/* This file contains all the definitions for a kinematic model */
#ifndef __KM_DEFINES_H__
#define __KM_DEFINES_H__

//Kinematic Model Specifications
#define Nsegs 5		//the number of segments that define the kinematic model
#define ModPts 640	//the total number of model points
#define Nparams 22	//the total number of parameters defining the model
#define Nglobal 4	//the number of Global kinematic variables (3 translation + 1 rotation)
#define Nrots 19	//the number of rotation axes in the kinematic model (including global)
#define Njoints 18	//the number of rotation axes in the kinematic model (excluding global)

//kinematic model points per segment
#define szData0 128
#define szData1 64
#define szData2 256
#define szData3 64
#define szData4 128

//The tier offsets for CUDA processing of kinematic transformations
#define Ntiers 3       //The number of tiers for shared memory caching
#define MaxTierTrans 3 //The max number of transformations to multiply after composing shared memory tiers

#define tierOffset0 20
#define tierOffset1 30
#define tierOffset2 35

#define NtotalTrans 36

#endif //__KM_DEFINES_H__