state.h

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/* -*- mode: C; c-basic-offset: 4; -*- */
/* ex: set shiftwidth=4 tabstop=4 expandtab: */
/*
 * Copyright (c) 2016, Rice University
 * All rights reserved.
 *
 * Author(s): Zachary K. Kingston <zak@rice.edu>
 *
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#ifndef AMINO_CT_STATE_H
#define AMINO_CT_STATE_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
struct aa_ct_state {
    size_t n_q;     
    size_t n_tf;    
 
    // Joint space
    double *q;      
    double *dq;     
    double *ddq;    
    double *eff;    
 
    // Work space
    double *X;      
    double *dX;     
    double *ddX;    
 
    // Frames
    double *TF_abs; 
    double *TF_rel; 
};
 
struct aa_ct_limit {
    struct aa_ct_state *min; 
    struct aa_ct_state *max; 
};
 
AA_API struct aa_ct_state *
aa_ct_state_alloc(struct aa_mem_region *reg, size_t n_q, size_t n_tf );
 
void aa_ct_state_clone(struct aa_mem_region *reg, struct aa_ct_state *dest,
                       struct aa_ct_state *src);
 
 
 
void aa_ct_state_dump(FILE *stream, struct aa_ct_state *state);
 
int aa_ct_state_eq(struct aa_ct_state *s1, struct aa_ct_state *s2);
 
 
void aa_ct_state_set_qutr( struct aa_ct_state *state, const double E[7] );
#ifdef __cplusplus
}
#endif
 
#endif /*AMINO_CT_STATE_H*/