystemVars(sv,(wcs)->cs) : GetWorldSystemVars(sv,(wcs)->w))
250 #define CS_WD_GET_NUM_SYSTEM_VARS(wcs) ((wcs)->isCS ? GetCSNumSystemVariables((wcs)->cs) : GetWorldNumSystemVariables((wcs)->w))
263 #define CS_WD_GET_VAR_TOPOLOGY(varID,wcs) ((wcs)->isCS ? GetCSVarTopology(varID,(wcs)->cs) : GetWorldVarTopology(varID,(wcs)->w))
279 #define CS_WD_REGENERATE_ORIGINAL_POINT(pr,p,o,wcs) ((wcs)->isCS ? RegenerateOriginalPoint(pr,p,o,(wcs)->cs) : RegenerateWorldOriginalPoint(pr,p,o,(wcs)->w))
313 #define CS_WD_IN_COLLISION(f,pr,s,sPrev,wcs) { if (((wcs)->isCS)||(!WorldCanCollide((wcs)->w))) f=FALSE; else { double *oPrev=NULL,*o; \
314 RegenerateWorldOriginalPoint(pr,s,&o,(wcs)->w);if ((sPrev!=NULL)&&(WorldContinuousCD((wcs)->w))) RegenerateWorldOriginalPoint(pr,sPrev,&oPrev,(wcs)->w); \
319 #define CS_WD_IN_COLLISION(f,pr,s,sPrev,wcs) { if (((wcs)->isCS)||(!WorldCanCollide((wcs)->w))) f=FALSE; else { double *oPrev=NULL,*o; \
320 RegenerateWorldOriginalPoint(pr,s,&o,(wcs)->w);if ((sPrev!=NULL)&&(WorldContinuousCD((wcs)->w))) RegenerateWorldOriginalPoint(pr,sPrev,&oPrev,(wcs)->w); \
346 #define CS_WD_ORIGINAL_IN_COLLISION(pr,o,oPrev,wcs) (((wcs)->isCS)||(!WorldCanCollide((wcs)->w)) ? FALSE : MoveAndCheckCD(pr,FALSE,omp_get_thread_num(),o,oPrev,(wcs)->w))
348 #define CS_WD_ORIGINAL_IN_COLLISION(pr,o,oPrev,wcs) (((wcs)->isCS)||(!WorldCanCollide((wcs)->w)) ? FALSE : MoveAndCheckCD(pr,FALSE,0,o,oPrev,(wcs)->w))
387 #define CS_WD_COST(pr,simp,p,wcs) ((wcs)->isCS ? EvaluateCSCost(pr,simp,p,(void *)((wcs)->cs)) : EvaluateWorldCost(pr,simp,p,(void *)((wcs)->w)))
401 #define CS_WD_GET_SIMP_TOPOLOGY(pr,tp,wcs) ((wcs)->isCS ? GetSimpCSTopology(pr,tp,(wcs)->cs) : GetWorldSimpTopology(pr,tp,(wcs)->w))
417 #define CS_WD_REGENERATE_SOLUTION_POINT(pr,p,r,wcs) ((wcs)->isCS ? RegenerateSolutionPoint(pr,p,r,(wcs)->cs) : RegenerateWorldSolutionPoint(pr,p,r,(wcs)->w))
432 #define CS_WD_GENERATE_SIMPLIFIED_POINT(pr,p,r,wcs) ((wcs)->isCS ? GenerateSimplifiedPoint(pr,p,r,(wcs)->cs) : WorldGenerateSimplifiedPoint(pr,p,r,(wcs)->w))
446 #define CS_WD_ERROR_IN_SIMP_EQUATIONS(pr,p,wcs) ((wcs)->isCS ? ErrorInSimpCSEquations(pr,p,(wcs)->cs) : WorldErrorInSimpEquations(pr,p,(wcs)->w))
460 #define CS_WD_GENERATE_SIMP_INITIAL_BOX(pr,b,wcs) { if ((wcs)->isCS) GenerateSimpInitialBox(pr,b,(wcs)->cs); else GetWorldSimpInitialBox(pr,b,(wcs)->w); }
474 #define CS_WD_GET_SIMP_JACOBIAN(pr,J,wcs) { if ((wcs)->isCS) GetSimpCSJacobian(pr,J,(wcs)->cs); else GetWorldSimpJacobian(pr,J,(wcs)->w); }
488 #define CS_WD_NEWTON_IN_SIMP(pr,p,wcs) ((wcs)->isCS ? CuikNewtonSimp(pr,p,(wcs)->cs) : WorldSimpCuikNewton(pr,p,(wcs)->w))
500 #define CS_WD_DELETE(wcs) { if ((wcs)->isCS) { DeleteCuikSystem((wcs)->cs); free((wcs)->cs); } else { DeleteWorld((wcs)->w); free((wcs)->w); } }
Definition of the boolean type. void InitCSWDFromFile(Tparameters *pr, char *name, TAtlasBase *wcs) Initializes a world or a CuikSystem structre. Definition: chart.c:618 Definition of the Tworld type and the associated functions. A table of parameters. Definition of the TCuikSystem type and the associated functions. A cuiksystem, i.e., a set of variables and equations defining a position analysis problem... Definition: cuiksystem.h:181 Definition of the Tparameters type and the associated functions. |
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