scene_wk.h

Go to the documentation of this file.

/* -*- mode: C; c-basic-offset: 4; -*- */
/* ex: set shiftwidth=4 tabstop=4 expandtab: */
/*
 * 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
 *   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_WK_H
#define AMINO_RX_SCENE_WK_H
 
struct aa_rx_wk_opts;
 
AA_API struct aa_rx_wk_opts *
aa_rx_wk_opts_create(void);
 
AA_API void
aa_rx_wk_opts_destroy( struct aa_rx_wk_opts * );
 
 
AA_API void
aa_rx_wk_dx_pos( const struct aa_rx_wk_opts * opts,
                 const double *E_act, const double *E_ref,
                 struct aa_dvec *dx );
 
AA_API int
aa_rx_wk_dx2dq( const struct aa_rx_sg_sub *ssg,
                const struct aa_rx_wk_opts * opts,
                const struct aa_rx_fk *fk,
                const struct aa_dvec *dx,
                struct aa_dvec *dq );
 
AA_API int
aa_rx_wk_dx2dq_np( const struct aa_rx_sg_sub *ssg,
                   const struct aa_rx_wk_opts * opts,
                   const struct aa_rx_fk *fk,
                   const struct aa_dvec *dx, const struct aa_dvec *dq_r,
                   struct aa_dvec *dq );
 
 
struct aa_rx_wk_lc3_cx;
 
AA_API  struct aa_rx_wk_lc3_cx *
aa_rx_wk_lc3_create ( const struct aa_rx_sg_sub *ssg,
                      const struct aa_rx_wk_opts * opts );
 
 
AA_API int
aa_rx_wk_dx2dq_lc3( const struct aa_rx_wk_lc3_cx *lc3,
                    double dt,
                    const struct aa_rx_fk *fk,
                    const struct aa_dvec *dx_r,
                    const struct aa_dvec *q_a, const struct aa_dvec *dq_a,
                    const struct aa_dvec *dq_r, struct aa_dvec *dq );
 
AA_API void
aa_rx_wk_dqcenter( const struct aa_rx_sg_sub *ssg,
                   const struct aa_rx_wk_opts * opts,
                   const struct aa_dvec *q,
                   struct aa_dvec *dq_r );
 
 
#endif /*AMINO_RX_SCENE_WK_H*/