Graphviz: lib/pathplan/route.c File Reference

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#include "config.h"
#include <assert.h>
#include <limits.h>
#include <math.h>
#include <pathplan/pathutil.h>
#include <pathplan/solvers.h>
#include <stdio.h>
#include <stdlib.h>
#include <util/list.h>

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Data Structures
struct	tna_t

Macros
#define	EPSILON1 1E-3

#define	EPSILON2 1E-6

#define	DISTSQ(a, b) ((((a).x - (b).x) * ((a).x - (b).x)) + (((a).y - (b).y) * ((a).y - (b).y)))

Typedefs
typedef struct tna_t	tna_t

Functions
typedef	LIST (static int reallyroutespline(Pedge_t Ppoint_t)

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

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

static double	dist_n (Ppoint_t *p, int n)

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

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

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

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

static Pvector_t	normv (Pvector_t v)

static Ppoint_t	add (Ppoint_t p1, Ppoint_t p2)

static Ppoint_t	sub (Ppoint_t p1, Ppoint_t p2)

static double	dist (Ppoint_t p1, Ppoint_t p2)

static Ppoint_t	scale (Ppoint_t p, double c)

static double	dot (Ppoint_t p1, Ppoint_t p2)

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)

Macro Definition Documentation

◆ DISTSQ

#define DISTSQ	(	a,
		b
	)	((((a).x - (b).x) * ((a).x - (b).x)) + (((a).y - (b).y) * ((a).y - (b).y)))

Definition at line 30 of file route.c.

◆ EPSILON1

#define EPSILON1 1E-3

Definition at line 22 of file route.c.

◆ EPSILON2

#define EPSILON2 1E-6

Definition at line 23 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 402 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 386 of file route.c.

Referenced by splineintersectsline().

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◆ B0()

static double B0 ( double t )

static

Definition at line 428 of file route.c.

Referenced by reallyroutespline().

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◆ B01()

static double B01 ( double t )

static

Definition at line 445 of file route.c.

Referenced by mkspline().

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◆ B1()

static double B1 ( double t )

static

Definition at line 433 of file route.c.

Referenced by reallyroutespline().

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◆ B2()

static double B2 ( double t )

static

Definition at line 438 of file route.c.

Referenced by reallyroutespline().

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◆ B23()

static double B23 ( double t )

static

Definition at line 450 of file route.c.

Referenced by mkspline().

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◆ B3()

static double B3 ( double t )

static

Definition at line 443 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 412 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 424 of file route.c.

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

◆ LIST()

typedef LIST ( static int reallyroutespline(Pedge_t Ppoint_t )

Definition at line 33 of file route.c.

◆ mkspline()

static int mkspline	(	Ppoint_t *	inps,
		int	inpn,
		const 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 155 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 391 of file route.c.

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

Referenced by reallyroutespline().

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◆ points2coeff()

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

static

Definition at line 378 of file route.c.

Referenced by splineintersectsline().

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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 93 of file route.c.

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

Referenced by reallyroutespline().

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◆ scale()

static Ppoint_t scale	(	Ppoint_t	p,
		double	c
	)

static

Definition at line 419 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 206 of file route.c.

References dist_n(), EPSILON1, LIST_TRY_APPEND, 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 305 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 277 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 407 of file route.c.

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

Data Structures

Macros

Typedefs

Functions

Macro Definition Documentation

◆ DISTSQ

◆ EPSILON1

◆ EPSILON2

Typedef Documentation

◆ tna_t

Function Documentation

◆ add()

◆ addroot()

◆ B0()

◆ B01()

◆ B1()

◆ B2()

◆ B23()

◆ B3()

◆ dist()

◆ dist_n()

◆ dot()

◆ LIST()

◆ mkspline()

◆ normv()

◆ points2coeff()

◆ reallyroutespline()

◆ scale()

◆ splinefits()

◆ splineintersectsline()

◆ splineisinside()

◆ sub()