The scenegraph data structure. More...

#include "amino/mat.h"
#include "rxtype.h"

Macros
#define	AA_RX_FRAME_ROOT ((aa_rx_frame_id)-1)
	Magic frame_id for the root/global/absolute frame.

#define	AA_RX_FRAME_NONE ((aa_rx_frame_id)-2)
	Magic frame_id for no frame.

#define	AA_RX_CONFIG_NONE ((aa_rx_config_id)-1)
	Magic config_id for no configuration variable.

#define	AA_RX_CONFIG_MULTI ((aa_rx_config_id)-2)
	Magic config_id for multiple configuration variables.

Typedefs
typedef signed long	aa_rx_frame_id
	Type for frame indices.

typedef signed long	aa_rx_config_id
	Type for configuration indices.

Enumerations
enum	aa_rx_frame_type { AA_RX_FRAME_FIXED , AA_RX_FRAME_REVOLUTE , AA_RX_FRAME_PRISMATIC }
	Enum of frame types. More...

Functions
AA_API struct aa_rx_sg *	aa_rx_sg_create ()
	Construct a new, empty scene graph.

AA_API void	aa_rx_sg_destroy (struct aa_rx_sg *scene_graph)
	Destroy a scene graph.

AA_API int	aa_rx_sg_init (struct aa_rx_sg *scene_graph)
	Setup the scenegraph internal indices. More...

AA_API enum aa_rx_frame_type	aa_rx_sg_frame_type (const struct aa_rx_sg *scene_graph, aa_rx_frame_id frame_id)
	Return the type of the given frame. More...

AA_API const char *	aa_rx_sg_frame_name (const struct aa_rx_sg *scene_graph, aa_rx_frame_id frame_id)
	Return the name of the given frame. More...

AA_API const char *	aa_rx_sg_config_name (const struct aa_rx_sg *scene_graph, aa_rx_config_id config_id)
	Return the config of the given frame. More...

AA_API aa_rx_frame_id	aa_rx_sg_frame_parent (const struct aa_rx_sg *scene_graph, aa_rx_frame_id frame_id)
	Return the parent id of the frame. More...

AA_API size_t	aa_rx_sg_frame_count (const struct aa_rx_sg *scene_graph)
	Return the number of frames in scene_graph.

AA_API size_t	aa_rx_sg_config_count (const struct aa_rx_sg *scene_graph)
	Return the number of configuration variables in scene_graph.

AA_API aa_rx_config_id	aa_rx_sg_frame_config (const struct aa_rx_sg *scene_graph, aa_rx_frame_id frame)
	Return the config id of frame. More...

AA_API size_t	aa_rx_sg_config_names (const struct aa_rx_sg scene_graph, size_t n_names, const char *names)
	Fill names with pointers to config names.

AA_API aa_rx_config_id	aa_rx_sg_config_id (const struct aa_rx_sg scene_graph, const char config_name)
	Return the index of a configuration variable in the scene graph. More...

AA_API void	aa_rx_sg_config_indices (const struct aa_rx_sg scene_graph, size_t n, const char config_name, aa_rx_config_id ids)
	Return the indices of a configuration variable in the scene graph. More...

AA_API void	aa_rx_sg_config_get (const struct aa_rx_sg scene_graph, size_t n_all, size_t n_subset, const aa_rx_config_id ids, const double config_all, double config_subset)
	Retrieve a subset of the configuration vector.

AA_API void	aa_rx_sg_config_set (const struct aa_rx_sg scene_graph, size_t n_all, size_t n_subset, const aa_rx_config_id ids, const double config_subset, double config_all)
	Fill a subset of the configuration vector.

AA_API aa_rx_frame_id	aa_rx_sg_frame_id (const struct aa_rx_sg scene_graph, const char frame_name)
	Return the index of a frame in the scene graph. More...

AA_API void	aa_rx_sg_add_frame_fixed (struct aa_rx_sg scene_graph, const char parent, const char *name, const double q[4], const double v[3])
	Add a fixed-transform frame to the scene graph. More...

AA_API void	aa_rx_sg_add_frame_prismatic (struct aa_rx_sg scene_graph, const char parent, const char name, const double q[4], const double v[3], const char config_name, const double axis[3], double offset)
	Add a prismatic-joint frame to the scene graph. More...

AA_API void	aa_rx_sg_add_frame_revolute (struct aa_rx_sg scene_graph, const char parent, const char name, const double q[4], const double v[3], const char config_name, const double axis[3], double offset)
	Add a revolute-joint frame to the scene graph. More...

AA_API void	aa_rx_sg_rm_frame (struct aa_rx_sg scene_graph, const char name)
	Remove a frame.

AA_API void	aa_rx_sg_set_limit_pos (struct aa_rx_sg scenegraph, const char config_name, double min, double max)
	Set position limit values.

AA_API void	aa_rx_sg_set_limit_vel (struct aa_rx_sg scenegraph, const char config_name, double min, double max)
	Set velocity limit values.

AA_API void	aa_rx_sg_set_limit_acc (struct aa_rx_sg scenegraph, const char config_name, double min, double max)
	Set acceleration limit values.

AA_API void	aa_rx_sg_set_limit_eff (struct aa_rx_sg scenegraph, const char config_name, double min, double max)
	Set effort limit values.

AA_API int	aa_rx_sg_get_limit_pos (const struct aa_rx_sg scenegraph, aa_rx_config_id config_id, double min, double *max)
	Get position limit values. More...

AA_API int	aa_rx_sg_get_limit_vel (const struct aa_rx_sg scenegraph, aa_rx_config_id config_id, double min, double *max)
	Get velocity limit values. More...

AA_API int	aa_rx_sg_get_limit_acc (const struct aa_rx_sg scenegraph, aa_rx_config_id config_id, double min, double *max)
	Get acceleration limit values. More...

AA_API int	aa_rx_sg_get_limit_eff (const struct aa_rx_sg scenegraph, aa_rx_config_id config_id, double min, double *max)
	Get effort limit values. More...

AA_API double	aa_rx_sg_config_center (const struct aa_rx_sg *sg, aa_rx_config_id config_id)
	Get the centered position of a configuration variable.

AA_API void	aa_rx_sg_center_configs (const struct aa_rx_sg sg, size_t n, double q)
	Fill q with the centered positions of each configuration.

AA_API const double *	aa_rx_sg_frame_axis (const struct aa_rx_sg *scene_graph, aa_rx_frame_id frame)
	Return pointer to frame axis. More...

AA_API void	aa_rx_sg_tf (const struct aa_rx_sg scene_graph, size_t n_q, const double q, size_t n_tf, double TF_rel, size_t ld_rel, double TF_abs, size_t ld_abs)
	Compute transforms for the scene graph as quaternion-translations. More...

AA_API struct aa_dmat *	aa_rx_sg_get_tf_abs (const struct aa_rx_sg scene_graph, struct aa_mem_region reg, const struct aa_dvec *q)
	Allocate and compute absolute transforms for the scene graph. More...

AA_API void	aa_rx_sg_fill_tf_abs (const struct aa_rx_sg scene_graph, const struct aa_dvec q, struct aa_dmat *tf_abs)

AA_API void	aa_rx_sg_tfmat (const struct aa_rx_sg scene_graph, size_t n_q, const double q, size_t n_tf, double TF_rel, size_t ld_rel, double TF_abs, size_t ld_abs)
	Compute transforms for the scene graph as matrices. More...

AA_API void	aa_rx_sg_duqu (const struct aa_rx_sg scene_graph, size_t n_q, const double q, size_t n_tf, double TF_rel, size_t ld_rel, double TF_abs, size_t ld_abs)
	Compute transforms for the scene graph as dual quaternions. More...

AA_API void	aa_rx_sg_tf_update (const struct aa_rx_sg scene_graph, size_t n_q, const double q0, const double q, size_t n_tf, const double TF_rel0, size_t ld_rel0, const double TF_abs0, size_t ld_abs0, double TF_rel, size_t ld_rel, double *TF_abs, size_t ld_abs)
	Updated transforms efficiently when only some configurations change. More...

AA_API void	aa_rx_sg_map_geom (const struct aa_rx_sg scene_graph, void(function)(void context, aa_rx_frame_id frame_id, struct aa_rx_geom geom), void *context)
	Call function for every geometry object in the scene graph. More...

AA_API void	aa_rx_sg_rel_tf (const struct aa_rx_sg scene_graph, const aa_rx_frame_id frame_from, const aa_rx_frame_id frame_to, const double tf_abs, size_t ld_abs, double *from_tf_to)
	Get transform between two given frames. More...

AA_API void	aa_rx_sg_reparent_id (const struct aa_rx_sg scene_graph, aa_rx_frame_id new_parent, aa_rx_frame_id frame, const double E1)
	Change the parent of frame in the scenegraph.

AA_API void	aa_rx_sg_reparent_name (const struct aa_rx_sg scene_graph, const char new_parent, const char frame, const double E1)
	Change the parent of frame in the scenegraph.

AA_API struct aa_rx_sg *	aa_rx_sg_copy (const struct aa_rx_sg *orig)
	Deeply copy a scenegraph. More...

AA_API void	aa_rx_sg_allow_collision (struct aa_rx_sg *scene_graph, aa_rx_frame_id id0, aa_rx_frame_id id1, int allowed)
	Set allowed collisions between frames id0 and id1.

AA_API void	aa_rx_sg_allow_collision_name (struct aa_rx_sg scene_graph, const char frame0, const char *frame1, int allowed)
	Set allowed collisions between frame0 and frame1.

AA_API void	aa_rx_sg_copy_frame_geom (struct aa_rx_sg scene_graph, const char src_frame, const char *dst_frame)

AA_API double *	aa_rx_sg_alloc_tf (const struct aa_rx_sg sg, struct aa_mem_region region)
	Allocate storage for TF array from region.

AA_API double *	aa_rx_sg_alloc_config (const struct aa_rx_sg sg, struct aa_mem_region region)
	Allocate storage for config array from region.

AA_API void	aa_rx_sg_add_octree (struct aa_rx_sg scene_graph, const char parent, const char name, struct aa_rx_octree ocTree, struct aa_rx_geom_opt *opt)

Variables
AA_EXTERN const aa_rx_frame_id	aa_rx_frame_root

AA_EXTERN const aa_rx_frame_id	aa_rx_frame_none

AA_EXTERN const aa_rx_config_id	aa_rx_config_none

AA_EXTERN const aa_rx_config_id	aa_rx_config_multi

Detailed Description

The scenegraph data structure.

Definition in file scenegraph.h.

Enumeration Type Documentation

◆ aa_rx_frame_type

enum aa_rx_frame_type

Enum of frame types.

Enumerator
AA_RX_FRAME_FIXED	A fixed transform.
AA_RX_FRAME_REVOLUTE	A rotating transform.
AA_RX_FRAME_PRISMATIC	A prismatic (sliding) transform.

Definition at line 88 of file scenegraph.h.

Function Documentation

◆ aa_rx_sg_add_frame_fixed()

AA_API void aa_rx_sg_add_frame_fixed	(	struct aa_rx_sg *	scene_graph,
		const char *	parent,
		const char *	name,
		const double	q[4],
		const double	v[3]
	)

Add a fixed-transform frame to the scene graph.

Note that adding a new frame may changes the frame_ids of all previously added frames.

Parameters

scene_graph	The scene graph container
parent	The name of the parent frame
name	The name of the frame to be added
q	The unit quaternion frame rotation (xyzw)
v	The frame translation vector

Precondition: aa_rx_sg_init() has been called after all frames were added to the scenegraph.

◆ aa_rx_sg_add_frame_prismatic()

AA_API void aa_rx_sg_add_frame_prismatic	(	struct aa_rx_sg *	scene_graph,
		const char *	parent,
		const char *	name,
		const double	q[4],
		const double	v[3],
		const char *	config_name,
		const double	axis[3],
		double	offset
	)

Add a prismatic-joint frame to the scene graph.

Note that adding a new frame may changes the frame_ids and config_ids of all previously added frames.

Parameters

scene_graph	The scene graph container
parent	The name of the parent frame
name	The name of the frame to be added
q	The unit quaternion frame initial rotation (xyzw)
v	The frame initial translation vector
config_name	The name of the configuration variable.
axis	The axis of rotation. A non-unit axis will scale the translation accordingly.
offset	An offset to be added to the configuration value

◆ aa_rx_sg_add_frame_revolute()

AA_API void aa_rx_sg_add_frame_revolute	(	struct aa_rx_sg *	scene_graph,
		const char *	parent,
		const char *	name,
		const double	q[4],
		const double	v[3],
		const char *	config_name,
		const double	axis[3],
		double	offset
	)

Add a revolute-joint frame to the scene graph.

Note that adding a new frame may changes the frame_ids and config_ids of all previously added frames.

Parameters

scene_graph	The scene graph container
parent	The name of the parent frame
name	The name of the frame to be added
q	The unit quaternion frame initial rotation (xyzw)
v	The frame initial translation vector
config_name	The name of the configuration variable.
axis	The axis of rotation. A non-unit axis will scale the rotation accordingly.
offset	An offset to be added to the configuration value

◆ aa_rx_sg_config_id()

AA_API aa_rx_config_id aa_rx_sg_config_id	(	const struct aa_rx_sg *	scene_graph,
		const char *	config_name
	)

Return the index of a configuration variable in the scene graph.

Precondition: aa_rx_sg_init() has been called after all frames were added to the scenegraph.

◆ aa_rx_sg_config_indices()

AA_API void aa_rx_sg_config_indices	(	const struct aa_rx_sg *	scene_graph,
		size_t	n,
		const char **	config_name,
		aa_rx_config_id *	ids
	)

Return the indices of a configuration variable in the scene graph.

Precondition: aa_rx_sg_init() has been called after all frames were added to the scenegraph.

◆ aa_rx_sg_config_name()

AA_API const char* aa_rx_sg_config_name	(	const struct aa_rx_sg *	scene_graph,
		aa_rx_config_id	config_id
	)

Return the config of the given frame.

Precondition: aa_rx_sg_init() has been called after all frames were added to the scenegraph.

◆ aa_rx_sg_copy()

AA_API struct aa_rx_sg* aa_rx_sg_copy ( const struct aa_rx_sg * orig )

Deeply copy a scenegraph.

Note that geometry objects and meshes will be shared via reference-counting.

◆ aa_rx_sg_duqu()

AA_API void aa_rx_sg_duqu	(	const struct aa_rx_sg *	scene_graph,
		size_t	n_q,
		const double *	q,
		size_t	n_tf,
		double *	TF_rel,
		size_t	ld_rel,
		double *	TF_abs,
		size_t	ld_abs
	)

Compute transforms for the scene graph as dual quaternions.

Transform entries are in {real, dual} format.

Parameters

scene_graph	The scene graph container
n_q	Size of configuration vector q
q	Configuraiton vector
n_tf	Number of entries in the TF array
TF_rel	Relative transform in dual quaternion format
ld_rel	Leading dimensional of TF_rel, i.e., space between each entry
TF_abs	Absolute transform dual quaternion format
ld_abs	Leading dimensional of TF_abs, i.e., space between each entry

Precondition: aa_rx_sg_init() has been called after all frames were added to the scenegraph.

◆ aa_rx_sg_frame_axis()

AA_API const double* aa_rx_sg_frame_axis	(	const struct aa_rx_sg *	scene_graph,
		aa_rx_frame_id	frame
	)

Return pointer to frame axis.

Only valid for univariate joint frames.

◆ aa_rx_sg_frame_config()

AA_API aa_rx_config_id aa_rx_sg_frame_config	(	const struct aa_rx_sg *	scene_graph,
		aa_rx_frame_id	frame
	)

Return the config id of frame.

Precondition: aa_rx_sg_init() has been called after all frames were added to the scenegraph.

◆ aa_rx_sg_frame_id()

AA_API aa_rx_frame_id aa_rx_sg_frame_id	(	const struct aa_rx_sg *	scene_graph,
		const char *	frame_name
	)

Return the index of a frame in the scene graph.

Precondition: aa_rx_sg_init() has been called after all frames were added to the scenegraph.

◆ aa_rx_sg_frame_name()

AA_API const char* aa_rx_sg_frame_name	(	const struct aa_rx_sg *	scene_graph,
		aa_rx_frame_id	frame_id
	)

Return the name of the given frame.

Precondition: aa_rx_sg_init() has been called after all frames were added to the scenegraph.

◆ aa_rx_sg_frame_parent()

AA_API aa_rx_frame_id aa_rx_sg_frame_parent	(	const struct aa_rx_sg *	scene_graph,
		aa_rx_frame_id	frame_id
	)

Return the parent id of the frame.

Precondition: aa_rx_sg_init() has been called after all frames were added to the scenegraph.

◆ aa_rx_sg_frame_type()

AA_API enum aa_rx_frame_type aa_rx_sg_frame_type	(	const struct aa_rx_sg *	scene_graph,
		aa_rx_frame_id	frame_id
	)

Return the type of the given frame.

Precondition: aa_rx_sg_init() has been called after all frames were added to the scenegraph.

◆ aa_rx_sg_get_limit_acc()

AA_API int aa_rx_sg_get_limit_acc	(	const struct aa_rx_sg *	scenegraph,
		aa_rx_config_id	config_id,
		double *	min,
		double *	max
	)

Get acceleration limit values.

Precondition: aa_rx_sg_init() has been called after all frames were added to the scenegraph.

Returns: 0 when a limit has been set, non-zero otherwise.

◆ aa_rx_sg_get_limit_eff()

AA_API int aa_rx_sg_get_limit_eff	(	const struct aa_rx_sg *	scenegraph,
		aa_rx_config_id	config_id,
		double *	min,
		double *	max
	)

Get effort limit values.

Precondition: aa_rx_sg_init() has been called after all frames were added to the scenegraph.

◆ aa_rx_sg_get_limit_pos()

AA_API int aa_rx_sg_get_limit_pos	(	const struct aa_rx_sg *	scenegraph,
		aa_rx_config_id	config_id,
		double *	min,
		double *	max
	)

Get position limit values.

Precondition: aa_rx_sg_init() has been called after all frames were added to the scenegraph.

Returns: 0 when a limit has been set, non-zero otherwise.

◆ aa_rx_sg_get_limit_vel()

AA_API int aa_rx_sg_get_limit_vel	(	const struct aa_rx_sg *	scenegraph,
		aa_rx_config_id	config_id,
		double *	min,
		double *	max
	)

Get velocity limit values.

Precondition: aa_rx_sg_init() has been called after all frames were added to the scenegraph.

Returns: 0 when a limit has been set, non-zero otherwise.

◆ aa_rx_sg_get_tf_abs()

AA_API struct aa_dmat* aa_rx_sg_get_tf_abs	(	const struct aa_rx_sg *	scene_graph,
		struct aa_mem_region *	reg,
		const struct aa_dvec *	q
	)

Allocate and compute absolute transforms for the scene graph.

Transform entries are in {q_x, q_y, q_z, q_w, v_x, v_y, v_z} format.

Parameters

scene_graph	The scene graph container
q	Configuraiton vector

Precondition: aa_rx_sg_init() has been called after all frames were added to the scenegraph.

◆ aa_rx_sg_init()

AA_API int aa_rx_sg_init ( struct aa_rx_sg * scene_graph )

Setup the scenegraph internal indices.

This function must be called before any frame_ids or config_ids can be used with the scenegraph.

◆ aa_rx_sg_map_geom()

AA_API void aa_rx_sg_map_geom	(	const struct aa_rx_sg *	scene_graph,
		void()(void context, aa_rx_frame_id frame_id, struct aa_rx_geom *geom)	function,
		void *	context
	)

Call function for every geometry object in the scene graph.

Parameters

scene_graph	The scene graph container
function	A function to call on every geometry object
context	The context argument to function

Precondition: aa_rx_sg_init() has been called after all frames were added to the scenegraph.

◆ aa_rx_sg_rel_tf()

AA_API void aa_rx_sg_rel_tf	(	const struct aa_rx_sg *	scene_graph,
		const aa_rx_frame_id	frame_from,
		const aa_rx_frame_id	frame_to,
		const double *	tf_abs,
		size_t	ld_abs,
		double *	from_tf_to
	)

Get transform between two given frames.

Parameters

scene_graph	The scene graph container
frame_from	The parent frame id
frame_to	The child frame id
tf_abs	Array of absolute transforms
ld_abs	Leading dimension of tf_abs
from_tf_to	The relative transform

◆ aa_rx_sg_tf()

AA_API void aa_rx_sg_tf	(	const struct aa_rx_sg *	scene_graph,
		size_t	n_q,
		const double *	q,
		size_t	n_tf,
		double *	TF_rel,
		size_t	ld_rel,
		double *	TF_abs,
		size_t	ld_abs
	)

Compute transforms for the scene graph as quaternion-translations.

Transform entries are in {q_x, q_y, q_z, q_w, v_x, v_y, v_z} format.

Parameters

scene_graph	The scene graph container
n_q	Size of configuration vector q
q	Configuraiton vector
n_tf	Number of entries in the TF array
TF_rel	Relative transform matrix in quaternion-vector format
ld_rel	Leading dimensional of TF_rel, i.e., space between each entry
TF_abs	Absolute transform matrix in quaternion-vector format
ld_abs	Leading dimensional of TF_abs, i.e., space between each entry

Precondition: aa_rx_sg_init() has been called after all frames were added to the scenegraph.

◆ aa_rx_sg_tf_update()

AA_API void aa_rx_sg_tf_update	(	const struct aa_rx_sg *	scene_graph,
		size_t	n_q,
		const double *	q0,
		const double *	q,
		size_t	n_tf,
		const double *	TF_rel0,
		size_t	ld_rel0,
		const double *	TF_abs0,
		size_t	ld_abs0,
		double *	TF_rel,
		size_t	ld_rel,
		double *	TF_abs,
		size_t	ld_abs
	)

Updated transforms efficiently when only some configurations change.

Parameters

scene_graph	The scene graph container
n_q	Size of configuration vector q
q0	Initial configuration vector
q	Current configuraiton vector
n_tf	Number of entries in the TF array
TF_rel0	Initial relative transform matrix in quaternion-vector format
ld_rel0	Initial leading dimensional of TF_rel, i.e., space between each entry
TF_abs0	Initial absolute transform matrix in quaternion-vector format
ld_abs0	Leading dimensional of TF_abs, i.e., space between each entry
TF_rel	Current relative transform matrix in quaternion-vector format
ld_rel	Current leading dimensional of TF_rel, i.e., space between each entry
TF_abs	Current absolute transform matrix in quaternion-vector format
ld_abs	Current leading dimensional of TF_abs, i.e., space between each entry

Precondition: aa_rx_sg_init() has been called after all frames were added to the scenegraph.; aa_rx_sg_tf() was previously called as aa_rx_sg_tf(scene_graph, n_q, q, n_tf, TF_rel0, ld_rel0, TF_abs0, ld_abs0).

◆ aa_rx_sg_tfmat()

AA_API void aa_rx_sg_tfmat	(	const struct aa_rx_sg *	scene_graph,
		size_t	n_q,
		const double *	q,
		size_t	n_tf,
		double *	TF_rel,
		size_t	ld_rel,
		double *	TF_abs,
		size_t	ld_abs
	)

Compute transforms for the scene graph as matrices.

Transform entries are in {R, v} format.

Parameters

scene_graph	The scene graph container
n_q	Size of configuration vector q
q	Configuraiton vector
n_tf	Number of entries in the TF array
TF_rel	Relative transform matrix
ld_rel	Leading dimensional of TF_rel, i.e., space between each entry
TF_abs	Absolute transform matrix
ld_abs	Leading dimensional of TF_abs, i.e., space between each entry

Precondition: aa_rx_sg_init() has been called after all frames were added to the scenegraph.

Macros

Typedefs

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

◆ aa_rx_frame_type

Function Documentation

◆ aa_rx_sg_add_frame_fixed()

◆ aa_rx_sg_add_frame_prismatic()

◆ aa_rx_sg_add_frame_revolute()

◆ aa_rx_sg_config_id()

◆ aa_rx_sg_config_indices()

◆ aa_rx_sg_config_name()

◆ aa_rx_sg_copy()

◆ aa_rx_sg_duqu()

◆ aa_rx_sg_frame_axis()

◆ aa_rx_sg_frame_config()

◆ aa_rx_sg_frame_id()

◆ aa_rx_sg_frame_name()

◆ aa_rx_sg_frame_parent()

◆ aa_rx_sg_frame_type()

◆ aa_rx_sg_get_limit_acc()

◆ aa_rx_sg_get_limit_eff()

◆ aa_rx_sg_get_limit_pos()

◆ aa_rx_sg_get_limit_vel()

◆ aa_rx_sg_get_tf_abs()

◆ aa_rx_sg_init()

◆ aa_rx_sg_map_geom()

◆ aa_rx_sg_rel_tf()

◆ aa_rx_sg_tf()

◆ aa_rx_sg_tf_update()

◆ aa_rx_sg_tfmat()