FUNCTION unique_link_usage

(* SCHEMA kinematic_structure_schema; *)

FUNCTION unique_link_usage (link : kinematic_link) : BOOLEAN;
  LOCAL
    mechs  : SET OF mechanism;
    joints : SET OF kinematic_joint;
    struct : kinematic_structure;
  END_LOCAL;
  joints := bag_to_set
              (USEDIN (link,
                 'KINEMATIC_STRUCTURE_SCHEMA.KINEMATIC_JOINT.FIRST_LINK') +
               USEDIN (link,
                 'KINEMATIC_STRUCTURE_SCHEMA.KINEMATIC_JOINT.SECOND_LINK'));
  struct := joints[1].structure;
  REPEAT i := 2 TO SIZEOF (joints);
    IF (joints[i].structure :<>: struct) THEN
      RETURN (FALSE);
    END_IF;
  END_REPEAT;
  mechs := bag_to_set
             (USEDIN (struct,
                'KINEMATIC_STRUCTURE_SCHEMA.MECHANISM.STRUCTURE_DEFINITION'));
  IF (SIZEOF (mechs) <> 1) THEN
    RETURN (FALSE);
  END_IF;

  RETURN (TRUE);

END_FUNCTION;

Referenced By

Defintion unique_link_usage is references by the following definitions:

Definition	Type
kinematic_link	ENTITY

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2012-03-27T17:14:00-04:00