/home/slemaign/softs-local/BioMove3D-git/p3d/p3d_jnt_fixed.c File Reference

Description of the ::P3D_FIXED joint. More...

#include "P3d-pkg.h"
#include "Util-pkg.h"

Functions
void	p3d_jnt_fixed_stay_within_dist (p3d_stay_within_dist_data *prev_data, p3d_jnt *jntPt, p3d_stay_within_dist_data *data, double *distance, configPt q_init, configPt q_max_param, double max_param, double *reach_param)
	Compute the distance and the speed that the joint could reach.
p3d_jnt *	p3d_jnt_fixed_create (p3d_matrix4 pos, double *v, double *vmin, double *vmax, double *vmin_rand, double *vmax_rand, double *param)
	Create a new joint ::P3D_FIXED.
void	p3d_jnt_fixed_stay_within_sphere (p3d_stay_within_dist_data *prev_data, p3d_jnt *jntPt, p3d_stay_within_dist_data *data, double *distance, double *reach_param)
	Compute the distance and the speed that the joint could reach.

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Detailed Description

Description of the ::P3D_FIXED joint.

This joint is fixed, it has no degree of freedom. It is used to attach kinematic chains.

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Function Documentation

p3d_jnt* p3d_jnt_fixed_create	(	p3d_matrix4	pos,
		double *	v,
		double *	vmin,
		double *	vmax,
		double *	vmin_rand,
		double *	vmax_rand,
		double *	param
	)

Create a new joint ::P3D_FIXED.

Parameters:

pos,:	the position matrix of the joint
v,:	the values of the degree of freedom for the joint
vmin	& vmax: the bounds values of the degree of freedom for the joint
vmin_rand	& vmax_rand: the random (or user) bounds values of the degree of freedom for the joint
param,:	the array of the parameters for the joint (NULL here)

Returns:

the new joint.

void p3d_jnt_fixed_stay_within_dist	(	p3d_stay_within_dist_data *	prev_data,
		p3d_jnt *	jntPt,
		p3d_stay_within_dist_data *	data,
		double *	distance,
		configPt	q_init,
		configPt	q_max_param,
		double	max_param,
		double *	reach_param
	)

Compute the distance and the speed that the joint could reach.

From the configuration q_init of the joint to q_max_param, this function computes an interval of parameter which all the points of the joint move by less than the distance given as input. This is the implementation of p3d_jnt_stay_within_dist() for the joint ::P3D_FIXED.

Note: The joint looks directly in the robot configurations the degree of freedom that it needs.

Parameters:

prev_data,:	speed of the previous joint
jntPt,:	the joint
distance,:	the maximal distance
qinit,:	the initial configuration
q_max_param,:	the final configuration
max_param,:	the value of the delta parameter in the final configuration (it gives the range param needed to reach the final configuration)
reach_param,:	the actual maximal parameter that could be reach (previous joint can limits the range parameter)

Return values:

data,:

speed of the joint distance: the distance that the joint couldn't cross reach_param: the new maximal range parameter that could be reach

void p3d_jnt_fixed_stay_within_sphere	(	p3d_stay_within_dist_data *	prev_data,
		p3d_jnt *	jntPt,
		p3d_stay_within_dist_data *	data,
		double *	distance,
		double *	reach_param
	)

Compute the distance and the speed that the joint could reach.

This function computes an interval of parameter for which all the points of the joint move by less than the distance given as input. This is the implementation of p3d_jnt_stay_within_dist() for the joint ::P3D_FIXED.

Note: The joint looks directly in the robot configurations the degree of freedom that it needs.

Parameters:

prev_data,:	speed of the previous joint
jntPt,:	the joint
distance,:	the maximal distance

Return values:

data,:

speed of the joint distance: the distance that the joint couldn't cross reach_param: the new maximal range parameter that could be reach