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Robotran C Documentation
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void mbs_msg(const char *msg,...)
Send a message.
Definition: mbs_message.c:87
void cubic_spline_comp_val_and_der(CubicSpline *cs, double x_in, int index, double *y, double *yp, double *ypp)
Compute the value of the cubic spline and its first and second derivatives at the specified coordinat...
Definition: cubic_spline.c:186
double * x
Starting value of each segment.
Definition: cubic_spline.h:20
void cubic_spline_comp_val_and_der(CubicSpline *cs, double x_in, int index, double *y, double *yp, double *ypp)
Compute the value of the cubic spline and its first and second derivatives at the specified coordinat...
Definition: cubic_spline.c:186
void mbs_error_msg(int err, const char *msg,...)
Send an error message.
Definition: mbs_message.c:131
double * get_dvec_0(int l_v)
create (with memory allocation) a vector (length l_v) of doubles, starting at index 0
Definition: mbs_1D_array.c:955
void free_dmat_0(double **mat)
release memory for a matrix of doubles, starting at index 0
Definition: mbs_matrix.c:332
int get_dmatfiles_size(const char *fileName, int *n_row, int *n_col)
Function to load a file and calculate the number of rows and columns.
Definition: mbs_matrix.c:1010
int cubic_spline_get_index(CubicSpline *cs, double x_in)
Retrieve the index (starting at zero) in the spline coefficient table corresponding to the specified ...
Definition: cubic_spline.c:84
double ** get_dmat_0(int nb_r, int nb_c)
create (with memory allocation) a [nb_r times nb_c] matrix of doubles, starting at index 0
Definition: mbs_matrix.c:277
double cubic_spline_comp_value(CubicSpline *cs, double x_in, int index)
Compute the value of the cubic spline at the specified coordinate.
Definition: cubic_spline.c:122
int cubic_spline_get_index(CubicSpline *cs, double x_in)
Retrieve the index (starting at zero) in the spline coefficient table corresponding to the specified ...
Definition: cubic_spline.c:84
Definition: cubic_spline.h:17
double cubic_spline_comp_value(CubicSpline *cs, double x_in, int index)
Compute the value of the cubic spline at the specified coordinate.
Definition: cubic_spline.c:122
double cubic_spline_comp_firstder(CubicSpline *cs, double x_in, int index)
Compute the value of the first derivative of the cubic spline at the specified coordinate.
Definition: cubic_spline.c:144
CubicSpline * cubic_spline_new_from_file(const char *filename)
Load the coefficient of the cubic splines from a file.
Definition: cubic_spline.c:21
int lastindex
Last used index (line). Default value -1.
Definition: cubic_spline.h:26
void cubic_spline_delete(CubicSpline *cs)
Free the memory of cubic spline.
Definition: cubic_spline.c:211
double cubic_spline_comp_secondder(CubicSpline *cs, double x_in, int index)
Compute the value of the second derivative of the cubic spline at the specified coordinate.
Definition: cubic_spline.c:165
double cubic_spline_comp_firstder(CubicSpline *cs, double x_in, int index)
Compute the value of the first derivative of the cubic spline at the specified coordinate.
Definition: cubic_spline.c:144
void cubic_spline_delete(CubicSpline *cs)
Free the memory of cubic spline.
Definition: cubic_spline.c:211
double cubic_spline_comp_secondder(CubicSpline *cs, double x_in, int index)
Compute the value of the second derivative of the cubic spline at the specified coordinate.
Definition: cubic_spline.c:165
void free_dvec_0(double *vec)
release memory for a vector of doubles, starting at index 0
Definition: mbs_1D_array.c:971
double ** coef
The size is [CubicSpline::nx,4]
Definition: cubic_spline.h:24
int nx
Number of cubic spline segments.
Definition: cubic_spline.h:19
int read_dmat_0(double **mat, int nb_r, int nb_c, const char *name)
read a [nb_r times nb_c] matrix of doubles from a file starting with index 0 and store the values in ...
Definition: mbs_matrix.c:537
CubicSpline * cubic_spline_new_from_file(const char *filename)
Load the coefficient of the cubic splines from a file.
Definition: cubic_spline.c:21
1.8.17