lib/pathplan/util.c File Reference

#include <assert.h>
#include <stdlib.h>
#include "pathutil.h"

Include dependency graph for util.c:

Go to the source code of this file.

Defines
#define	ALLOC(size, ptr, type)   (ptr? (type*)realloc(ptr,(size)*sizeof(type)):(type*)malloc((size)*sizeof(type)))
Functions
Ppoly_t	copypoly (Ppoly_t argpoly)
void	freepoly (Ppoly_t argpoly)
int	Ppolybarriers (Ppoly_t **polys, int npolys, Pedge_t **barriers, int *n_barriers)
void	make_polyline (Ppolyline_t line, Ppolyline_t *sline)

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Define Documentation

#define ALLOC	(		size,
			ptr,
			type
	)		(ptr? (type*)realloc(ptr,(size)*sizeof(type)):(type*)malloc((size)*sizeof(type)))

Definition at line 23 of file util.c.

Referenced by make_polyline().

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Function Documentation

Ppoly_t copypoly

(

Ppoly_t

argpoly

)

Definition at line 25 of file util.c.

References Ppoly_t::pn, Ppoly_t::ps, and malloc().

void freepoly

(

Ppoly_t

argpoly

)

Definition at line 37 of file util.c.

References free(), and Ppoly_t::ps.

void make_polyline	(	Ppolyline_t	line,
		Ppolyline_t *	sline
	)

Definition at line 76 of file util.c.

References Ppoly_t::pn, ALLOC, and Ppoly_t::ps.

Referenced by simpleSplineRoute(), and makeStraightEdge().

int Ppolybarriers	(	Ppoly_t **	polys,
		int	npolys,
		Pedge_t **	barriers,
		int *	n_barriers
	)

Definition at line 42 of file util.c.

References malloc(), Ppoly_t::pn, Pedge_t::a, Ppoly_t::ps, Pedge_t::b, and assert.