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amino
1.0-beta2
Lightweight Robot Utility Library
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Go to the source code of this file.
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]) |
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.
reg | Region to allocate new arrays from |
dest | Destination state |
src | Source state |
void aa_ct_state_dump | ( | FILE * | stream, |
struct aa_ct_state * | state | ||
) |
Prints out the jointspace components of a state.
stream | File to print to |
state | State to print |
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.
s1 | First state |
s2 | Second state |