Graphviz: lib/pathplan/route.c File Reference

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#include <assert.h>
#include <limits.h>
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <pathplan/pathutil.h>
#include <pathplan/solvers.h>

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Data Structures
struct	tna_t

Macros
#define	EPSILON1 1E-3

#define	EPSILON2 1E-6

#define	DISTSQ(a, b)

#define	POINTSIZE sizeof (Ppoint_t)

Typedefs
typedef struct tna_t	tna_t

Functions
static int	reallyroutespline (Pedge_t , size_t, Ppoint_t , int, Ppoint_t, Ppoint_t)

static int	mkspline (Ppoint_t , int, tna_t , Ppoint_t, Ppoint_t, Ppoint_t , Ppoint_t , Ppoint_t , Ppoint_t )

static int	splinefits (Pedge_t , size_t, Ppoint_t, Pvector_t, Ppoint_t, Pvector_t, Ppoint_t , int)

static int	splineisinside (Pedge_t , size_t, Ppoint_t )

static int	splineintersectsline (Ppoint_t , Ppoint_t , double *)

static void	points2coeff (double, double, double, double, double *)

static void	addroot (double, double , int )

static Pvector_t	normv (Pvector_t)

static int	growops (size_t)

static Ppoint_t	add (Ppoint_t, Ppoint_t)

static Ppoint_t	sub (Ppoint_t, Ppoint_t)

static double	dist (Ppoint_t, Ppoint_t)

static Ppoint_t	scale (Ppoint_t, double)

static double	dot (Ppoint_t, Ppoint_t)

static double	B0 (double t)

static double	B1 (double t)

static double	B2 (double t)

static double	B3 (double t)

static double	B01 (double t)

static double	B23 (double t)

int	Proutespline (Pedge_t barriers, size_t n_barriers, Ppolyline_t input_route, Ppoint_t endpoint_slopes[2], Ppolyline_t output_route)

static double	dist_n (Ppoint_t *p, int n)

Variables
static Ppoint_t *	ops

static size_t	opn

static size_t	opl

Macro Definition Documentation

◆ DISTSQ

#define DISTSQ	(	a,
		b
	)

Value:

    ( \
    (((a).x - (b).x) * ((a).x - (b).x)) + (((a).y - (b).y) * ((a).y - (b).y)) \
)

Definition at line 27 of file route.c.

◆ EPSILON1

#define EPSILON1 1E-3

Definition at line 19 of file route.c.

◆ EPSILON2

#define EPSILON2 1E-6

Definition at line 20 of file route.c.

◆ POINTSIZE

#define POINTSIZE sizeof (Ppoint_t)

Definition at line 31 of file route.c.

Typedef Documentation

◆ tna_t

typedef struct tna_t tna_t

Function Documentation

◆ add()

static Ppoint_t add	(	Ppoint_t	p1,
		Ppoint_t	p2
	)

static

Definition at line 426 of file route.c.

References Pxy_t::x, and Pxy_t::y.

Referenced by eval(), mkspline(), and reallyroutespline().

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◆ addroot()

static void addroot	(	double	root,
		double *	roots,
		int *	rootnp
	)

static

Definition at line 398 of file route.c.

Referenced by splineintersectsline().

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◆ B0()

static double B0 ( double t )

static

Definition at line 457 of file route.c.

Referenced by reallyroutespline().

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◆ B01()

static double B01 ( double t )

static

Definition at line 480 of file route.c.

Referenced by mkspline().

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◆ B1()

static double B1 ( double t )

static

Definition at line 463 of file route.c.

Referenced by reallyroutespline().

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◆ B2()

static double B2 ( double t )

static

Definition at line 469 of file route.c.

Referenced by reallyroutespline().

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◆ B23()

static double B23 ( double t )

static

Definition at line 486 of file route.c.

Referenced by mkspline().

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◆ B3()

static double B3 ( double t )

static

Definition at line 475 of file route.c.

Referenced by reallyroutespline().

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◆ dist()

static double dist	(	Ppoint_t	p1,
		Ppoint_t	p2
	)

static

Definition at line 438 of file route.c.

References dx, dy, Pxy_t::x, and Pxy_t::y.

Referenced by mkspline(), and reallyroutespline().

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◆ dist_n()

static double dist_n	(	Ppoint_t *	p,
		int	n
	)

static

Definition at line 195 of file route.c.

Referenced by splinefits().

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◆ dot()

static double dot	(	Ppoint_t	p1,
		Ppoint_t	p2
	)

static

Definition at line 452 of file route.c.

References Pxy_t::x, and Pxy_t::y.

◆ growops()

static int growops ( size_t newopn )

static

Definition at line 416 of file route.c.

References opn, ops, and POINTSIZE.

Referenced by Proutespline(), and splinefits().

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◆ mkspline()

static int mkspline	(	Ppoint_t *	inps,
		int	inpn,
		tna_t *	tnas,
		Ppoint_t	ev0,
		Ppoint_t	ev1,
		Ppoint_t *	sp0,
		Ppoint_t *	sv0,
		Ppoint_t *	sp1,
		Ppoint_t *	sv1
	)

static

Definition at line 154 of file route.c.

References add(), B01(), B23(), dist(), dot, scale(), and sub.

Referenced by reallyroutespline().

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◆ normv()

static Pvector_t normv ( Pvector_t v )

static

Definition at line 404 of file route.c.

References Pxy_t::x, and Pxy_t::y.

Referenced by Proutespline(), and reallyroutespline().

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◆ points2coeff()

static void points2coeff	(	double	v0,
		double	v1,
		double	v2,
		double	v3,
		double *	coeff
	)

static

Definition at line 389 of file route.c.

Referenced by splineintersectsline().

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◆ Proutespline()

int Proutespline	(	Pedge_t *	barriers,
		size_t	n_barriers,
		Ppolyline_t	input_route,
		Ppoint_t	endpoint_slopes[2],
		Ppolyline_t *	output_route
	)

Definition at line 69 of file route.c.

References growops(), normv(), opl, ops, Ppoly_t::pn, Ppoly_t::ps, and reallyroutespline().

Referenced by genroute(), makeSpline(), routesplines_(), simpleSplineRoute(), and vgpanecmd().

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◆ reallyroutespline()

static int reallyroutespline	(	Pedge_t *	edges,
		size_t	edgen,
		Ppoint_t *	inps,
		int	inpn,
		Ppoint_t	ev0,
		Ppoint_t	ev1
	)

static

Definition at line 96 of file route.c.

References tna_t::a, add(), B0(), B1(), B2(), B3(), dist(), mkspline(), normv(), NULL, reallyroutespline(), scale(), splinefits(), sub, tna_t::t, Pxy_t::x, and Pxy_t::y.

Referenced by Proutespline(), and reallyroutespline().

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◆ scale()

static Ppoint_t scale	(	Ppoint_t	p,
		double	c
	)

static

Definition at line 446 of file route.c.

References Pxy_t::x, and Pxy_t::y.

Referenced by mkspline(), and reallyroutespline().

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◆ splinefits()

static int splinefits	(	Pedge_t *	edges,
		size_t	edgen,
		Ppoint_t	pa,
		Pvector_t	va,
		Ppoint_t	pb,
		Pvector_t	vb,
		Ppoint_t *	inps,
		int	inpn
	)

static

Definition at line 207 of file route.c.

References dist_n(), EPSILON1, growops(), opl, ops, splineisinside(), Pxy_t::x, and Pxy_t::y.

Referenced by reallyroutespline().

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◆ splineintersectsline()

static int splineintersectsline	(	Ppoint_t *	sps,
		Ppoint_t *	lps,
		double *	roots
	)

static

Definition at line 309 of file route.c.

References addroot(), points2coeff(), solve3(), Pxy_t::x, and Pxy_t::y.

Referenced by splineisinside().

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◆ splineisinside()

static int splineisinside	(	Pedge_t *	edges,
		size_t	edgen,
		Ppoint_t *	sps
	)

static

Definition at line 278 of file route.c.

References Pedge_t::a, Pedge_t::b, DISTSQ, EPSILON1, EPSILON2, splineintersectsline(), Pxy_t::x, and Pxy_t::y.

Referenced by splinefits().

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◆ sub()

static Ppoint_t sub	(	Ppoint_t	p1,
		Ppoint_t	p2
	)

static

Definition at line 432 of file route.c.

References Pxy_t::x, and Pxy_t::y.

Variable Documentation

◆ opl

size_t opl

static

Definition at line 34 of file route.c.

Referenced by Proutespline(), and splinefits().

◆ opn

size_t opn

static

Definition at line 34 of file route.c.

Referenced by growops(), and Pobspath().

◆ ops

Ppoint_t* ops

static

Definition at line 33 of file route.c.

Referenced by growops(), parseOp(), parseXDotFOn(), Pobspath(), Proutespline(), and splinefits().

Data Structures

Macros

Typedefs

Functions

Variables

Macro Definition Documentation

◆ DISTSQ

◆ EPSILON1

◆ EPSILON2

◆ POINTSIZE

Typedef Documentation

◆ tna_t

Function Documentation

◆ add()

◆ addroot()

◆ B0()

◆ B01()

◆ B1()

◆ B2()

◆ B23()

◆ B3()

◆ dist()

◆ dist_n()

◆ dot()

◆ growops()

◆ mkspline()

◆ normv()

◆ points2coeff()

◆ Proutespline()

◆ reallyroutespline()

◆ scale()

◆ splinefits()

◆ splineintersectsline()

◆ splineisinside()

◆ sub()

Variable Documentation

◆ opl

◆ opn

◆ ops