/home/slemaign/softs-local/BioMove3D-git/p3d/p3d_parallel.c File Reference

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

Defines
#define	PRINTPROC_PS   0
#define	NUM_VALIDCONF_TEST   1000
#define	MAXNITV   20
Functions
int	p3d_set_parallel_sys (const char *type_bases, int base_jnt_index, int platform_jnt_index, int nmanip, int *cntrt_index_vect)
	Generates the structure of the parallel system.
void	p3d_destroy_parallel_sys_data (p3d_parallel *psdataPt)
	Destroy the structure of the parallel system.
double	p3d_random_in_several_ordered_intervals (int nint, double *relmin, double *relmax)
int	p3d_cntrt_is_parallel_sys (p3d_cntrt *ct)
	Checks if the cntrt corresponds to a parallel system.

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Detailed Description

Parallel system configuration sampling.

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Function Documentation

int p3d_cntrt_is_parallel_sys

(

p3d_cntrt *

ct

)

Checks if the cntrt corresponds to a parallel system.

Parameters:

the

cntrt

Returns:

TRUE if success

void p3d_destroy_parallel_sys_data

(

p3d_parallel *

psdataPt

)

Destroy the structure of the parallel system.

Parameters:

the	pointer to the structure

int p3d_set_parallel_sys	(	const char *	type_bases,
		int	base_jnt_index,
		int	platform_jnt_index,
		int	nmanip,
		int *	cntrt_index_vect
	)

Generates the structure of the parallel system.

Parameters:

type	of system (fixed or mobile manipulator bases)
base_jnt_index	:
platform_jnt_index	:
nmanip	:
cntrt_index_vect	:

Returns:

TRUE if success, FALSE if it fails.