/home/slemaign/softs-local/BioMove3D-git/include/cntrt.h File Reference

constraints, RLG, and parallel structure data More...

#include "p3d.h"

Go to the source code of this file.

Classes
struct	s_tri_attach
	This structure characterizes the triangle associated to three attachmets. More...
struct	s_parallel
struct	s_shell
struct	s_rlg_chain_data
struct	s_rlg_chain
struct	s_rlg_base
struct	s_rlg
	Structure for RLG data. More...
struct	cntrt
	Structure containing data of a constraint. More...
struct	singJntVal
	Structure of singular joint value. More...
struct	singularity
	Structure of singularity. More...
struct	cntrt_management
	Structure to manage the gestion of constraints in a robot. More...
Defines
#define	DOF_WITHOUT_CNTRT   0
#define	DOF_PASSIF   2
#define	DOF_ACTIF   1
#define	MAX_N_MANIPULATORS   10
	This structure identifies the different parts of the parallel system.
#define	RJA1   1
#define	RJA2   2
#define	RJB1   3
#define	RJB2   4
#define	RJB3   5
#define	RJC0   6
#define	RJC1   7
#define	RJD1   8
#define	RJD2   9
#define	TJ   10
#define	MAX_ARGU_CNTRT   30
Typedefs
typedef struct s_tri_attach	p3d_tri_attach
	This structure characterizes the triangle associated to three attachmets.
typedef struct s_parallel	p3d_parallel
typedef struct s_shell	p3d_shell
typedef struct s_rlg_chain_data	p3d_rlg_chain_data
typedef struct s_rlg_chain_data *	pp3d_rlg_chain_data
typedef struct s_rlg_chain	p3d_rlg_chain
typedef struct s_rlg_chain *	pp3d_rlg_chain
typedef struct s_rlg_base	p3d_rlg_base
typedef struct s_rlg_base *	pp3d_rlg_base
typedef struct s_rlg	p3d_rlg
	Structure for RLG data.
typedef struct s_rlg *	pp3d_rlg
typedef struct cntrt	p3d_cntrt
	Structure containing data of a constraint.
typedef struct cntrt *	pp3d_cntrt
typedef struct singJntVal	p3d_singJntVal
	Structure of singular joint value.
typedef struct singJntVal *	pp3d_singJntVal
typedef struct singularity	p3d_singularity
	Structure of singularity.
typedef struct singularity *	pp3d_singularity
typedef struct cntrt_management	p3d_cntrt_management
	Structure to manage the gestion of constraints in a robot.
typedef struct cntrt_management *	pp3d_cntrt_management

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Detailed Description

constraints, RLG, and parallel structure data