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
 * All rights reserved.
 *
 * Author(s): Neil T. Dantam <ntd@rice.edu>
 *
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 *   without modification, are permitted provided that the following
 *   conditions are met:
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#ifndef AMINO_RX_SCENE_SUB_H
#define AMINO_RX_SCENE_SUB_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 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 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_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 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 );

/*-- 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 );

#endif /*AMINO_RX_SCENE_SUB_H*/