amino  1.0-beta2
Lightweight Robot Utility Library
scene_sub.h File Reference

Sub-scenegraphs. More...

#include "scenegraph.h"

Go to the source code of this file.

Functions

AA_API void aa_rx_sg_sub_destroy (struct aa_rx_sg_sub *sg)
 Destroy the scengraph subset. More...
 
AA_API const struct aa_rx_sgaa_rx_sg_sub_sg (const struct aa_rx_sg_sub *sg_sub)
 Return the original scene graph for the sub-scenegraph.
 
AA_API size_t aa_rx_sg_sub_config_count (const struct aa_rx_sg_sub *sg_sub)
 Return the number of configuration variables in the scenegraph subset.
 
AA_API size_t aa_rx_sg_sub_all_config_count (const struct aa_rx_sg_sub *sg_sub)
 Return the number of configuration variables in the full scenegraph.
 
AA_API size_t aa_rx_sg_sub_frame_count (const struct aa_rx_sg_sub *sg_sub)
 Return the number of frames in the scenegraph subset.
 
AA_API size_t aa_rx_sg_sub_all_frame_count (const struct aa_rx_sg_sub *sg_sub)
 Return the number of frames in the full scenegraph.
 
AA_API aa_rx_config_id aa_rx_sg_sub_config (const struct aa_rx_sg_sub *sg_sub, size_t i)
 Return the full scenegraph config id for the i'th configuration of the sub-scenegraph.
 
AA_API aa_rx_frame_id aa_rx_sg_sub_frame (const struct aa_rx_sg_sub *sg_sub, size_t i)
 Return the full scenegraph frame id for the i'th frame of the sub-scenegraph.
 
AA_API aa_rx_frame_id aa_rx_sg_sub_frame_ee (const struct aa_rx_sg_sub *sg_sub)
 Return the end-effector frame id, if any.
 
AA_API aa_rx_config_idaa_rx_sg_sub_configs (const struct aa_rx_sg_sub *sg_sub)
 Return the array of full scenegraph config ids contained in the sub-scenegraph.
 
AA_API aa_rx_frame_idaa_rx_sg_sub_frames (const struct aa_rx_sg_sub *sg_sub)
 Return the array of full scenegraph frame ids contained in the sub-scenegraph.
 
AA_API void aa_rx_sg_sub_config_get (const struct aa_rx_sg_sub *ssg, size_t n_all, const double *config_all, size_t n_subset, double *config_subset)
 
AA_API void aa_rx_sg_sub_config_set (const struct aa_rx_sg_sub *ssg, size_t n_sub, const double *config_subset, size_t n_all, double *config_all)
 
AA_API struct aa_rx_sg_sub * aa_rx_sg_chain_create (const struct aa_rx_sg *sg, aa_rx_frame_id root, aa_rx_frame_id tip)
 Create a sub-scenegraph for the kinematic chain starting at root and ending a tip.
 
AA_API void aa_rx_sg_sub_center_configs (const struct aa_rx_sg_sub *ssg, size_t n, double *q)
 Fill q with the centered positions of each configuration.
 
AA_API void aa_rx_sg_sub_jacobian_size (const struct aa_rx_sg_sub *ssg, size_t *rows, size_t *cols)
 Determine the size of the Jacobian matrix for the sub-scenegraph.
 
AA_API void aa_rx_sg_sub_jacobian (const struct aa_rx_sg_sub *ssg, size_t n_tf, const double *TF_abs, size_t ld_TF, double *J, size_t ld_J)
 Compute the Jacobian matrix for the sub-scenegraph.
 
AA_API double * aa_rx_sg_sub_alloc_jacobian (const struct aa_rx_sg_sub *ssg, struct aa_mem_region *region)
 Allocate jacobian matrix for sub scene graph.
 
AA_API double * aa_rx_sg_sub_alloc_config (const struct aa_rx_sg_sub *ssg, struct aa_mem_region *region)
 Allocate sub scene graph config array.
 
AA_API void aa_rx_sg_sub_expand_path (const struct aa_rx_sg_sub *ssg, size_t n_pts, const double *q_start, const double *path_sub, double *path_all)
 Expand sub path to full config path. More...
 

Detailed Description

Sub-scenegraphs.

Definition in file scene_sub.h.

Function Documentation

◆ aa_rx_sg_sub_destroy()

AA_API void aa_rx_sg_sub_destroy ( struct aa_rx_sg_sub *  sg)

Destroy the scengraph subset.

The original scenegraph will remain valid.

◆ aa_rx_sg_sub_expand_path()

AA_API void aa_rx_sg_sub_expand_path ( const struct aa_rx_sg_sub *  ssg,
size_t  n_pts,
const double *  q_start,
const double *  path_sub,
double *  path_all 
)

Expand sub path to full config path.

Parameters
ssgSub scene graph for the given path
n_ptsNumber of points in the path
q_startA start configuration for joints not in the sub-scenegraph, or NULL to ignore
path_subPath for the sub-scenegraph
path_allThe full scene path