state.h File Reference

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Classes
struct	aa_ct_state
	State description of a robot. More...
struct	aa_ct_limit
	Limits on robot state. More...

Functions
AA_API struct aa_ct_state *	aa_ct_state_alloc (struct aa_mem_region *reg, size_t n_q, size_t n_tf)
	Allocate state from a memory region.
void	aa_ct_state_clone (struct aa_mem_region *reg, struct aa_ct_state *dest, struct aa_ct_state *src)
	Creates and allocates a copy of a state. More...
void	aa_ct_state_dump (FILE *stream, struct aa_ct_state *state)
	Prints out the jointspace components of a state. More...
int	aa_ct_state_eq (struct aa_ct_state *s1, struct aa_ct_state *s2)
	Compares two states to verify if they are the same, within AA_EPSILON bounds. More...
void	aa_ct_state_set_qutr (struct aa_ct_state *state, const double E[7])

Function Documentation

aa_ct_state_clone()

void aa_ct_state_clone	(	struct aa_mem_region *	reg,
		struct aa_ct_state *	dest,
		struct aa_ct_state *	src
	)

Creates and allocates a copy of a state.

Parameters

reg	Region to allocate new arrays from
dest	Destination state
src	Source state

aa_ct_state_dump()

void aa_ct_state_dump	(	FILE *	stream,
		struct aa_ct_state *	state
	)

Prints out the jointspace components of a state.

Parameters

stream	File to print to
state	State to print

aa_ct_state_eq()

int aa_ct_state_eq	(	struct aa_ct_state *	s1,
		struct aa_ct_state *	s2
	)

Compares two states to verify if they are the same, within AA_EPSILON bounds.

Parameters

s1	First state
s2	Second state

Returns

1 if the same, 0 otherwise.