lib/pathplan/vis.h File Reference

#include <assert.h>
#include <math.h>
#include <stdlib.h>
#include <limits.h>
#include "vispath.h"
#include "pathutil.h"

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Data Structures
struct	vconfig_s
Defines
#define	OBSCURED   0.0
#define	EQ(p, q)   ((p.x == q.x) && (p.y == q.y))
#define	NEQ(p, q)   (!EQ(p,q))
#define	NIL(p)   ((p)0)
#define	CW   0
#define	CCW   1
Typedefs
typedef COORD **	array2
Functions
COORD *	ptVis (vconfig_t *, int, Ppoint_t)
int	directVis (Ppoint_t, int, Ppoint_t, int, vconfig_t *)
void	visibility (vconfig_t *)
int *	makePath (Ppoint_t p, int pp, COORD *pvis, Ppoint_t q, int qp, COORD *qvis, vconfig_t *conf)

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Define Documentation

#define CCW   1

Definition at line 36 of file vis.h.

#define CW   0

Definition at line 35 of file vis.h.

#define EQ	(		p,
			q
	)		((p.x == q.x) && (p.y == q.y))

Definition at line 32 of file vis.h.

#define NEQ	(		p,
			q
	)		(!EQ(p,q))

Definition at line 33 of file vis.h.

#define NIL

(

p

)

((p)0)

Definition at line 34 of file vis.h.

#define OBSCURED   0.0

Definition at line 31 of file vis.h.

---

Typedef Documentation

typedef COORD** array2

Definition at line 29 of file vis.h.

---

Function Documentation

int directVis	(	Ppoint_t	,
		int	,
		Ppoint_t	,
		int	,
		vconfig_t *
	)

Definition at line 400 of file visibility.c.

References vconfig_s::N, vconfig_s::P, vconfig_s::next, s1(), vconfig_s::start, and INTERSECT.

Referenced by makePath().

int* makePath	(	Ppoint_t	p,
		int	pp,
		COORD *	pvis,
		Ppoint_t	q,
		int	qp,
		COORD *	qvis,
		vconfig_t *	conf
	)

Definition at line 100 of file shortestpth.c.

References vconfig_s::N, directVis(), malloc(), vconfig_s::vis, and shortestPath().

Referenced by Pobspath().

COORD* ptVis	(	vconfig_t *	,
		int	,
		Ppoint_t
	)

Definition at line 339 of file visibility.c.

References vconfig_s::N, vconfig_s::P, vconfig_s::next, vconfig_s::prev, malloc(), POLYID_UNKNOWN, vconfig_s::start, and dist().

Referenced by Pobspath().

void visibility

(

vconfig_t *

)

Definition at line 305 of file visibility.c.

References vconfig_s::vis, and vconfig_s::N.

Referenced by Pobsopen().