IpiMath

void DoOperation(CLogicUnit* pLogicUnit)

CDisplay* GetDisplay()

CLogicUnit* GetLogicUnit()

int Lexico(int pos=0)

int Operador(char )

double Run()

CCartPoint Scale(double factor)

CartPoint GetddPoint(double param)

CartPoint GetdPoint(double param)

double GetPathLength(void)

CartPoint GetPoint(double param)

Matrix GetPos(double param)

bool Initialize(void)

void PrintMatrix(Matrix matrix)

double ShowRegister(CRegister& rReg)

void DoOperation(CLogicUnit* pLogicUnit)

double AngleFromPose(Matrix Pose)

virtual Matrix GetPos(float param)

Matrix Q01(double angle)

Matrix Q14(double angle)

virtual void SetInvariants(Matrix pos1, Matrix pos2)

double GetBeta()

double GetFunctionVal(double xVal)

BOOL IsThereRoot(BOOL sol12, BOOL sol34, double* pRoot)

void ReadCoefficients(double cA, double cB, double cC, double cD, double cE)

void DoOperation(CLogicUnit* pLogicUnit)

double Function(float x, float y=0)

void Update2DFunction(CString function)

void Update3DFunction(CString function)

double Getq()

int GetSolType()

void ReadCoefficients(double cA, double cB, double cC, double cD, double cE)

double elapsed() const

void reset()

double GetKey()

virtual Matrix GetPos(float param)

virtual void SetInvariants(Matrix pos1, Matrix pos2)

virtual Matrix GetPos(float eta)

virtual void SetInvariants(Matrix TI, Matrix TF)

double GetDisplayValue()

void OnAdd()

void OnDecimalPoint()

void OnDigit(const int& digit)

void OnDivide()

void OnEndOfString()

void OnFun(int funType)

void OnLeftParenthesis()

void OnMultiply()

void OnNumber(double number)

void OnPower()

double OnRightParenthesis()

void OnSubtract()

void Reset()

void DoOperation(CLogicUnit* pLogicUnit)

virtual Matrix GetPos(float eta)

virtual void SetInvariants(Matrix TI, Matrix TF)

virtual void DoOperation(CLogicUnit* pLogicUnit) = 0

void DoOperation(CLogicUnit* pLogicUnit)

double GetPosition(double time)

double GetVelocity(double time)

void SetInvariants(double displacement)

double GetPosition(double time)

double GetVelocity(double time)

void SetInvariants(double displacement)

double GetPosition(double time)

double GetVelocity(double time)

void SetInvariants(double displacement)

CRegister& Fun(const CRegister& rhs)

double Get()

void OnDecimalPoint()

void OnDigit(const int& digit)

void OnFun(int funType)

void OnNumber(double number)

void Reset()

void Set(const double& value)

void SetBeginValue()

void DoOperation(CLogicUnit* pLogicUnit)

DWORD GetTime(void)

void InitTimer(void)

void InitTimer(DWORD period)

BOOL IsExpired(void)

void Reset(void)

void RestartTimer(void)

void SuspendTimer(void)

void cartopol(double p[3], double* r, double* ang)

void cartosphe(double e[3], double * tau, double * gam)

Matrix ConvertCMatrixToMatrix(CMatrix matrix)

CMatrix ConvertMatrixToCMatrix(Matrix matrix)

void cross_prod(double a[3], double b[3], double c[3])

Vector CrossProd(Vector a, Vector b)

CartPoint CrossProd(CartPoint a, CartPoint b)

double dot_prod(double a[3], double b[3])

void drot_z(double a[3], double ang, double b[3])

void drot_zt(double a[3], double ang, double b[3])

virtual BOOL GetAxisAngleFromRotMat(Matrix mat, CartPoint* uVector, double* pangY)

CartPoint GetdVecFromPos(Matrix pos)

void GetEulerAngFromPose(Matrix Pose, double * phi, double * theta, double * psi)

Matrix GetHomTransInverse(Matrix matrix)

bool GetInverse(Matrix MatA, double tol, Matrix* ai)

bool GetInverse(Matrix MatA, Matrix* ai)

Matrix GetInverse(Matrix MatA, double tol)

Matrix GetInverse(Matrix MatA)

virtual Matrix GetMatrixFromEulerAngles(double phi, double theta, double psi)

virtual Matrix GetOrientationMatrix(double angX, double angY, double angZ)

virtual Matrix GetOrientationMatrix(double angTheta, double angBeta)

virtual Matrix GetOrMatFromAxisAngle(CartPoint vector, double angBeta)

Matrix GetPoseFromGandp(Matrix rotMat, CartPoint point)

Matrix GetPoseFromGandp(Matrix rotMat, CCartPoint point)

Matrix GetPoseFromGandp(CMatrix rotMat, CCartPoint point)

Matrix GetPoseFromQandd(Matrix rotMat, CartPoint point)

Matrix GetPoseFromQandd(Matrix rotMat, double point[])

CartPoint GetPositionVectorFromPos(Matrix Pos)

Matrix GetRotMatFromPos(Matrix Pos)

void GetRPYAngles(Matrix mat, double* pangX, double* pangY, double* pangZ)

void GetRPYAngles(CMatrix mat, double* pangX, double* pangY, double* pangZ)

Matrix GetTranspose(Matrix mat)

CMatrix GetTranspose(CMatrix mat)

CartPoint GetUnit(CartPoint point1, CartPoint point2)

CartPoint GetUnit(CartPoint vector)

bool GetXFromLUDecomp(Matrix MatA, double b[], double tol, double x[])

bool GetXFromLUDecomp(Matrix MatA, double b[], double x[])

Vector GetXFromLUDecomp(Matrix MatA, double b[], double tol)

Vector GetXFromLUDecomp(Matrix MatA, double b[])

Matrix InitIMatrix(int order)

bool IsEvenNumber(int val)

double MagVec(double a[3])

double MagVec(double vec[], int dim)

double MagVec(CartPoint vector)

double MagVec(Vector vector)

Matrix MatrixProd(Matrix MatA, Matrix MatB)

Vector MatVecProd(Matrix MatA, double b[])

void MatVecProd(Matrix MatA, double b[], double c[])

CCartPoint nGetdVecFromPos(Matrix pos)

CMatrix nGetHomTransInverse(Matrix matrix)

virtual CMatrix nGetOrientationMatrix(double angX, double angY, double angZ)

CMatrix nGetRotMatFromPos(Matrix Pos)

CMatrix nInitIMatrix(int order)

CMatrix nT_rotX(double angle)

CMatrix nT_rotY(double angle)

CMatrix nT_rotZ(double angle)

void rot_x(double a[3], double ang, double b[3])

void rot_y(double a[3], double ang, double b[3])

void rot_z(double a[3], double ang, double b[3])

void rot_zt(double a[3], double ang, double b[3])

double Scij(D_H* pDH, unsigned int thi, unsigned int thj)

double Ssij(D_H* pDH, unsigned int thi, unsigned int thj)

Matrix T_rotX(double angle)

Matrix T_rotY(double angle)

Matrix T_rotZ(double angle)

void trans_x(double a[3], double ang, double x[3], double b[3])

void trans_z(double a[3], double ang, double x[3], double b[3])

void tras_y(double a[3], double h, double b[3])

BOOL Close( void )

int DeviceCount( void )

BOOL IsLoaded( void )

BOOL Load( const char * )

BOOL Load( const char *, HINSTANCE )

BOOL Load( int, HINSTANCE )

BOOL Play( BOOL bLoop = FALSE )

BOOL PlayFromDisk( const char * )

BOOL PlayFromRes( const char *, HINSTANCE )

BOOL PlayFromRes( int, HINSTANCE )

BOOL Stop( void )