irtc.c File Reference

#include "eus.h"
#include "nr.h"
#include <math.h>

Include dependency graph for irtc.c:

Go to the source code of this file.

Defines
#define	colsize(p)   (intval(p->c.ary.dim[1]))
#define	ismatrix(p)
#define	rowsize(p)   (intval(p->c.ary.dim[0]))
#define	SWAP(g, h)   {y=(g);(g)=(h);(h)=y;}
Functions
pointer	___irtc ()
pointer	___irtc (context *ctx, int n, argv, pointer env)
void	balanc (eusfloat_t **a, int n)
void	elmhes (eusfloat_t **a, int n)
int	hqr (eusfloat_t **a, int n, eusfloat_t wr[], eusfloat_t wi[])
pointer	LU_DECOMPOSE2 (context *ctx, int n, argv)
pointer	LU_SOLVE2 (context *ctx, int n, argv)
pointer	MATMINUS (context *ctx, int n, pointer *argv)
pointer	MATPLUS (context *ctx, int n, pointer *argv)
int	matrix2quaternion (eusfloat_t *c, eusfloat_t *q)
pointer	MATRIX_DETERMINANT (context *ctx, int n, argv)
pointer	MATTIMES3 (context *ctx, int n, pointer *argv)
pointer	PSEUDO_INVERSE2 (context *ctx, int n, argv)
eusfloat_t	pythag (eusfloat_t a, eusfloat_t b)
pointer	QL_DECOMPOSE (context *ctx, int n, argv)
pointer	QR_DECOMPOSE (context *ctx, int n, argv)
int	quaternion2matrix (eusfloat_t *q, eusfloat_t *c)
int	quaternion_multiply (eusfloat_t *q1, eusfloat_t *q2, eusfloat_t *q3)
static	register_irtc ()
pointer	SV_DECOMPOSE (context *ctx, int n, argv)
pointer	SV_SOLVE (context *ctx, int n, argv)

---

Define Documentation

#define colsize

(

p

)

(intval(p->c.ary.dim[1]))

Definition at line 32 of file irtc.c.

#define ismatrix

(

p

)

Value:

((isarray(p) && \
                      p->c.ary.rank==makeint(2) && \
                      elmtypeof(p->c.ary.entity)==ELM_FLOAT))

Definition at line 34 of file irtc.c.

#define rowsize

(

p

)

(intval(p->c.ary.dim[0]))

Definition at line 33 of file irtc.c.

#define SWAP	(		g,
			h
	)		{y=(g);(g)=(h);(h)=y;}

Definition at line 575 of file irtc.c.

---

Function Documentation

pointer ___irtc

(

)

$Id$

Copyright (c) 1987- JSK, The University of Tokyo. All Rights Reserved.

This software is a collection of EusLisp code for robot applications, which has been developed by the JSK Laboratory for the IRT project. For more information on EusLisp and its application to the robotics, please refer to the following papers.

Toshihiro Matsui Multithread object-oriented language euslisp for parallel and asynchronous programming in robotics Workshop on Concurrent Object-based Systems, IEEE 6th Symposium on Parallel and Distributed Processing, 1994

Permission to use this software for educational, research and non-profit purposes, without fee, and without a written agreement is hereby granted to all researchers working on the IRT project at the University of Tokyo, provided that the above copyright notice remains intact.

pointer ___irtc	(	context *	ctx,
		int	n,
		argv	,
		pointer	env
	)

Definition at line 843 of file irtc.c.

void balanc	(	eusfloat_t **	a,
		int	n
	)

Definition at line 535 of file irtc.c.

void elmhes	(	eusfloat_t **	a,
		int	n
	)

Definition at line 576 of file irtc.c.

int hqr	(	eusfloat_t **	a,
		int	n,
		eusfloat_t	wr[],
		eusfloat_t	wi[]
	)

Definition at line 608 of file irtc.c.

pointer LU_DECOMPOSE2	(	context *	ctx,
		int	n,
		argv
	)

Definition at line 202 of file irtc.c.

pointer LU_SOLVE2	(	context *	ctx,
		int	n,
		argv
	)

Definition at line 163 of file irtc.c.

pointer MATMINUS	(	context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 501 of file irtc.c.

pointer MATPLUS	(	context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 467 of file irtc.c.

int matrix2quaternion	(	eusfloat_t *	c,
		eusfloat_t *	q
	)

Definition at line 363 of file irtc.c.

pointer MATRIX_DETERMINANT	(	context *	ctx,
		int	n,
		argv
	)

Definition at line 249 of file irtc.c.

pointer MATTIMES3	(	context *	ctx,
		int	n,
		pointer *	argv
	)

Definition at line 433 of file irtc.c.

pointer PSEUDO_INVERSE2	(	context *	ctx,
		int	n,
		argv
	)

Definition at line 287 of file irtc.c.

eusfloat_t pythag	(	eusfloat_t	a,
		eusfloat_t	b
	)

Definition at line 734 of file irtc.c.

pointer QL_DECOMPOSE	(	context *	ctx,
		int	n,
		argv
	)

Definition at line 743 of file irtc.c.

pointer QR_DECOMPOSE	(	context *	ctx,
		int	n,
		argv
	)

Definition at line 793 of file irtc.c.

int quaternion2matrix	(	eusfloat_t *	q,
		eusfloat_t *	c
	)

Definition at line 397 of file irtc.c.

int quaternion_multiply	(	eusfloat_t *	q1,
		eusfloat_t *	q2,
		eusfloat_t *	q3
	)

Definition at line 420 of file irtc.c.

static register_irtc

(

)

[static]

Definition at line 29 of file irtc.c.

pointer SV_DECOMPOSE	(	context *	ctx,
		int	n,
		argv
	)

Definition at line 89 of file irtc.c.

pointer SV_SOLVE	(	context *	ctx,
		int	n,
		argv
	)

Definition at line 42 of file irtc.c.