traj.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>
 *
 *   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_CT_TRAJ_H
#define AMINO_CT_TRAJ_H
 
#include "state.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define AA_CT_SEG_IN   1
#define AA_CT_SEG_OUT  0
 
#define AA_CT_LIN_SEG   1
#define AA_CT_PB_SEG    2
#define AA_CT_ACCL_SEG  3
 
struct aa_ct_pt {
    struct aa_ct_state state;     
    struct aa_ct_pt *prev, *next; 
};
 
struct aa_ct_pt_list;
 
struct aa_ct_seg_list;
 
 
struct aa_ct_pt_list *aa_ct_pt_list_create(struct aa_mem_region *reg);
 
void aa_ct_pt_list_add(struct aa_ct_pt_list *list, struct aa_ct_state *state);
 
void aa_ct_pt_list_add_front(struct aa_ct_pt_list *list, struct aa_ct_state *state);
 
void aa_ct_pt_list_add_qutr(struct aa_ct_pt_list *list, const double E[7]);
 
void aa_ct_pt_list_add_q(struct aa_ct_pt_list *list, size_t n_q, const double *q);
 
void aa_ct_pt_list_destroy(struct aa_ct_pt_list *list);
 
const struct aa_ct_state *
aa_ct_pt_list_start_state(const struct aa_ct_pt_list *list);
 
const struct aa_ct_state *
aa_ct_pt_list_final_state(const struct aa_ct_pt_list *list);
 
size_t aa_ct_pt_list_size(const struct aa_ct_pt_list *list);
 
 
 
void aa_ct_pt_list_dump(FILE *stream, struct aa_ct_pt_list *list);
 
int aa_ct_seg_list_eval(struct aa_ct_seg_list *list, struct aa_ct_state *state,
                        double t);
 
int aa_ct_seg_list_eval_q(struct aa_ct_seg_list *list, double t, size_t n, double *q);
 
int aa_ct_seg_list_eval_dq(struct aa_ct_seg_list *list, double t, size_t n, double *q, double *dq);
 
void aa_ct_seg_list_plot(struct aa_ct_seg_list *list, size_t n_q, double dt);
 
void aa_ct_seg_list_destroy(struct aa_ct_seg_list *list);
 
size_t aa_ct_seg_list_n_q(const struct aa_ct_seg_list *list);
 
double aa_ct_seg_list_duration(const struct aa_ct_seg_list *list);
 
struct aa_ct_seg_list *aa_ct_tjq_pb_generate(struct aa_mem_region *reg,
                                             struct aa_ct_pt_list *list,
                                             struct aa_ct_limit *limits);
 
struct aa_ct_seg_list *aa_ct_tjq_trap_generate(struct aa_mem_region *reg,
                                               struct aa_ct_pt_list *list,
                                               struct aa_ct_limit *limits);
 
 
struct aa_ct_seg_list *aa_ct_tjq_lin_generate(struct aa_mem_region *reg,
                                              struct aa_ct_pt_list *list,
                                              struct aa_ct_limit *limits);
 
struct aa_ct_seg_list *aa_ct_tjX_pb_generate(struct aa_mem_region *reg,
                                             struct aa_ct_pt_list *list,
                                             struct aa_ct_limit *limits);
 
 
 
int
aa_ct_seg_list_check( struct aa_ct_seg_list * segs, double dt,
                      int (*function)(void *cx, double t, const struct aa_ct_state *state ),
                      void *cx );
 
int aa_ct_seg_list_check_c0( struct aa_ct_seg_list * segs, double dt,
                             double tol, double eps );
 
struct aa_ct_seg_list *aa_ct_tjx_slerp_generate(struct aa_mem_region *reg,
                                                struct aa_ct_pt_list *list );
 
 
#ifdef __cplusplus
}
#endif
 
#endif