graspit: /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit

00001 /*<html><pre>  -<a                             href="qh-c.htm#user"
00002   >-------------------------------</a><a name="TOP">-</a>
00003 
00004    user.c 
00005    user redefinable functions
00006 
00007    see README.txt  see COPYING.txt for copyright information.
00008 
00009    see qhull.h for data structures, macros, and user-callable functions.
00010 
00011    see user_eg.c and unix.c for examples.
00012 
00013    see user.h for user-definable constants
00014 
00015       use qh_NOmem in mem.h to turn off memory management
00016       use qh_NOmerge in user.h to turn off facet merging
00017       set qh_KEEPstatistics in user.h to 0 to turn off statistics
00018 
00019    This is unsupported software.  You're welcome to make changes,
00020    but you're on your own if something goes wrong.  Use 'Tc' to
00021    check frequently.  Usually qhull will report an error if 
00022    a data structure becomes inconsistent.  If so, it also reports
00023    the last point added to the hull, e.g., 102.  You can then trace
00024    the execution of qhull with "T4P102".  
00025 
00026    Please report any errors that you fix to qhull@geom.umn.edu
00027 
00028    call_qhull is a template for calling qhull from within your application
00029 
00030    if you recompile and load this module, then user.o will not be loaded
00031    from qhull.a
00032 
00033    you can add additional quick allocation sizes in qh_user_memsizes
00034 
00035    if the other functions here are redefined to not use qh_print...,
00036    then io.o will not be loaded from qhull.a.  See user_eg.c for an
00037    example.  We recommend keeping io.o for the extra debugging 
00038    information it supplies.
00039 */
00040 
00041 #include "qhull_a.h" 
00042 
00043 #ifdef USE_DMALLOC
00044 #include "dmalloc.h"
00045 #endif
00046 
00047 /*-------------------------------------------------
00048 -call_qhull- template for calling qhull from inside your program
00049    remove #if 0, #endif to compile
00050    define: char qh_version[]= "...";
00051 returns: 
00052    exit code (see qh_ERR... in qhull.h)
00053 
00054   This can be called any number of times.  
00055   
00056   To allow multiple, concurrent calls to qhull() 
00057     - use qh_QHpointer, qh_save_qhull, and qh_restore_qhull to swap
00058       the global data structure between calls.
00059     - initialize the first call with qh_init_A
00060     - initialize other calls with qh_initqhull_start
00061     - use qh_freeqhull(qh_ALL) instead of qh_memfreeshort
00062     - warning: this ought to work but it has not been fully tested.
00063       Let us know if you are successful.
00064 */
00065 #if 0
00066 char qh_version[] = "user_eg 97/3/31";  /* used for error messages */
00067 
00068 int call_qhull (void) {
00069   int curlong, totlong, exitcode, numpoints, dim;
00070   coordT *points;
00071   boolT ismalloc;
00072   char *flags;
00073 
00074   qh_init_A (stdin, stdout, stderr, 0, NULL);
00075   exitcode= setjmp (qh errexit);
00076   if (!exitcode) {
00077     strcat (qh rbox_command, "user");            /* for documentation only */
00078     qh_initflags ("qhull Tc (your flags go here)"); /* 1st word ignored */
00079 
00080     /* define the input data */
00081     points= array;              /* an array of point coordinates */
00082     ismalloc= False;            /* True if qhull should 'free(points)' at end*/
00083     dim= 3;                     /* dimension of points */
00084     numpoints= 100;             /* number of points */;
00085     /* For Delaunay triangulation ('d' or 'v'), set "qh PROJECTdelaunay= True" 
00086        to project points to a paraboloid.  You may project the points yourself.
00087 
00088        For halfspace intersection ('H'), compute the dual point array
00089        by "points= qh_sethalfspace_all (dim, numpoints, array, feasible);"
00090     */
00091     qh_init_B (points, numpoints, dim, ismalloc);
00092 
00093     qh_qhull();                 /* construct the hull */
00094     /*  For Voronoi centers ('v'), call qh_setvoronoi_all() */
00095     qh_check_output();          /* optional */
00096     qh_produce_output();        /* optional */
00097     if (qh VERIFYoutput && !qh STOPpoint && !qh STOPcone)
00098       qh_check_points();        /* optional */
00099     /* exitcode == 0 */
00100   }
00101   qh NOerrexit= True;
00102   qh_freeqhull(!qh_ALL);
00103   qh_memfreeshort (&curlong, &totlong);
00104   if (curlong || totlong)       /* optional */
00105     fprintf (stderr, "qhull internal warning (main): did not free %d bytes of long memory (%d pieces)\n",
00106        totlong, curlong);
00107   return exitcode;
00108 } /* call_qhull */
00109 #endif
00110 
00111 /*-<a                             href="qh-c.htm#user"
00112   >-------------------------------</a><a name="errexit">-</a>
00113   
00114   qh_errexit( exitcode, facet, ridge )
00115     report and exit from an error
00116     report facet and ridge if non-NULL
00117     reports useful information such as last point processed
00118     set qh.FORCEoutput to print neighborhood of facet
00119 
00120   see: 
00121     qh_errexit2() in qhull.c for printing 2 facets
00122 
00123   design:
00124     check for error within error processing
00125     compute qh.hulltime
00126     print facet and ridge (if any)
00127     report commandString, options, qh.furthest_id
00128     print summary and statistics (including precision statistics)
00129     if qh_ERRsingular
00130       print help text for singular data set
00131     exit program via long jump (if defined) or exit()      
00132 */
00133 void qh_errexit(int exitcode, facetT *facet, ridgeT *ridge) {
00134 
00135   if (qh ERREXITcalled) {
00136     fprintf (qh ferr, "\nqhull error while processing previous error.  Exit program\n");
00137     exit(1);
00138   }
00139   qh ERREXITcalled= True;
00140   if (!qh QHULLfinished)
00141     qh hulltime= qh_CPUclock - qh hulltime;
00142   qh_errprint("ERRONEOUS", facet, NULL, ridge, NULL);
00143   fprintf (qh ferr, "\nWhile executing: %s | %s\n", qh rbox_command, qh qhull_command);
00144   fprintf(qh ferr, "Options selected for %s:\n%s\n", qh_version, qh qhull_options);
00145   if (qh furthest_id >= 0) {
00146     fprintf(qh ferr, "Last point added to hull was p%d.", qh furthest_id);
00147     if (zzval_(Ztotmerge))
00148       fprintf(qh ferr, "  Last merge was #%d.", zzval_(Ztotmerge));
00149     if (qh QHULLfinished)
00150       fprintf(qh ferr, "\nQhull has finished constructing the hull.");
00151     else if (qh POSTmerging)
00152       fprintf(qh ferr, "\nQhull has started post-merging.");
00153     fprintf (qh ferr, "\n");
00154   }
00155   if (qh FORCEoutput && (qh QHULLfinished || (!facet && !ridge)))
00156     qh_produce_output();
00157   else {
00158     if (exitcode != qh_ERRsingular && zzval_(Zsetplane) > qh hull_dim+1) {
00159       fprintf (qh ferr, "\nAt error exit:\n");
00160       qh_printsummary (qh ferr);
00161       if (qh PRINTstatistics) {
00162         qh_collectstatistics();
00163         qh_printstatistics(qh ferr, "at error exit");
00164         qh_memstatistics (qh ferr);
00165       }
00166     }
00167     if (qh PRINTprecision)
00168       qh_printstats (qh ferr, qhstat precision, NULL);
00169   }
00170   if (!exitcode)
00171     exitcode= qh_ERRqhull;
00172   else if (exitcode == qh_ERRsingular)
00173     qh_printhelp_singular(qh ferr);
00174   else if (exitcode == qh_ERRprec && !qh PREmerge)
00175     qh_printhelp_degenerate (qh ferr);
00176   if (qh NOerrexit) {
00177     fprintf (qh ferr, "qhull error while ending program.  Exit program\n");
00178     exit(1);
00179   }
00180   qh NOerrexit= True;
00181   longjmp(qh errexit, exitcode);
00182 } /* errexit */
00183 
00184 
00185 /*-<a                             href="qh-c.htm#user"
00186   >-------------------------------</a><a name="errprint">-</a>
00187   
00188   qh_errprint( fp, string, atfacet, otherfacet, atridge, atvertex )
00189     prints out the information of facets and ridges to fp
00190     also prints neighbors and geomview output
00191     
00192   notes:
00193     except for string, any parameter may be NULL
00194 */
00195 void qh_errprint(char *string, facetT *atfacet, facetT *otherfacet, ridgeT *atridge, vertexT *atvertex) {
00196   int i;
00197 
00198   if (atfacet) {
00199     fprintf(qh ferr, "%s FACET:\n", string);
00200     qh_printfacet(qh ferr, atfacet);
00201   }
00202   if (otherfacet) {
00203     fprintf(qh ferr, "%s OTHER FACET:\n", string);
00204     qh_printfacet(qh ferr, otherfacet);
00205   }
00206   if (atridge) {
00207     fprintf(qh ferr, "%s RIDGE:\n", string);
00208     qh_printridge(qh ferr, atridge);
00209     if (atridge->top && atridge->top != atfacet && atridge->top != otherfacet)
00210       qh_printfacet(qh ferr, atridge->top);
00211     if (atridge->bottom
00212         && atridge->bottom != atfacet && atridge->bottom != otherfacet)
00213       qh_printfacet(qh ferr, atridge->bottom);
00214     if (!atfacet)
00215       atfacet= atridge->top;
00216     if (!otherfacet)
00217       otherfacet= otherfacet_(atridge, atfacet);
00218   }
00219   if (atvertex) {
00220     fprintf(qh ferr, "%s VERTEX:\n", string);
00221     qh_printvertex (qh ferr, atvertex);
00222   }
00223   if (qh FORCEoutput && atfacet && !qh QHULLfinished && !qh IStracing) {
00224     fprintf(qh ferr, "ERRONEOUS and NEIGHBORING FACETS to output\n");
00225     for (i= 0; i < qh_PRINTEND; i++)  /* use fout for geomview output */
00226       qh_printneighborhood (qh fout, qh PRINTout[i], atfacet, otherfacet,
00227                             !qh_ALL);
00228   }
00229 } /* errprint */
00230 
00231 
00232 /*-<a                             href="qh-c.htm#user"
00233   >-------------------------------</a><a name="printfacetlist">-</a>
00234   
00235   qh_printfacetlist( fp, facetlist, facets, printall )
00236     print all fields for a facet list and/or set of facets to fp
00237     if !printall, 
00238       only prints good facets
00239 
00240   notes:
00241     also prints all vertices
00242 */
00243 void qh_printfacetlist(facetT *facetlist, setT *facets, boolT printall) {
00244   facetT *facet, **facetp;
00245 
00246   qh_printbegin (qh ferr, qh_PRINTfacets, facetlist, facets, printall);
00247   FORALLfacet_(facetlist)
00248     qh_printafacet(qh ferr, qh_PRINTfacets, facet, printall);
00249   FOREACHfacet_(facets)
00250     qh_printafacet(qh ferr, qh_PRINTfacets, facet, printall);
00251   qh_printend (qh ferr, qh_PRINTfacets, facetlist, facets, printall);
00252 } /* printfacetlist */
00253 
00254 
00255 /*-<a                             href="qh-c.htm#global"
00256   >-------------------------------</a><a name="user_memsizes">-</a>
00257   
00258   qh_user_memsizes()
00259     allocate up to 10 additional, quick allocation sizes
00260 
00261   notes:
00262     increase maximum number of allocations in qh_initqhull_mem()
00263 */
00264 void qh_user_memsizes (void) {
00265 
00266   /* qh_memsize (size); */
00267 } /* user_memsizes */
00268
/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/qhull/user.c
