GCS::System Class Reference

#include <GCS.h>

List of all members.

Public Member Functions

int addConstraint (Constraint *constr)
int addConstraintArcRadius (Arc &a, double *radius, int tagId=0)
int addConstraintArcRules (Arc &a, int tagId=0)
int addConstraintCircleRadius (Circle &c, double *radius, int tagId=0)
int addConstraintCoordinateX (Point &p, double *x, int tagId=0)
int addConstraintCoordinateY (Point &p, double *y, int tagId=0)
int addConstraintDifference (double *param1, double *param2, double *difference, int tagId=0)
int addConstraintEqual (double *param1, double *param2, int tagId=0)
int addConstraintEqualLength (Line &l1, Line &l2, double *length, int tagId=0)
int addConstraintEqualRadius (Arc &a1, Arc &a2, int tagId=0)
int addConstraintEqualRadius (Circle &c1, Arc &a2, int tagId=0)
int addConstraintEqualRadius (Circle &c1, Circle &c2, int tagId=0)
int addConstraintHorizontal (Point &p1, Point &p2, int tagId=0)
int addConstraintHorizontal (Line &l, int tagId=0)
int addConstraintL2LAngle (Point &l1p1, Point &l1p2, Point &l2p1, Point &l2p2, double *angle, int tagId=0)
int addConstraintL2LAngle (Line &l1, Line &l2, double *angle, int tagId=0)
int addConstraintMidpointOnLine (Point &l1p1, Point &l1p2, Point &l2p1, Point &l2p2, int tagId=0)
int addConstraintMidpointOnLine (Line &l1, Line &l2, int tagId=0)
int addConstraintP2LDistance (Point &p, Line &l, double *distance, int tagId=0)
int addConstraintP2PAngle (Point &p1, Point &p2, double *angle, int tagId=0)
int addConstraintP2PAngle (Point &p1, Point &p2, double *angle, double incr_angle, int tagId=0)
int addConstraintP2PCoincident (Point &p1, Point &p2, int tagId=0)
int addConstraintP2PDistance (Point &p1, Point &p2, double *distance, int tagId=0)
int addConstraintP2PSymmetric (Point &p1, Point &p2, Line &l, int tagId=0)
int addConstraintParallel (Line &l1, Line &l2, int tagId=0)
int addConstraintPerpendicular (Point &l1p1, Point &l1p2, Point &l2p1, Point &l2p2, int tagId=0)
int addConstraintPerpendicular (Line &l1, Line &l2, int tagId=0)
int addConstraintPointOnArc (Point &p, Arc &a, int tagId=0)
int addConstraintPointOnCircle (Point &p, Circle &c, int tagId=0)
int addConstraintPointOnLine (Point &p, Line &l, int tagId=0)
int addConstraintTangent (Line &l, Arc &a, int tagId=0)
int addConstraintTangent (Line &l, Circle &c, int tagId=0)
int addConstraintTangentArc2Line (Arc &a, Point &p1, Point &p2, int tagId=0)
int addConstraintTangentLine2Arc (Point &p1, Point &p2, Arc &a, int tagId=0)
int addConstraintVertical (Point &p1, Point &p2, int tagId=0)
int addConstraintVertical (Line &l, int tagId=0)
void applySolution ()
void clear ()
void clearByTag (int tagId)
int diagnose (VEC_pD &params, VEC_I &conflicting)
void getSubSystems (std::vector< SubSystem * > &subsysvec)
void initSolution (VEC_pD &params)
bool isInit () const
void removeConstraint (Constraint *constr)
void rescaleConstraint (int id, double coeff)
int solve (SubSystem *subsysA, SubSystem *subsysB, bool isFine=true)
int solve (SubSystem *subsys, bool isFine=true, Algorithm alg=DogLeg)
int solve (VEC_pD &params, bool isFine=true, Algorithm alg=DogLeg)
int solve (bool isFine=true, Algorithm alg=DogLeg)
 System (std::vector< Constraint * > clist_)
 System ()
void undoSolution ()
 ~System ()

Detailed Description

Definition at line 47 of file GCS.h.

Constructor & Destructor Documentation

GCS::System::System (  ) 

Definition at line 38 of file GCS.cpp.

GCS::System::System ( std::vector< Constraint * >  clist_  ) 

Definition at line 49 of file GCS.cpp.

References addConstraint(), GCS::Difference, GCS::Equal, GCS::L2LAngle, GCS::MidpointOnLine, GCS::None, GCS::P2LDistance, GCS::P2PAngle, GCS::P2PDistance, GCS::Parallel, GCS::Perpendicular, and GCS::PointOnLine.

GCS::System::~System (  ) 

Definition at line 120 of file GCS.cpp.

References clear().

Member Function Documentation

int GCS::System::addConstraint ( Constraint *  constr  ) 

Definition at line 148 of file GCS.cpp.

References GCS::Constraint::params().

Referenced by addConstraintDifference(), addConstraintEqual(), addConstraintL2LAngle(), addConstraintMidpointOnLine(), addConstraintP2LDistance(), addConstraintP2PAngle(), addConstraintP2PDistance(), addConstraintParallel(), addConstraintPerpendicular(), addConstraintPointOnLine(), and System().

int GCS::System::addConstraintArcRadius ( Arc &  a,
double *  radius,
int  tagId = 0 
)

Definition at line 374 of file GCS.cpp.

References addConstraintEqual(), and GCS::Arc::rad.

Referenced by Sketcher::Sketch::addRadiusConstraint().

int GCS::System::addConstraintArcRules ( Arc &  a,
int  tagId = 0 
)

Definition at line 327 of file GCS.cpp.

References addConstraintP2PAngle(), addConstraintP2PDistance(), GCS::Arc::center, GCS::Arc::end, GCS::Arc::endAngle, GCS::Arc::rad, GCS::Arc::start, and GCS::Arc::startAngle.

Referenced by Sketcher::Sketch::addArc().

int GCS::System::addConstraintCircleRadius ( Circle &  c,
double *  radius,
int  tagId = 0 
)

Definition at line 369 of file GCS.cpp.

References addConstraintEqual(), and GCS::Circle::rad.

Referenced by Sketcher::Sketch::addRadiusConstraint().

int GCS::System::addConstraintCoordinateX ( Point &  p,
double *  x,
int  tagId = 0 
)

Definition at line 317 of file GCS.cpp.

References addConstraintEqual(), and GCS::Point::x.

Referenced by Sketcher::Sketch::addCoordinateXConstraint().

int GCS::System::addConstraintCoordinateY ( Point &  p,
double *  y,
int  tagId = 0 
)

Definition at line 322 of file GCS.cpp.

References addConstraintEqual(), and GCS::Point::y.

Referenced by Sketcher::Sketch::addCoordinateYConstraint().

int GCS::System::addConstraintDifference ( double *  param1,
double *  param2,
double *  difference,
int  tagId = 0 
)

Definition at line 195 of file GCS.cpp.

References addConstraint(), and GCS::Constraint::setTag().

Referenced by Sketcher::Sketch::addDistanceXConstraint(), and Sketcher::Sketch::addDistanceYConstraint().

int GCS::System::addConstraintEqual ( double *  param1,
double *  param2,
int  tagId = 0 
)

Definition at line 188 of file GCS.cpp.

References addConstraint(), and GCS::Constraint::setTag().

Referenced by addConstraintArcRadius(), addConstraintCircleRadius(), addConstraintCoordinateX(), addConstraintCoordinateY(), addConstraintEqualRadius(), addConstraintHorizontal(), addConstraintP2PCoincident(), addConstraintVertical(), and Sketcher::Sketch::solve().

int GCS::System::addConstraintEqualLength ( Line &  l1,
Line &  l2,
double *  length,
int  tagId = 0 
)

Definition at line 379 of file GCS.cpp.

References addConstraintP2PDistance(), GCS::Line::p1, and GCS::Line::p2.

Referenced by Sketcher::Sketch::addEqualConstraint().

int GCS::System::addConstraintEqualRadius ( Arc &  a1,
Arc &  a2,
int  tagId = 0 
)

Definition at line 395 of file GCS.cpp.

References addConstraintEqual(), and GCS::Arc::rad.

int GCS::System::addConstraintEqualRadius ( Circle &  c1,
Arc &  a2,
int  tagId = 0 
)

Definition at line 390 of file GCS.cpp.

References addConstraintEqual(), GCS::Arc::rad, and GCS::Circle::rad.

int GCS::System::addConstraintEqualRadius ( Circle &  c1,
Circle &  c2,
int  tagId = 0 
)

Definition at line 385 of file GCS.cpp.

References addConstraintEqual(), and GCS::Circle::rad.

Referenced by Sketcher::Sketch::addEqualConstraint().

int GCS::System::addConstraintHorizontal ( Point &  p1,
Point &  p2,
int  tagId = 0 
)

Definition at line 302 of file GCS.cpp.

References addConstraintEqual(), and GCS::Point::y.

int GCS::System::addConstraintHorizontal ( Line &  l,
int  tagId = 0 
)

Definition at line 297 of file GCS.cpp.

References addConstraintEqual(), GCS::Line::p1, GCS::Line::p2, and GCS::Point::y.

Referenced by Sketcher::Sketch::addHorizontalConstraint().

int GCS::System::addConstraintL2LAngle ( Point &  l1p1,
Point &  l1p2,
Point &  l2p1,
Point &  l2p2,
double *  angle,
int  tagId = 0 
)

Definition at line 266 of file GCS.cpp.

References addConstraint(), and GCS::Constraint::setTag().

int GCS::System::addConstraintL2LAngle ( Line &  l1,
Line &  l2,
double *  angle,
int  tagId = 0 
)

Definition at line 259 of file GCS.cpp.

References addConstraint(), and GCS::Constraint::setTag().

Referenced by Sketcher::Sketch::addAngleConstraint().

int GCS::System::addConstraintMidpointOnLine ( Point &  l1p1,
Point &  l1p2,
Point &  l2p1,
Point &  l2p2,
int  tagId = 0 
)

Definition at line 281 of file GCS.cpp.

References addConstraint(), and GCS::Constraint::setTag().

int GCS::System::addConstraintMidpointOnLine ( Line &  l1,
Line &  l2,
int  tagId = 0 
)

Definition at line 274 of file GCS.cpp.

References addConstraint(), and GCS::Constraint::setTag().

Referenced by addConstraintP2PSymmetric().

int GCS::System::addConstraintP2LDistance ( Point &  p,
Line &  l,
double *  distance,
int  tagId = 0 
)

Definition at line 223 of file GCS.cpp.

References addConstraint(), and GCS::Constraint::setTag().

Referenced by addConstraintTangent(), and Sketcher::Sketch::addDistanceConstraint().

int GCS::System::addConstraintP2PAngle ( Point &  p1,
Point &  p2,
double *  angle,
int  tagId = 0 
)

Definition at line 218 of file GCS.cpp.

References addConstraintP2PAngle().

int GCS::System::addConstraintP2PAngle ( Point &  p1,
Point &  p2,
double *  angle,
double  incr_angle,
int  tagId = 0 
)

Definition at line 210 of file GCS.cpp.

References addConstraint(), and GCS::Constraint::setTag().

Referenced by Sketcher::Sketch::addAngleConstraint(), addConstraintArcRules(), addConstraintP2PAngle(), addConstraintTangentArc2Line(), and addConstraintTangentLine2Arc().

int GCS::System::addConstraintP2PCoincident ( Point &  p1,
Point &  p2,
int  tagId = 0 
)

Definition at line 291 of file GCS.cpp.

References addConstraintEqual(), GCS::Point::x, and GCS::Point::y.

Referenced by addConstraintTangentArc2Line(), addConstraintTangentLine2Arc(), Sketcher::Sketch::addPointCoincidentConstraint(), Sketcher::Sketch::addTangentConstraint(), and Sketcher::Sketch::initMove().

int GCS::System::addConstraintP2PDistance ( Point &  p1,
Point &  p2,
double *  distance,
int  tagId = 0 
)

Definition at line 203 of file GCS.cpp.

References addConstraint(), and GCS::Constraint::setTag().

Referenced by addConstraintArcRules(), addConstraintEqualLength(), addConstraintPointOnArc(), addConstraintPointOnCircle(), and Sketcher::Sketch::addDistanceConstraint().

int GCS::System::addConstraintP2PSymmetric ( Point &  p1,
Point &  p2,
Line &  l,
int  tagId = 0 
)

Definition at line 400 of file GCS.cpp.

References addConstraintMidpointOnLine(), addConstraintPerpendicular(), GCS::Line::p1, and GCS::Line::p2.

Referenced by Sketcher::Sketch::addSymmetricConstraint().

int GCS::System::addConstraintParallel ( Line &  l1,
Line &  l2,
int  tagId = 0 
)

Definition at line 237 of file GCS.cpp.

References addConstraint(), and GCS::Constraint::setTag().

Referenced by Sketcher::Sketch::addParallelConstraint(), and Sketcher::Sketch::addTangentConstraint().

int GCS::System::addConstraintPerpendicular ( Point &  l1p1,
Point &  l1p2,
Point &  l2p1,
Point &  l2p2,
int  tagId = 0 
)

Definition at line 251 of file GCS.cpp.

References addConstraint(), and GCS::Constraint::setTag().

int GCS::System::addConstraintPerpendicular ( Line &  l1,
Line &  l2,
int  tagId = 0 
)

Definition at line 244 of file GCS.cpp.

References addConstraint(), and GCS::Constraint::setTag().

Referenced by addConstraintP2PSymmetric(), and Sketcher::Sketch::addPerpendicularConstraint().

int GCS::System::addConstraintPointOnArc ( Point &  p,
Arc &  a,
int  tagId = 0 
)

Definition at line 340 of file GCS.cpp.

References addConstraintP2PDistance(), GCS::Arc::center, and GCS::Arc::rad.

Referenced by Sketcher::Sketch::addPointOnObjectConstraint(), Sketcher::Sketch::addTangentConstraint(), and Sketcher::Sketch::initMove().

int GCS::System::addConstraintPointOnCircle ( Point &  p,
Circle &  c,
int  tagId = 0 
)

Definition at line 335 of file GCS.cpp.

References addConstraintP2PDistance(), GCS::Circle::center, and GCS::Circle::rad.

Referenced by Sketcher::Sketch::addPointOnObjectConstraint(), Sketcher::Sketch::addTangentConstraint(), and Sketcher::Sketch::initMove().

int GCS::System::addConstraintPointOnLine ( Point &  p,
Line &  l,
int  tagId = 0 
)

Definition at line 230 of file GCS.cpp.

References addConstraint(), and GCS::Constraint::setTag().

Referenced by Sketcher::Sketch::addPointOnObjectConstraint(), and Sketcher::Sketch::addTangentConstraint().

int GCS::System::addConstraintTangent ( Line &  l,
Arc &  a,
int  tagId = 0 
)

Definition at line 350 of file GCS.cpp.

References addConstraintP2LDistance(), GCS::Arc::center, and GCS::Arc::rad.

int GCS::System::addConstraintTangent ( Line &  l,
Circle &  c,
int  tagId = 0 
)

Definition at line 345 of file GCS.cpp.

References addConstraintP2LDistance(), GCS::Circle::center, and GCS::Circle::rad.

Referenced by Sketcher::Sketch::addTangentConstraint().

int GCS::System::addConstraintTangentArc2Line ( Arc &  a,
Point &  p1,
Point &  p2,
int  tagId = 0 
)

Definition at line 362 of file GCS.cpp.

References addConstraintP2PAngle(), addConstraintP2PCoincident(), GCS::Arc::end, GCS::Arc::endAngle, M_PI, and GCS::Arc::startAngle.

Referenced by Sketcher::Sketch::addTangentConstraint().

int GCS::System::addConstraintTangentLine2Arc ( Point &  p1,
Point &  p2,
Arc &  a,
int  tagId = 0 
)

Definition at line 355 of file GCS.cpp.

References addConstraintP2PAngle(), addConstraintP2PCoincident(), GCS::Arc::endAngle, M_PI, GCS::Arc::start, and GCS::Arc::startAngle.

Referenced by Sketcher::Sketch::addTangentConstraint().

int GCS::System::addConstraintVertical ( Point &  p1,
Point &  p2,
int  tagId = 0 
)

Definition at line 312 of file GCS.cpp.

References addConstraintEqual(), and GCS::Point::x.

int GCS::System::addConstraintVertical ( Line &  l,
int  tagId = 0 
)

Definition at line 307 of file GCS.cpp.

References addConstraintEqual(), GCS::Line::p1, GCS::Line::p2, and GCS::Point::x.

Referenced by Sketcher::Sketch::addVerticalConstraint().

void GCS::System::applySolution (  ) 

Definition at line 1060 of file GCS.cpp.

References GCS::SubSystem::applySolution().

Referenced by Sketcher::Sketch::solve().

void GCS::System::clear ( void   ) 

Definition at line 125 of file GCS.cpp.

References GCS::free().

Referenced by Sketcher::Sketch::clear(), and ~System().

void GCS::System::clearByTag ( int  tagId  ) 

Definition at line 134 of file GCS.cpp.

References removeConstraint().

Referenced by Sketcher::Sketch::initMove(), Sketcher::Sketch::setUpSketch(), and Sketcher::Sketch::solve().

int GCS::System::diagnose ( VEC_pD &  params,
VEC_I &  conflicting 
)

Definition at line 1079 of file GCS.cpp.

References draftlibs::dxfLibrary::copy, RobotExampleTrajectoryOutOfShapes::count, Py::int, and KDL::Upper().

Referenced by Sketcher::Sketch::diagnose().

void GCS::System::getSubSystems ( std::vector< SubSystem * > &  subsysvec  ) 

Definition at line 1049 of file GCS.cpp.

void GCS::System::initSolution ( VEC_pD &  params  ) 

Definition at line 415 of file GCS.cpp.

References GCS::Equal, and Py::int.

Referenced by Sketcher::Sketch::initMove(), Sketcher::Sketch::setUpSketch(), Sketcher::Sketch::solve(), and solve().

bool GCS::System::isInit (  )  const [inline]

Definition at line 140 of file GCS.h.

Referenced by Sketcher::Sketch::diagnose().

void GCS::System::removeConstraint ( Constraint *  constr  ) 

Definition at line 163 of file GCS.cpp.

References draftlibs::fcvec::find(), and GCS::free().

Referenced by clearByTag().

void GCS::System::rescaleConstraint ( int  id,
double  coeff 
)

Definition at line 406 of file GCS.cpp.

Referenced by Sketcher::Sketch::initMove().

int GCS::System::solve ( SubSystem *  subsysA,
SubSystem *  subsysB,
bool  isFine = true 
)

Definition at line 888 of file GCS.cpp.

References GCS::SubSystem::calcGrad(), GCS::SubSystem::calcJacobi(), GCS::SubSystem::calcResidual(), GCS::Converged, GCS::SubSystem::cSize(), GCS::SubSystem::error(), SketcherExample::f, GCS::Failed, GCS::SubSystem::getParamList(), GCS::SubSystem::getParams(), KDL::max(), MaxIterations, GCS::SubSystem::maxStep(), zipios::min(), GCS::SubSystem::pSize(), qp_eq(), GCS::SubSystem::redirectParams(), GCS::SubSystem::revertParams(), GCS::SubSystem::setParams(), smallF, GCS::Success, MovieTool::x, XconvergenceFine, XconvergenceRough, and MovieTool::y.

int GCS::System::solve ( SubSystem *  subsys,
bool  isFine = true,
Algorithm  alg = DogLeg 
)

Definition at line 531 of file GCS.cpp.

References GCS::BFGS, GCS::DogLeg, and GCS::LevenbergMarquardt.

int GCS::System::solve ( VEC_pD &  params,
bool  isFine = true,
Algorithm  alg = DogLeg 
)

Definition at line 496 of file GCS.cpp.

References initSolution(), and solve().

int GCS::System::solve ( bool  isFine = true,
Algorithm  alg = DogLeg 
)

Definition at line 502 of file GCS.cpp.

References GCS::Success.

Referenced by Sketcher::Sketch::solve(), and solve().

void GCS::System::undoSolution (  ) 

Definition at line 1074 of file GCS.cpp.

Referenced by Sketcher::Sketch::solve().

The documentation for this class was generated from the following files:
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