config.yaml

## This is a sample configuration file for the CTGen tool.

## Usage of the configuration file is optional. Command line switches have
## precedence over the configuration file. At the moment, the only thing that
## cannot be set at the command line and thus requires this file, is the
## 'desired-transforms' (see below).

model: CtgenSample

##
# Desired code generation backend

backend : cpp_iitrbd

##
# Output directory

output  : /tmp/ctgen/cpp

##
# Backend-specific configuration file.
# Use this option to override the configuration of the text generators of the
# backend you intend to use. Take the original configuration file (in the source
# tree) as a template. Only override the entries which are relevant for you.
# The file must be a valid Lua source file, returning a table.

#backend-config : config.lua


##
# Specify which transforms should be generated.
# The default (if this entry is missing) is to generate a transform for each
# motion in the input model; the polarity is such that the right frame of the
# transform is the end frame of the motion.
#
# See https://robcogenteam.bitbucket.io/algebra.html#coordinate-transformation-matrices
# for an explanation of the terminology "left"/"right" frame.
#
# The string values (like "frameA") must be frames defined in the input model.

desired-transforms:
  - left_frame: "frameA"
    right_frame: "frameB"
  - left_frame: "frameD"
    right_frame: "frameB"
  - left_frame: "frameE"
    right_frame: "frameG"


##
# Which matrix representation do you need?

representations:
  - homogeneous
#  - spatial_motion
#  - spatial_force
#  - pure_rotation


# NOTE: some backends (like `cpp_iitrbd`) generate smart types, which can
# emulate the different representations as well as the different polarities,
# with a single object. In these cases, the distinction between left/right
# frame and the chosen representation here in the configuration are not
# relevant.


##
# Constants folding policy.
# One of "default", "fold-constants", "reify-floats".
# By default, the float literals in the source model appear in the generated
# code also as float literals, whereas the explicitly named constants in the
# model appear as named, constant variables.
# With "fold-constants", even the explicit model constants will be replaced by
# the float literal corresponding to their value.
# With "reify-floats", the float literals in the model will be transformed into
# named constants (with an auto-generated name), and no float-literal will
# appear in the generated code (besides of course the place where the constants
# are defined).

constant-folding: reify-floats