lib/pathplan/cvt.c File Reference

#include <stdio.h>
#include "vis.h"

Include dependency graph for cvt.c:

Go to the source code of this file.

Defines
#define	W_DEGREE   5
Typedefs
typedef Ppoint_t	ilcoord_t
Functions
vconfig_t *	Pobsopen (Ppoly_t **obs, int n_obs)
void	Pobsclose (vconfig_t *config)
int	Pobspath (vconfig_t *config, Ppoint_t p0, int poly0, Ppoint_t p1, int poly1, Ppolyline_t *output_route)
int	Pobsbarriers (vconfig_t *config, Pedge_t **barriers, int *n_barriers)

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Define Documentation

#define W_DEGREE   5

Definition at line 252 of file cvt.c.

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Typedef Documentation

typedef Ppoint_t ilcoord_t

Definition at line 22 of file cvt.c.

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Function Documentation

int Pobsbarriers	(	vconfig_t *	config,
		Pedge_t **	barriers,
		int *	n_barriers
	)

Definition at line 171 of file cvt.c.

References malloc(), vconfig_s::N, Pedge_t::a, Pxy_t::x, vconfig_s::P, Pxy_t::y, vconfig_s::next, and Pedge_t::b.

void Pobsclose

(

vconfig_t *

config

)

Definition at line 104 of file cvt.c.

References free(), vconfig_s::P, vconfig_s::start, vconfig_s::next, vconfig_s::prev, and vconfig_s::vis.

vconfig_t* Pobsopen	(	Ppoly_t **	obs,
		int	n_obs
	)

Definition at line 62 of file cvt.c.

References malloc(), NULL, vconfig_s::P, vconfig_s::start, vconfig_s::next, vconfig_s::prev, vconfig_s::N, vconfig_s::Npoly, Ppoly_t::pn, Ppoly_t::ps, and visibility().

Referenced by compoundEdges().

int Pobspath	(	vconfig_t *	config,
		Ppoint_t	p0,
		int	poly0,
		Ppoint_t	p1,
		int	poly1,
		Ppolyline_t *	output_route
	)

Definition at line 117 of file cvt.c.

References ptVis(), makePath(), vconfig_s::N, malloc(), vconfig_s::P, assert, free(), Ppoly_t::pn, Ppoly_t::ps, and TRUE.

Referenced by getPath().