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 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 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_config_id *	aa_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_id *	aa_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.

Detailed Description

Sub-scenegraphs.

Definition in file scene_sub.h.

Function Documentation

AA_API void aa_rx_sg_sub_destroy

(

struct aa_rx_sg_sub *

sg

)

Destroy the scengraph subset.

The original scenegraph will remain valid.