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plan.h File Reference Go to the source code of this file. Classes struct   _plan_cell_t struct   plan_t Defines #define  PLAN_SXCX(plan, x)   ((x) - (plan->scale * plan->size_x / 2.0)) #define  PLAN_SYCY(plan, y)   ((y) - (plan->scale * plan->size_y / 2.0)) #define  PLAN_CXSX(plan, x)   ((x) + (plan->scale * plan->size_x / 2.0)) #define  PLAN_CYSY(plan, y)   ((y) + (plan->scale * plan->size_y / 2.0)) #define  PLAN_WXGX(plan, i)   (((i) - plan->size_x / 2) * plan->scale) #define  PLAN_WYGY(plan, j)   (((j) - plan->size_y / 2) * plan->scale) #define  PLAN_GXWX(plan, x)   (floor((x) / plan->scale + 0.5) + plan->size_x / 2) #define  PLAN_GYWY(plan, y)   (floor((y) / plan->scale + 0.5) + plan->size_y / 2) #define  PLAN_VALID(plan, i, j)   ((i >= 0) && (i < plan->size_x) && (j >= 0) && (j < plan->size_y)) #define  PLAN_INDEX(plan, i, j)   ((i) + (j) * plan->size_x) Typedefs typedef _plan_cell_t  plan_cell_t Functions plan_t *  plan_alloc (double abs_min_radius, double des_min_radius, double max_radius, double dist_penalty) void  plan_free (plan_t *plan) void  plan_reset (plan_t *plan) void  plan_update_cspace (plan_t *plan, const char *cachefile) void  plan_update_plan (plan_t *plan, double gx, double gy) void  plan_update_waypoints (plan_t *plan, double px, double py) int  plan_get_waypoint (plan_t *plan, int i, double *px, double *py) void  plan_convert_waypoint (plan_t *plan, plan_cell_t *waypoint, double *px, double *py) void  plan_draw_grid (plan_t *plan, struct _rtk_fig_t *fig) void  plan_draw_waypoints (plan_t *plan, struct _rtk_fig_t *fig) int  plan_write_cspace (plan_t *plan, const char *fname, short hash) int  plan_read_cspace (plan_t *plan, const char *fname, short hash) short  plan_md5 (plan_t *plan) Variables _rtk_fig_t *  fig Define Documentation #define PLAN_SXCX (  plan, x   )     ((x) - (plan->scale * plan->size_x / 2.0)) #define PLAN_SYCY (  plan, y   )     ((y) - (plan->scale * plan->size_y / 2.0)) #define PLAN_CXSX (  plan, x   )     ((x) + (plan->scale * plan->size_x / 2.0)) #define PLAN_CYSY (  plan, y   )     ((y) + (plan->scale * plan->size_y / 2.0)) #define PLAN_WXGX (  plan, i   )     (((i) - plan->size_x / 2) * plan->scale) #define PLAN_WYGY (  plan, j   )     (((j) - plan->size_y / 2) * plan->scale) #define PLAN_GXWX (  plan, x   )     (floor((x) / plan->scale + 0.5) + plan->size_x / 2) #define PLAN_GYWY (  plan, y   )     (floor((y) / plan->scale + 0.5) + plan->size_y / 2) #define PLAN_VALID (  plan, i, j   )     ((i >= 0) && (i < plan->size_x) && (j >= 0) && (j < plan->size_y)) #define PLAN_INDEX (  plan, i, j   )     ((i) + (j) * plan->size_x) Typedef Documentation typedef struct _plan_cell_t plan_cell_t Function Documentation plan_t* plan_alloc (  double  abs_min_radius, double  des_min_radius, double  max_radius, double  dist_penalty )  void plan_free (  plan_t *  plan  )  void plan_reset (  plan_t *  plan  )  void plan_update_cspace (  plan_t *  plan, const char *  cachefile )  void plan_update_plan (  plan_t *  plan, double  gx, double  gy )  void plan_update_waypoints (  plan_t *  plan, double  px, double  py )  int plan_get_waypoint (  plan_t *  plan, int  i, double *  px, double *  py )  void plan_convert_waypoint (  plan_t *  plan, plan_cell_t *  waypoint, double *  px, double *  py )  void plan_draw_grid (  plan_t *  plan, struct _rtk_fig_t *  fig )  void plan_draw_waypoints (  plan_t *  plan, struct _rtk_fig_t *  fig )  int plan_write_cspace (  plan_t *  plan, const char *  fname, short  hash )  int plan_read_cspace (  plan_t *  plan, const char *  fname, short  hash )  short plan_md5 (  plan_t *  plan  )  Variable Documentation struct _rtk_fig_t* fig