scene_sub.h

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/* -*- mode: C; c-basic-offset: 4; -*- */
/* ex: set shiftwidth=4 tabstop=4 expandtab: */
/*
 * Copyright (c) 2015-2016, Rice University
 * Copyright (c) 2019, 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
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 *
 */
 
#ifndef AMINO_RX_SCENE_SUB_H
#define AMINO_RX_SCENE_SUB_H
 
#include "rxtype.h"
#include "scenegraph.h"
 
struct aa_rx_sg_sub;
 
AA_API void
aa_rx_sg_sub_destroy( struct aa_rx_sg_sub *sg );
 
AA_API const struct aa_rx_sg *
aa_rx_sg_sub_sg( const struct aa_rx_sg_sub *sg_sub );
 
AA_API size_t
aa_rx_sg_sub_config_count( const struct aa_rx_sg_sub *sg_sub );
 
 
AA_API size_t
aa_rx_sg_sub_all_config_count( const struct aa_rx_sg_sub *sg_sub );
 
AA_API size_t
aa_rx_sg_sub_frame_count( const struct aa_rx_sg_sub *sg_sub );
 
AA_API size_t
aa_rx_sg_sub_all_frame_count( const struct aa_rx_sg_sub *sg_sub );
 
AA_API aa_rx_config_id
aa_rx_sg_sub_config( const struct aa_rx_sg_sub *sg_sub, size_t i );
 
AA_API aa_rx_frame_id
aa_rx_sg_sub_frame( const struct aa_rx_sg_sub *sg_sub, size_t i );
 
AA_API aa_rx_frame_id
aa_rx_sg_sub_frame_ee( const struct aa_rx_sg_sub *sg_sub );
 
AA_API size_t
aa_rx_sg_sub_frame_ee_count( const struct aa_rx_sg_sub *sg_sub);
 
AA_API aa_rx_frame_id*
aa_rx_sg_sub_frame_ees( const struct aa_rx_sg_sub *sg_sub );
 
AA_API aa_rx_config_id*
aa_rx_sg_sub_configs( const struct aa_rx_sg_sub *sg_sub );
 
AA_API aa_rx_frame_id*
aa_rx_sg_sub_frames( const struct aa_rx_sg_sub *sg_sub );
 
 
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 void
aa_rx_sg_sub_config_scatter( const struct aa_rx_sg_sub *ssg,
                             const struct aa_dvec *config_subset,
                             struct aa_dvec *config_all );
 
AA_API void
aa_rx_sg_sub_config_gather( const struct aa_rx_sg_sub *ssg,
                            const struct aa_dvec *config_all,
                            struct aa_dvec *config_subset );
 
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 );
 
 
AA_API void
aa_rx_sg_sub_center_configs( const struct aa_rx_sg_sub *ssg,
                             size_t n, double *q );
 
AA_API void
aa_rx_sg_sub_center_configv( const struct aa_rx_sg_sub *ssg,
                             struct aa_dvec *q );
 
 
AA_API void
aa_rx_sg_sub_rand_config( const struct aa_rx_sg_sub *ssg,
                          struct aa_dvec *dst );
 
/*-- TF --*/
 
/* AA_API void */
/* aa_rx_sg_sub_tf_update( const struct aa_rx_sg_sub *ssg, */
/*                         const struct aa_dvec *q_sub, */
/*                         struct aa_dmat *TF_abs ); */
 
/*-- Jacobians --*/
 
AA_API void
aa_rx_sg_sub_jacobian_size( const struct aa_rx_sg_sub *ssg,
                            size_t *rows, size_t *cols );
 
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 );
 
AA_API struct aa_dmat *
aa_rx_sg_sub_get_jacobian( const struct aa_rx_sg_sub *ssg,
                           struct aa_mem_region *reg,
                           const struct aa_dmat *TF_abs );
 
AA_API double *
aa_rx_sg_sub_alloc_jacobian( const struct aa_rx_sg_sub *ssg, struct aa_mem_region *region );
 
 
 
AA_API struct aa_dmat *
aa_rx_sg_sub_jac_twist_get( const struct aa_rx_sg_sub *ssg, struct aa_mem_region *region,
                            const struct aa_rx_fk *fk  );
 
AA_API void
aa_rx_sg_sub_jac_twist_fill2( const struct aa_rx_sg_sub *ssg,
                              const struct aa_rx_fk *fk,
                              struct aa_dmat *Jp, struct aa_dmat *Jr );
 
AA_API void
aa_rx_sg_sub_jac_twist_fill( const struct aa_rx_sg_sub *ssg,
                             const struct aa_rx_fk *fk,
                             struct aa_dmat *J );
 
AA_API struct aa_dmat *
aa_rx_sg_sub_jac_vel_get( const struct aa_rx_sg_sub *ssg, struct aa_mem_region *region,
                          const struct aa_rx_fk *fk );
 
AA_API void
aa_rx_sg_sub_jac_vel_fill2( const struct aa_rx_sg_sub *ssg,
                            const struct aa_rx_fk *fk,
                            struct aa_dmat *Jp, struct aa_dmat *Jr );
 
AA_API void
aa_rx_sg_sub_jac_vel_fill( const struct aa_rx_sg_sub *ssg,
                           const struct aa_rx_fk *fk,
                           struct aa_dmat *J );
 
 
 
 
AA_API double *
aa_rx_sg_sub_alloc_config( const struct aa_rx_sg_sub *ssg, struct aa_mem_region *region );
 
 
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 );
 
AA_API void
aa_rx_fk_sub( struct aa_rx_fk *fk,
              const struct aa_rx_sg_sub *ssg,
              const struct aa_dvec *q_sub );
 
#endif /*AMINO_RX_SCENE_SUB_H*/