rx_ct.h

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/* -*- mode: C; c-basic-offset: 4; -*- */
/* ex: set shiftwidth=4 tabstop=4 expandtab: */
/*
 * Copyright (c) 2017, Rice University
 * Copyright (c) 2018, Colorado School of Mines
 * All rights reserved.
 *
 * Author(s): Neil T. Dantam <ndantam@mines.edu>
 *
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of copyright holder the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
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 */
 
#ifndef AMINO_RX_CT_H
#define AMINO_RX_CT_H
 
#include "amino/ct/state.h"
#include "amino/ct/traj.h"
 
AA_API struct aa_ct_pt_list *
aa_rx_ct_pt_list( struct aa_mem_region *region,
                     size_t n_q, size_t n_path, double *path );
 
 
AA_API struct aa_ct_limit *
aa_rx_ct_limits( struct aa_mem_region *region, const struct aa_rx_sg *sg );
 
 
AA_API int
aa_rx_ct_tjx_path( struct aa_mem_region *region,
                   const struct aa_rx_ik_parm *opts,
                   const struct aa_rx_sg_sub *ssg,
                   struct aa_ct_seg_list *segs,
                   size_t n_q_all, const double *q_start_all,
                   size_t *n_points, double **path );
 
 
AA_API struct aa_ct_limit *
aa_rx_ct_sg_limits( struct aa_mem_region *region, const struct aa_rx_sg *sg );
 
struct aa_rx_ct_wk_opts;
 
AA_API struct aa_rx_ct_wk_opts *
aa_rx_ct_wk_opts_create(void);
 
AA_API void
aa_rx_ct_wk_opts_destroy( struct aa_rx_ct_wk_opts * );
 
 
AA_API void
aa_rx_ct_wk_dx_pos( const struct aa_rx_ct_wk_opts * opts,
                    const double *E_act, const double *E_ref,
                    double *dx );
 
AA_API int
aa_rx_ct_wk_dx2dq( const struct aa_rx_sg_sub *ssg,
                   const struct aa_rx_ct_wk_opts * opts,
                   size_t n_tf, const double *TF_abs, size_t ld_tf,
                   size_t n_x, const double *dx,
                   size_t n_q, double *dq );
 
AA_API int
aa_rx_ct_wk_dx2dq_np( const struct aa_rx_sg_sub *ssg,
                     const struct aa_rx_ct_wk_opts * opts,
                     size_t n_tf, const double *TF_abs, size_t ld_tf,
                     size_t n_x, const double *dx,
                     size_t n_q, const double *dq_r, double *dq );
 
 
struct aa_rx_ct_wk_lc3_cx;
 
AA_API  struct aa_rx_ct_wk_lc3_cx *
aa_rx_ct_wk_lc3_create ( const struct aa_rx_sg_sub *ssg,
                         const struct aa_rx_ct_wk_opts * opts );
 
AA_API int
aa_rx_ct_wk_dx2dq_lc3( const struct aa_rx_ct_wk_lc3_cx *lc3,
                       double dt,
                       size_t n_tf, const double *TF_abs, size_t ld_tf,
                       size_t n_x, const double *dx_r,
                       size_t n_q,
                       const double *q_a, const double *dq_a,
                       const double *dq_r, double *dq );
 
AA_API void
aa_rx_ct_wk_dqcenter( const struct aa_rx_sg_sub *ssg,
                      const struct aa_rx_ct_wk_opts * opts,
                      size_t n_q, const double *q, double *dq_r );
 
 
#endif /*AMINO_RX_CT_H*/