Manipulability_Functions.h

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#ifndef OPTIMAZERS_FUNCTIONS_H_INCLUDED
#define OPTIMAZERS_FUNCTIONS_H_INCLUDED

typedef struct
{
    int DOF;
    int Num_Art_Constraints;
    double Discretization;
    double Min_Jacobian;
    double* Upper_Constraints;
    double* Lower_Constraints;
}MANIP_DATA;

double** (*Shape_Work_Space_Disc)         (double* Centroid , double length , int* Size);
void     (*Shape_Workspace_Visualization) (FILE* pipeOut , double* Lim , double* Centroid , double Length , double alpha);

double** Level_Max_Work_Space_Limiter    (MANIP_DATA DATA , double* Opt_Parameters , double Level_z , double* Lim , int* counter);
double** Level_Min_Work_Space_Limiter    (MANIP_DATA DATA , double* Opt_Parameters , double Level_z , double* Lim , int* counter);
void     Total_Workspace_Visualization   (FILE* pipeOut , MANIP_DATA DATA , double* Opt_Parameters , double* Lim , double alpha);
void     Workspace_Visualization         (MANIP_DATA DATA , double* Opt_Parameters , double* Lim , char* Filename);
void     Regular_Workspace_Visualization (double* Lim  , double* Centroid , double Length, char* Filename);
void     All_Workspace_Visualization     (MANIP_DATA DATA , double* Opt_Parameters , double* Lim  , double* Centroid , double Length, char* Filename);

double** Cubic_Work_Space_Disc         (double* Centroid , double length , int* Size);
void     Cubic_Workspace_Visualization (FILE* pipeOut , double* Lim , double* Centroid , double Length , double alpha);

double*  Work_Space_Numeric_Centroid  (MANIP_DATA DATA , double* Opt_Parameters , double* Lim);
double   Manipulability_Work_Space    (MANIP_DATA DATA , double* Opt_Parameters , double* Centroid);

#endif // OPTIMAZERS_FUNCTIONS_H_INCLUDED