@@ -18,9 +18,9 @@ __device__ void _eye(double *data);
1818 * T: double(N, 4, 4) the final transform matrix of all points (shared)
1919 * tool: double(N, 4, 4) the tool transform matrix of all points (shared)
2020 * nlinks_pt: long(N,): the number of links associated with each (shared)
21- * link_A: double(nlinks , 4, 4) the transformation matrix of all joints
22- * link_axes: long(nlinks , ): axes of all links
23- * link_isjoint: long(nlinks , ): 1/0 whether links are joints
21+ * link_A: double(max_nlinks , 4, 4) the transformation matrix of all joints
22+ * link_axes: long(max_nlinks , ): axes of all links
23+ * link_isjoint: long(max_nlinks , ): 1/0 whether links are joints
2424 * N: (int) number of points
2525 * njoints: (int) number of joints
2626 * out: (N, 6, njoints)
@@ -33,7 +33,6 @@ __global__ void _jacob0(double *T,
3333 long *link_axes,
3434 long *link_isjoint,
3535 int N,
36- int nlinks,
3736 int njoints,
3837 double *out)
3938{
@@ -63,7 +62,7 @@ __global__ void _jacob0(double *T,
6362 return ;
6463 }
6564
66- // int nlinks = nlinks_pt[tid];
65+ int nlinks = nlinks_pt[tid];
6766 // printf("Hello from tid %d nlinks %d\n", tid, nlinks);
6867 for (int i = 0 ; i < nlinks; i++) {
6968 // printf("Hello from tid %d link_i %d link_axis %ld isjoint %ld \n", tid, i, link_axes[i], link_isjoint[i]);
@@ -358,11 +357,11 @@ extern "C"{
358357 * T: double(N, 4, 4) the final transform matrix of all points (shared)
359358 * tool: double(N, 4, 4) the tool transform matrix of all points (shared)
360359 * nlinks_pt: long(N,): the number of links associated with each (shared)
361- * link_A: double(nlinks , 4, 4) the transformation matrix of all joints
362- * link_axes: long(nlinks , ): axes of all links
363- * link_isjoint: long(nlinks , ): 1/0 whether links are joints
360+ * link_A: double(max_nlinks , 4, 4) the transformation matrix of all joints
361+ * link_axes: long(max_nlinks , ): axes of all links
362+ * link_isjoint: long(max_nlinks , ): 1/0 whether links are joints
364363 * N: (int) number of points
365- * nlinks : (int) max number of links on the path
364+ * max_nlinks : (int) max number of links on the path
366365 * njoints: (int) number of joints
367366 * out: (N, 6, njoints)
368367 */
@@ -374,7 +373,7 @@ void jacob0(double *T,
374373 long *link_axes,
375374 long *link_isjoint,
376375 int N,
377- int nlinks ,
376+ int max_nlinks ,
378377 int njoi
10000
nts,
379378 double *out)
380379{
@@ -385,21 +384,21 @@ void jacob0(double *T,
385384 cudaMalloc ((void **)&d_T, sizeof (double ) * N * 16 );
386385 cudaMalloc ((void **)&d_tool, sizeof (double ) * N * 16 );
387386 cudaMalloc ((void **)&d_etool, sizeof (double ) * N * 16 );
388- cudaMalloc ((void **)&d_link_A, sizeof (double ) * nlinks * 16 );
387+ cudaMalloc ((void **)&d_link_A, sizeof (double ) * max_nlinks * 16 );
389388 cudaMalloc ((void **)&d_nlinks_pt, sizeof (long ) * N);
390- cudaMalloc ((void **)&d_link_axes, sizeof (long ) * nlinks );
391- cudaMalloc ((void **)&d_link_isjoint, sizeof (long ) * nlinks );
389+ cudaMalloc ((void **)&d_link_axes, sizeof (long ) * max_nlinks );
390+ cudaMalloc ((void **)&d_link_isjoint, sizeof (long ) * max_nlinks );
392391 cudaMalloc ((void **)&d_out, sizeof (double ) * N * 6 * njoints);
393392
394393
395394 // Transfer data from host to device memory
396395 cudaMemcpy (d_T, T, sizeof (double ) * N * 16 , cudaMemcpyHostToDevice);
397396 cudaMemcpy (d_tool, tool, sizeof (double ) * N * 16 , cudaMemcpyHostToDevice);
398397 cudaMemcpy (d_etool, etool, sizeof (double ) * N * 16 , cudaMemcpyHostToDevice);
399- cudaMemcpy (d_link_A, link_A, sizeof (double ) * nlinks * 16 , cudaMemcpyHostToDevice);
398+ cudaMemcpy (d_link_A, link_A, sizeof (double ) * max_nlinks * 16 , cudaMemcpyHostToDevice);
400399 cudaMemcpy (d_nlinks_pt, nlinks_pt, sizeof (long ) * N, cudaMemcpyHostToDevice);
401- cudaMemcpy (d_link_axes, link_axes, sizeof (long ) * nlinks , cudaMemcpyHostToDevice);
402- cudaMemcpy (d_link_isjoint, link_isjoint, sizeof (long ) * nlinks , cudaMemcpyHostToDevice);
400+ cudaMemcpy (d_link_axes, link_axes, sizeof (long ) * max_nlinks , cudaMemcpyHostToDevice);
401+ cudaMemcpy (d_link_isjoint, link_isjoint, sizeof (long ) * max_nlinks , cudaMemcpyHostToDevice);
403402 cudaMemcpy (d_out, out, sizeof (double ) * N * 6 * njoints, cudaMemcpyHostToDevice);
404403
405404
@@ -414,7 +413,6 @@ void jacob0(double *T,
414413 d_link_axes,
415414 d_link_isjoint,
416415 N,
417- nlinks,
418416 njoints,
419417 d_out);
420418
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