Functions
int	c_alloc_mechanism_link (int nframes, c_mechanism_link *lnk)
	Allocate a multi-frame mechanism link.

void	c_free_mechanism_link (c_mechanism_link *lnk)
	Release a multi-frame mechanism link.

c_mechanism	c_create_parallel_linkage (int nlinks, const c_mechanism_link links, int njoints, const c_joint joints, int base, int effector, const double *tool, int ldt)
	Create a spatial parallel linkage mechanism.

c_mechanism	c_create_planar_linkage (int nlinks, const c_mechanism_link links, int njoints, const c_joint joints, int base, int effector, const double *tool, int ldt)
	Create a planar parallel linkage mechanism.

void	c_free_mechanism (c_mechanism obj)
	Release a mechanism handle.

int	c_mechanism_link_count (c_mechanism obj)
	Return the number of links in a mechanism.

int	c_mechanism_joint_count (c_mechanism obj)
	Return the number of joints in a mechanism.

int	c_mechanism_variable_count (c_mechanism obj)
	Return the number of mechanism variables.

int	c_mechanism_loop_count (c_mechanism obj)
	Return the number of independent loops.

int	c_mechanism_constraint_count (c_mechanism obj)
	Return the number of constraint equations.

int	c_mechanism_degrees_of_freedom (c_mechanism obj)
	Return mechanism degrees of freedom.

int	c_mechanism_actuated_variable_count (c_mechanism obj)
	Return the number of actuated variables.

int	c_mechanism_space_dimension (c_mechanism obj)
	Return the mechanism spatial dimension.

int	c_mechanism_link_frame_count (c_mechanism obj, int i)
	Return the frame count for a link.

void	c_mechanism_link_frame (c_mechanism obj, int i, int k, double *T, int ldt)
	Return a link-frame transform.

void	c_mechanism_get_configuration (c_mechanism obj, int n, double *q)
	Get the current mechanism configuration.

void	c_mechanism_set_configuration (c_mechanism obj, int n, const double *q)
	Set the mechanism configuration.

void	c_mechanism_body_transform (c_mechanism obj, int i, int n, const double q, double T, int ldt)
	Evaluate a body transform at a configuration.

void	c_mechanism_end_effector_transform (c_mechanism obj, int n, const double q, double T, int ldt)
	Evaluate the end-effector transform.

void	c_mechanism_constraints (c_mechanism obj, int n, const double q, int nc, double f)
	Evaluate mechanism constraint equations.

void	c_mechanism_constraint_jacobian (c_mechanism obj, int n, const double q, double jac, int ldj)
	Evaluate the mechanism constraint Jacobian.

void	c_mechanism_solve_configuration (c_mechanism obj, int na, const double qa, int n, double q, c_iteration_behavior *ib)
	Solve for a complete mechanism configuration.

void	c_mechanism_forward_kinematics (c_mechanism obj, int na, const double qa, double T, int ldt, c_iteration_behavior *ib)
	Evaluate forward kinematics for a mechanism.

void	c_mechanism_jacobian (c_mechanism obj, int na, const double qa, double jac, int ldj)
	Evaluate a mechanism Jacobian.

void	c_mechanism_inverse_kinematics (c_mechanism obj, const double trg, int ldt, int na, double qa, c_iteration_behavior *ib)
	Solve mechanism inverse kinematics.

Detailed Description

Function Documentation

◆ c_alloc_mechanism_link()

int c_alloc_mechanism_link	(	int	nframes,
		c_mechanism_link *	lnk
	)

Allocate a multi-frame mechanism link.

Parameters

nframes	Number of link frames.
lnk	Link initialized by the routine.

Returns: Zero on success; nonzero on allocation failure.

◆ c_free_mechanism_link()

void c_free_mechanism_link ( c_mechanism_link * lnk )

Release a multi-frame mechanism link.

Parameters

lnk	Link to release.

◆ c_create_parallel_linkage()

c_mechanism c_create_parallel_linkage	(	int	nlinks,
		const c_mechanism_link *	links,
		int	njoints,
		const c_joint *	joints,
		int	base,
		int	effector,
		const double *	tool,
		int	ldt
	)

Create a spatial parallel linkage mechanism.

Parameters

nlinks	Link count.
links	Link definitions.
njoints	Joint count.
joints	Joint definitions.
base	One-based base-link index.
effector	One-based end-effector link index.
tool	Tool transform.
ldt	Leading dimension of tool.

Returns: Opaque mechanism handle, or NULL on failure.

◆ c_create_planar_linkage()

c_mechanism c_create_planar_linkage	(	int	nlinks,
		const c_mechanism_link *	links,
		int	njoints,
		const c_joint *	joints,
		int	base,
		int	effector,
		const double *	tool,
		int	ldt
	)

Create a planar parallel linkage mechanism.

Parameters

nlinks	Link count.
links	Link definitions.
njoints	Joint count.
joints	Joint definitions.
base	One-based base-link index.
effector	One-based end-effector link index.
tool	Tool transform.
ldt	Leading dimension of tool.

Returns: Opaque mechanism handle, or NULL on failure.

◆ c_free_mechanism()

void c_free_mechanism ( c_mechanism obj )

Release a mechanism handle.

Parameters

obj	Mechanism handle.

◆ c_mechanism_link_count()

int c_mechanism_link_count ( c_mechanism obj )

Return the number of links in a mechanism.

Parameters

obj	Mechanism handle.

Returns: Link count.

◆ c_mechanism_joint_count()

int c_mechanism_joint_count ( c_mechanism obj )

Return the number of joints in a mechanism.

Parameters

obj	Mechanism handle.

Returns: Joint count.

◆ c_mechanism_variable_count()

int c_mechanism_variable_count ( c_mechanism obj )

Return the number of mechanism variables.

Parameters

obj	Mechanism handle.

Returns: Variable count.

◆ c_mechanism_loop_count()

int c_mechanism_loop_count ( c_mechanism obj )

Return the number of independent loops.

Parameters

obj	Mechanism handle.

Returns: Loop count.

◆ c_mechanism_constraint_count()

int c_mechanism_constraint_count ( c_mechanism obj )

Return the number of constraint equations.

Parameters

obj	Mechanism handle.

Returns: Constraint count.

◆ c_mechanism_degrees_of_freedom()

int c_mechanism_degrees_of_freedom ( c_mechanism obj )

Return mechanism degrees of freedom.

Parameters

obj	Mechanism handle.

Returns: Degrees of freedom.

◆ c_mechanism_actuated_variable_count()

int c_mechanism_actuated_variable_count ( c_mechanism obj )

Return the number of actuated variables.

Parameters

obj	Mechanism handle.

Returns: Actuated-variable count.

◆ c_mechanism_space_dimension()

int c_mechanism_space_dimension ( c_mechanism obj )

Return the mechanism spatial dimension.

Parameters

obj	Mechanism handle.

Returns: Space dimension.

◆ c_mechanism_link_frame_count()

int c_mechanism_link_frame_count	(	c_mechanism	obj,
		int	i
	)

Return the frame count for a link.

Parameters

obj	Mechanism handle.
i	One-based link index.

Returns: Frame count.

◆ c_mechanism_link_frame()

void c_mechanism_link_frame	(	c_mechanism	obj,
		int	i,
		int	k,
		double *	T,
		int	ldt
	)

Return a link-frame transform.

Parameters

obj	Mechanism handle.
i	One-based link index.
k	One-based frame index.
T	Output transform.
ldt	Leading dimension of T.

◆ c_mechanism_get_configuration()

void c_mechanism_get_configuration	(	c_mechanism	obj,
		int	n,
		double *	q
	)

Get the current mechanism configuration.

Parameters

obj	Mechanism handle.
n	Configuration length.
q	Output configuration.

◆ c_mechanism_set_configuration()

void c_mechanism_set_configuration	(	c_mechanism	obj,
		int	n,
		const double *	q
	)

Set the mechanism configuration.

Parameters

obj	Mechanism handle.
n	Configuration length.
q	Configuration values.

◆ c_mechanism_body_transform()

void c_mechanism_body_transform	(	c_mechanism	obj,
		int	i,
		int	n,
		const double *	q,
		double *	T,
		int	ldt
	)

Evaluate a body transform at a configuration.

Parameters

obj	Mechanism handle.
i	One-based body index.
n	Configuration length.
q	Configuration values.
T	Output transform.
ldt	Leading dimension of T.

◆ c_mechanism_end_effector_transform()

void c_mechanism_end_effector_transform	(	c_mechanism	obj,
		int	n,
		const double *	q,
		double *	T,
		int	ldt
	)

Evaluate the end-effector transform.

Parameters

obj	Mechanism handle.
n	Configuration length.
q	Configuration values.
T	Output transform.
ldt	Leading dimension of T.

◆ c_mechanism_constraints()

void c_mechanism_constraints	(	c_mechanism	obj,
		int	n,
		const double *	q,
		int	nc,
		double *	f
	)

Evaluate mechanism constraint equations.

Parameters

obj	Mechanism handle.
n	Configuration length.
q	Configuration values.
nc	Constraint count.
f	Output constraints.

◆ c_mechanism_constraint_jacobian()

void c_mechanism_constraint_jacobian	(	c_mechanism	obj,
		int	n,
		const double *	q,
		double *	jac,
		int	ldj
	)

Evaluate the mechanism constraint Jacobian.

Parameters

obj	Mechanism handle.
n	Configuration length.
q	Configuration values.
jac	Output Jacobian.
ldj	Leading dimension of jac.

◆ c_mechanism_solve_configuration()

void c_mechanism_solve_configuration	(	c_mechanism	obj,
		int	na,
		const double *	qa,
		int	n,
		double *	q,
		c_iteration_behavior *	ib
	)

Solve for a complete mechanism configuration.

Parameters

obj	Mechanism handle.
na	Number of actuated variables.
qa	Actuated variables.
n	Configuration length.
q	Configuration updated by the solver.
ib	Output iteration statistics.

◆ c_mechanism_forward_kinematics()

void c_mechanism_forward_kinematics	(	c_mechanism	obj,
		int	na,
		const double *	qa,
		double *	T,
		int	ldt,
		c_iteration_behavior *	ib
	)

Evaluate forward kinematics for a mechanism.

Parameters

obj	Mechanism handle.
na	Number of actuated variables.
qa	Actuated variables.
T	Output end-effector transform.
ldt	Leading dimension of T.
ib	Output iteration statistics.

◆ c_mechanism_jacobian()

void c_mechanism_jacobian	(	c_mechanism	obj,
		int	na,
		const double *	qa,
		double *	jac,
		int	ldj
	)

Evaluate a mechanism Jacobian.

Parameters

obj	Mechanism handle.
na	Number of actuated variables.
qa	Actuated variables.
jac	Output Jacobian.
ldj	Leading dimension of jac.

◆ c_mechanism_inverse_kinematics()

void c_mechanism_inverse_kinematics	(	c_mechanism	obj,
		const double *	trg,
		int	ldt,
		int	na,
		double *	qa,
		c_iteration_behavior *	ib
	)

Solve mechanism inverse kinematics.

Parameters

obj	Mechanism handle.
trg	Target transform.
ldt	Leading dimension of trg.
na	Number of actuated variables.
qa	Actuated variables, updated by the solver.
ib	Output iteration statistics.

Functions

Detailed Description

Function Documentation

◆ c_alloc_mechanism_link()

◆ c_free_mechanism_link()

◆ c_create_parallel_linkage()

◆ c_create_planar_linkage()

◆ c_free_mechanism()

◆ c_mechanism_link_count()

◆ c_mechanism_joint_count()

◆ c_mechanism_variable_count()

◆ c_mechanism_loop_count()

◆ c_mechanism_constraint_count()

◆ c_mechanism_degrees_of_freedom()

◆ c_mechanism_actuated_variable_count()

◆ c_mechanism_space_dimension()

◆ c_mechanism_link_frame_count()

◆ c_mechanism_link_frame()

◆ c_mechanism_get_configuration()

◆ c_mechanism_set_configuration()

◆ c_mechanism_body_transform()

◆ c_mechanism_end_effector_transform()

◆ c_mechanism_constraints()

◆ c_mechanism_constraint_jacobian()

◆ c_mechanism_solve_configuration()

◆ c_mechanism_forward_kinematics()

◆ c_mechanism_jacobian()

◆ c_mechanism_inverse_kinematics()