|
Robotran C Documentation
|
Go to the documentation of this file.
29 void transpose(
double M[4][4],
double Mt[4][4]);
87 void doublematrix_product_0(
double **M1,
int nb_row_M1,
int nb_col_M1,
double **M2,
int nb_col_M2,
double **M);
101 void doublematrix_product_1(
double **M1,
int nb_row_M1,
int nb_col_M1,
double **M2,
int nb_col_M2,
double **M);
154 void copy_imat_0(
int** tab_src,
int** tab_dest,
int nb_r,
int nb_c);
206 void copy_dmat_0(
double** tab_src,
double** tab_dest,
int nb_r,
int nb_c);
215 void copy_dmat_1(
double** src,
double** dest,
int x,
int y);
231 double **
re_copy_dmat_0(
double **src,
int s_nx,
int s_ny,
double **dest,
int d_nx,
int d_ny);
248 double **
re_copy_dmat_1(
double **src,
int s_nx,
int s_ny,
double **dest,
int d_nx,
int d_ny);
257 void transpose_dmat_0(
double** tab_src,
double** tab_dest,
int nb_r,
int nb_c);
296 int read_dmat_0(
double** mat,
int nb_r,
int nb_c,
const char* name);
304 double**
load_dmat_0(
int nb_r,
int nb_c,
char* name);
320 int save_dmat_0(
double** mat,
int nb_r,
int nb_c,
char* name);
358 int code_dmat_0(FILE *file_out,
double **values,
const char *name,
int n_row,
int n_col);
371 int code_dmat_1(FILE *file_out,
double **values,
const char *name,
int n_row,
int n_col);
384 int slct_dmat_0(
double** tab_src,
int nb_r,
int nb_c,
double** tab_out,
int l_vec,
int* vec);
397 int slctr_dmat_0(
double** tab_src,
int nb_r,
int nb_c,
double** tab_dest,
int l_vec,
int* vec);
441 void mult_dmat_0(
double** A,
double** B,
double** C,
int n1,
int n2,
int n3);
451 void sum_dmat_0(
double** A,
double** B,
double** C,
int n1,
int n2);
461 void diff_dmat_0(
double** A,
double** B,
double** C,
int n1,
int n2);
516 void scale_matrix(
double** matrix,
int* n,
int* initzeros);
539 int same_dmat_0(
double **a,
double **b,
int x,
int y);
void update_initzeros(int *initzeros, double **matrix, int *n)
function to update the initzeros array (obsolete?)
Definition: mbs_matrix.c:1103
int ** get_imat_0(int nb_r, int nb_c)
create (with memory allocation) a [nb_r times nb_c] matrix of integers, starting at index 0....
Definition: mbs_matrix.c:240
void arrange_matrix(double **matrix, int *n, int *initzeros)
function to arrange matrix (obsolete?)
Definition: mbs_matrix.c:1120
#define MBS_INFO_FAILURE
Definition: mbs_define.h:32
void mbs_msg(const char *msg,...)
Send a message.
Definition: mbs_message.c:87
int save_dmat_0(double **mat, int nb_r, int nb_c, char *name)
save a [nb_r times nb_c] matrix of doubles to a second matrix, starting with index 0
Definition: mbs_matrix.c:653
void matrix_product_0(double **M, double *v, double *Mv, int nr, int nc)
Compute the product of a matrix by a vector. The first index is 0.
Definition: mbs_matrix.c:48
void scale_matrix(double **matrix, int *n, int *initzeros)
function to scale matrix (obsolete?)
Definition: mbs_matrix.c:1165
void doublematrix_product_0(double **M1, int nb_row_M1, int nb_col_M1, double **M2, int nb_col_M2, double **M)
Compute the product of two matrices of given shape. The first index is 0.
Definition: mbs_matrix.c:88
#define MSG_PRE
Definition: mbs_matrix.c:25
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:1055
void rotation_matrix(int type, double angle, double R[4][4])
Compute the rotation matrix for a specified angle around a specific axis. The first index is 1.
Definition: mbs_matrix.c:122
#define _MBS_ERR_LOW_FILES
Low Level error number Error during opening/writing files = -9.
Definition: mbs_errors_names.h:157
int ** get_imat_1(int nb_r, int nb_c)
create (with memory allocation) a [nb_r times nb_c] matrix of integers, starting at index 1
Definition: mbs_matrix.c:262
void copy_dmat_0(double **tab_src, double **tab_dest, int nb_r, int nb_c)
Copy the content of a [nb_r times nb_c] matrix of doubles to a second matrix, starting with index 0.
Definition: mbs_matrix.c:444
void arrange_matrix(double **matrix, int *n, int *initzeros)
function to arrange matrix (obsolete?)
Definition: mbs_matrix.c:1120
void print_dmat_0(double **mat, int nb_r, int nb_c)
print a [nb_r times nb_c] matrix of doubles in console, starting with index 0
Definition: mbs_matrix.c:551
void free_dmat_0(double **mat)
release memory for a matrix of doubles, starting at index 0
Definition: mbs_matrix.c:374
void sum_dmat_0(double **A, double **B, double **C, int n1, int n2)
function to sum two matrices: A + B = C
Definition: mbs_matrix.c:978
int slct_dmat_0(double **tab_src, int nb_r, int nb_c, double **tab_out, int l_vec, int *vec)
fill the second [nb_r times l_vec] matrix by selecting the columns of the first [nb_r times nb_c] mat...
Definition: mbs_matrix.c:870
void matrix_product_0(double **M, double *v, double *Mv, int nr, int nc)
Compute the product of a matrix by a vector. The first index is 0.
Definition: mbs_matrix.c:48
void transpose(double M[4][4], double Mt[4][4])
Compute the transpose of a matrix with first index is 1.
Definition: mbs_matrix.c:27
int slctr_dmat_0(double **tab_src, int nb_r, int nb_c, double **tab_dest, int l_vec, int *vec)
fill the second [l_vec times nb_c] matrix by selecting the rows of the first [nb_r times nb_c] matrix...
Definition: mbs_matrix.c:892
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:1052
void mbs_warning_msg(const char *msg,...)
Send a warning message.
Definition: mbs_message.c:100
double ** re_copy_dmat_0(double **src, int s_nx, int s_ny, double **dest, int d_nx, int d_ny)
Copy a 2D array of double into another, reallocate the destination if required.
Definition: mbs_matrix.c:470
void zeros_dmat_0(double **mat, int nb_r, int nb_c)
set all the element of a [nb_r times nb_c] matrix of doubles to zero, starting with index 0
Definition: mbs_matrix.c:914
int code_dmat_1(FILE *file_out, double **values, const char *name, int n_row, int n_col)
Write C-code to allocate and fill an array of arrays of doubles.
Definition: mbs_matrix.c:814
int code_dmat_1(FILE *file_out, double **values, const char *name, int n_row, int n_col)
Write C-code to allocate and fill an array of arrays of doubles.
Definition: mbs_matrix.c:814
void readmatrix(double **mat, int *n)
function to read a matrix (obsolete?)
Definition: mbs_matrix.c:1020
void scale_matrix(double **matrix, int *n, int *initzeros)
function to scale matrix (obsolete?)
Definition: mbs_matrix.c:1165
char * mbs_dirname(const char *path, int verbose)
mbs_dirname returns the leading part of the path (UNIX and MAC).
Definition: mbs_path.c:407
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 The functi...
Definition: mbs_matrix.c:294
void print_dmat_0(double **mat, int nb_r, int nb_c)
print a [nb_r times nb_c] matrix of doubles in console, starting with index 0
Definition: mbs_matrix.c:551
void matrix_product(double M[4][4], double v[4], double Mv[4])
Compute the product of a matrix by a vector. The first index is 1.
Definition: mbs_matrix.c:40
double ** load_dmat_0(int nb_r, int nb_c, char *name)
load a [nb_r times nb_c] matrix of doubles from a file starting with index 0. The matrix is created (...
Definition: mbs_matrix.c:646
void copy_dmat_1(double **src, double **dest, int x, int y)
Copy the content of a [x times y] matrix of doubles to a second matrix, starting with index 1.
Definition: mbs_matrix.c:457
void doublematrix_product_1(double **M1, int nb_row_M1, int nb_col_M1, double **M2, int nb_col_M2, double **M)
Compute the product of two matrices of given shape. The first index is 1.
Definition: mbs_matrix.c:105
void update_initzeros(int *initzeros, double **matrix, int *n)
function to update the initzeros array (obsolete?)
Definition: mbs_matrix.c:1103
int code_dmat_0(FILE *file_out, double **values, const char *name, int n_row, int n_col)
Write C-code to allocate and fill an array of arrays of doubles.
Definition: mbs_matrix.c:748
int slct_dmat_0(double **tab_src, int nb_r1, int nb_c1, double **tab_out, int l2, int *vec)
fill the second [nb_r times l_vec] matrix by selecting the columns of the first [nb_r times nb_c] mat...
Definition: mbs_matrix.c:870
void print_format_dmat_0(double **mat, int nb_r, int nb_c, char *format)
print a [nb_r times nb_c] matrix of doubles in console, starting with index 0
Definition: mbs_matrix.c:556
void free_imat_1(int **mat)
release memory for a matrix of integers, starting with index 1
Definition: mbs_matrix.c:398
double ** re_copy_dmat_1(double **src, int s_nx, int s_ny, double **dest, int d_nx, int d_ny)
Copy a 2D array of double into another, reallocate the destination if required.
Definition: mbs_matrix.c:505
void transpose_dmat_0(double **tab_src, double **tab_dest, int nb_r, int nb_c)
Transpose a [nb_r times nb_c] matrix of doubles and store the results in a [y times nb_r] matrix,...
Definition: mbs_matrix.c:524
void free_imat_0(int **mat)
release memory for a matrix of integers, starting with index 0
Definition: mbs_matrix.c:390
void sum_dmat_0(double **A, double **B, double **C, int n1, int n2)
function to sum two matrices: A + B = C
Definition: mbs_matrix.c:978
void diff_dmat_0(double **A, double **B, double **C, int n1, int n2)
function to sum two matrices: A - B = C
Definition: mbs_matrix.c:991
#define _MBS_ERR_LOW_NULL_PTR
Low Level error number A called symbolic or user function is set to NULL;.
Definition: mbs_errors_names.h:142
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:1052
void matrix_product_1(double **M, double *v, double *v_out, int nr, int nc)
Compute the product of a matrix by a vector. The first index is 1.
Definition: mbs_matrix.c:60
void matrix_product_1(double **M, double *v, double *v_out, int nr, int nc)
Compute the product of a matrix by a vector. The first index is 1.
Definition: mbs_matrix.c:60
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:579
int set_diag_dmat_0(double **mat, int size, double value)
Set a diagonal matrix with the given value.
Definition: mbs_matrix.c:927
int set_identity_dmat_0(double **mat, int size)
Set a matrix to identity matrix. Out-of-diagonal elements are set to zero.
Definition: mbs_matrix.c:951
void rotation_matrix_4x4_ptr(int type, double angle, double **R)
Compute the rotation matrix for a specified angle around a specific axis. The first index is 1....
Definition: mbs_matrix.c:161
void copy_dmat_1(double **src, double **dest, int x, int y)
Copy the content of a [x times y] matrix of doubles to a second matrix, starting with index 1.
Definition: mbs_matrix.c:457
void free_imat_1(int **mat)
release memory for a matrix of integers, starting with index 1
Definition: mbs_matrix.c:398
double ** get_dmat_1(int nb_r, int nb_c)
create (with memory allocation) a [nb_r times nb_c] matrix of doubles, starting at index 1
Definition: mbs_matrix.c:316
int same_dmat_0(double **a, double **b, int x, int y)
Compare if two 2D arrays of floats are the same.
Definition: mbs_matrix.c:1190
int ** get_imat_0(int nb_r, int nb_c)
create (with memory allocation) a [nb_r times nb_c] matrix of integers, starting at index 0....
Definition: mbs_matrix.c:240
double ** re_copy_dmat_1(double **src, int s_nx, int s_ny, double **dest, int d_nx, int d_ny)
Copy a 2D array of double into another, reallocate the destination if required.
Definition: mbs_matrix.c:505
void print_format_dmat_0(double **mat, int nb_r, int nb_c, char *format)
print a [nb_r times nb_c] matrix of doubles in console, starting with index 0
Definition: mbs_matrix.c:556
void zeros_dmat_0(double **mat, int nb_r, int nb_c)
set all the element of a [nb_r times nb_c] matrix of doubles to zero, starting with index 0
Definition: mbs_matrix.c:914
void readmatrix(double **matrix, int *n)
function to read a matrix (obsolete?)
Definition: mbs_matrix.c:1020
void copy_imat_0(int **tab_src, int **tab_dest, int nb_r, int nb_c)
Copy the content of a [nb_r times nb_c] matrix of integers to a second matrix, starting with index 0.
Definition: mbs_matrix.c:406
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 The functi...
Definition: mbs_matrix.c:294
void mult_dmat_0(double **A, double **B, double **C, int n1, int n2, int n3)
function to multiply two matrices: A * B = C [n1 n2] [n2 n3] = [n1 n3]
Definition: mbs_matrix.c:961
int set_diag_dmat_0(double **mat, int size, double value)
Set a diagonal matrix with the given value.
Definition: mbs_matrix.c:927
void free_dmat_0(double **mat)
release memory for a matrix of doubles, starting at index 0
Definition: mbs_matrix.c:374
void opposite_dmat_0(double **A, int n1, int n2)
function to take the opposite of a given matrix (minus in front of each entry)
Definition: mbs_matrix.c:1004
int code_dmat_0(FILE *file_out, double **values, const char *name, int n_row, int n_col)
Write C-code to allocate and fill an array of arrays of doubles.
Definition: mbs_matrix.c:748
void transpose_dmat_0(double **tab_src, double **tab_dest, int nb_r, int nb_c)
Transpose a [nb_r times nb_c] matrix of doubles and store the results in a [y times nb_r] matrix,...
Definition: mbs_matrix.c:524
void print_imat_0(int **mat, int x, int y)
print a [nb_r times nb_c] matrix of integers in console, starting with index 0
Definition: mbs_matrix.c:419
void diff_dmat_0(double **A, double **B, double **C, int n1, int n2)
function to sum two matrices: A - B = C
Definition: mbs_matrix.c:991
void free_imat_0(int **mat)
release memory for a matrix of integers, starting with index 0
Definition: mbs_matrix.c:390
int ** get_imat_1(int nb_r, int nb_c)
create (with memory allocation) a [nb_r times nb_c] matrix of integers, starting at index 1
Definition: mbs_matrix.c:262
void doublematrix_product(double M1[4][4], double M2[4][4], double M[4][4])
Compute the product of two matrices. The first index is 1.
Definition: mbs_matrix.c:73
int save_format_dmat_0(double **mat, int nb_r, int nb_c, char *name, char *format)
save a [nb_r times nb_c] matrix of doubles to a second matrix, starting with index 0.
Definition: mbs_matrix.c:665
void rotation_matrix(int type, double angle, double R[4][4])
Compute the rotation matrix for a specified angle around a specific axis. The first index is 1.
Definition: mbs_matrix.c:122
int slctr_dmat_0(double **tab_src, int nb_r1, int nb_c1, double **tab_out, int l2, int *vec)
fill the second [l_vec times nb_c] matrix by selecting the rows of the first [nb_r times nb_c] matrix...
Definition: mbs_matrix.c:892
void print_imat_0(int **mat, int nb_r, int nb_c)
print a [nb_r times nb_c] matrix of integers in console, starting with index 0
Definition: mbs_matrix.c:419
int save_dmat_0(double **mat, int nb_r, int nb_c, char *name)
save a [nb_r times nb_c] matrix of doubles to a second matrix, starting with index 0
Definition: mbs_matrix.c:653
void copy_array_dmat_1(double src[4][4], double **dest)
Copy the content of an array of doubles to a pointer of matrix, starting with index 1.
Definition: mbs_matrix.c:1180
void rotation_matrix_4x4_ptr(int type, double angle, double **R)
Compute the rotation matrix for a specified angle around a specific axis. The first index is 1....
Definition: mbs_matrix.c:161
void transpose_dmat_1(double **tab_src, double **tab_dest, int x, int y)
Transpose a [x times y] matrix of doubles and store the results in a [y times x] matrix,...
Definition: mbs_matrix.c:538
double ** re_copy_dmat_0(double **src, int s_nx, int s_ny, double **dest, int d_nx, int d_ny)
Copy a 2D array of double into another, reallocate the destination if required.
Definition: mbs_matrix.c:470
int mbs_is_dir_or_file(const char *path)
Check if the path is valid and lead to a file or directory.
Definition: mbs_path.c:547
void doublematrix_product_1(double **M1, int nb_row_M1, int nb_col_M1, double **M2, int nb_col_M2, double **M)
Compute the product of two matrices of given shape. The first index is 1.
Definition: mbs_matrix.c:105
void matrix_product(double M[4][4], double v[4], double Mv[4])
Compute the product of a matrix by a vector. The first index is 1.
Definition: mbs_matrix.c:40
void free_dmat_1(double **mat)
release memory for a matrix of doubles, starting at index 1
Definition: mbs_matrix.c:382
void mult_dmat_0(double **A, double **B, double **C, int n1, int n2, int n3)
function to multiply two matrices: A * B = C [n1 n2] [n2 n3] = [n1 n3]
Definition: mbs_matrix.c:961
void doublematrix_product_0(double **M1, int nb_row_M1, int nb_col_M1, double **M2, int nb_col_M2, double **M)
Compute the product of two matrices of given shape. The first index is 0.
Definition: mbs_matrix.c:88
void doublematrix_product(double M1[4][4], double M2[4][4], double M[4][4])
Compute the product of two matrices. The first index is 1.
Definition: mbs_matrix.c:73
void opposite_dmat_0(double **A, int n1, int n2)
function to take the opposite of a given matrix (minus in front of each entry)
Definition: mbs_matrix.c:1004
int set_identity_dmat_0(double **mat, int size)
Set a matrix to identity matrix. Out-of-diagonal elements are set to zero.
Definition: mbs_matrix.c:951
void free_dmat_1(double **mat)
release memory for a matrix of doubles, starting at index 1
Definition: mbs_matrix.c:382
void free_dvec_0(double *vec)
release memory for a vector of doubles, starting at index 0
Definition: mbs_1D_array.c:1090
#define MBS_INFO_SUCCESS
Definition: mbs_define.h:30
int save_format_dmat_0(double **mat, int nb_r, int nb_c, char *name, char *format)
save a [nb_r times nb_c] matrix of doubles to a second matrix, starting with index 0.
Definition: mbs_matrix.c:665
double ** get_dmat_1(int nb_r, int nb_c)
create (with memory allocation) a [nb_r times nb_c] matrix of doubles, starting at index 1
Definition: mbs_matrix.c:316
int same_dmat_0(double **a, double **b, int x, int y)
Compare if two 2D arrays of floats are the same.
Definition: mbs_matrix.c:1190
void transpose(double M[4][4], double Mt[4][4])
Compute the transpose of a matrix with first index is 1.
Definition: mbs_matrix.c:27
double ** get_contdmat_1(int nb_r, int nb_c)
create (with memory allocation) a [nb_r times nb_c] matrix of doubles, starting at index 1....
Definition: mbs_matrix.c:346
void copy_dmat_0(double **tab_src, double **tab_dest, int nb_r, int nb_c)
Copy the content of a [nb_r times nb_c] matrix of doubles to a second matrix, starting with index 0.
Definition: mbs_matrix.c:444
int mbs_makedirs(char *path)
Create (recursively) the specified directory.
Definition: mbs_path.c:586
double ** load_dmat_0(int nb_r, int nb_c, char *name)
load a [nb_r times nb_c] matrix of doubles from a file starting with index 0. The matrix is created (...
Definition: mbs_matrix.c:646
void rotation_matrix_0(int type, double angle, double R[3][3])
Definition: mbs_matrix.c:200
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:579
#define MSG_ERR
Definition: mbs_matrix.c:24
double ** get_contdmat_1(int nb_r, int nb_c)
create (with memory allocation) a [nb_r times nb_c] matrix of doubles, starting at index 1....
Definition: mbs_matrix.c:346
void transpose_dmat_1(double **tab_src, double **tab_dest, int x, int y)
Transpose a [x times y] matrix of doubles and store the results in a [y times x] matrix,...
Definition: mbs_matrix.c:538
void copy_array_dmat_1(double src[4][4], double **dest)
Copy the content of an array of doubles to a pointer of matrix, starting with index 1.
Definition: mbs_matrix.c:1180
void copy_imat_0(int **tab1, int **tab2, int x, int y)
Copy the content of a [nb_r times nb_c] matrix of integers to a second matrix, starting with index 0.
Definition: mbs_matrix.c:406