planners/sequential/sp3dcst.h File Reference

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Defines
#define	PI   3.14159
#define	RAD_PER_DEG   PI/180.0
#define	DEG_PER_RAD   180.0/PI
#define	MAXSHORTINT   32767
#define	OBSTACLE   128
#define	FREESPACE   255
#define	MAX_DEGREE   10
#define	WS_SIZE   128
#define	SAFETY_DISTANCE   (int)(WS_SIZE/128)
#define	TQ_SAFETY_DISTANCE   (int)(DIMQ/100)
#define	CS_SIZE   90
#define	DIMT   CS_SIZE
#define	DIMQ   CS_SIZE
#define	MAX_PART_PATH   10*CS_SIZE
#define	MAX_CS_PATH_LEN   20*CS_SIZE
#define	NO_PATH_COMPRESS   TRUE
#define	MAX_BACKTRACKING_LEVEL   3
#define	MAX_BACKTRACKING_NUMBER   20
#define	MAXBLOCKLENGTH   CS_SIZE/20
#define	BLOCKWIDTH   DIMQ/64

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Define Documentation

#define BLOCKWIDTH   DIMQ/64

Definition at line 52 of file sp3dcst.h.

#define CS_SIZE   90

Definition at line 30 of file sp3dcst.h.

#define DEG_PER_RAD   180.0/PI

Definition at line 6 of file sp3dcst.h.

#define DIMQ   CS_SIZE

Definition at line 32 of file sp3dcst.h. Referenced by PL_Sequential::initialize_parameters().

#define DIMT   CS_SIZE

Definition at line 31 of file sp3dcst.h. Referenced by PL_Sequential::initialize_parameters().

#define FREESPACE   255

Definition at line 14 of file sp3dcst.h.

#define MAX_BACKTRACKING_LEVEL   3

Definition at line 49 of file sp3dcst.h. Referenced by PL_Sequential::initialize_parameters().

#define MAX_BACKTRACKING_NUMBER   20

Definition at line 50 of file sp3dcst.h. Referenced by PL_Sequential::initialize_parameters().

#define MAX_CS_PATH_LEN   20*CS_SIZE

Definition at line 40 of file sp3dcst.h. Referenced by PL_Sequential::allocate_space_for_working_tq_path().

#define MAX_DEGREE   10

Definition at line 19 of file sp3dcst.h. Referenced by PL_Sequential::compute_cspace_obstacle_map(), and PL_Sequential::retrieve_global_path().

#define MAX_PART_PATH   10*CS_SIZE

Definition at line 39 of file sp3dcst.h. Referenced by PL_Sequential::allocate_space_for_working_tq_path().

#define MAXBLOCKLENGTH   CS_SIZE/20

Definition at line 51 of file sp3dcst.h. Referenced by PL_Sequential::find_main_path().

#define MAXSHORTINT   32767

Definition at line 10 of file sp3dcst.h. Referenced by PL_Sequential::find_backward_extension(), PL_Sequential::find_forward_extension(), PL_Sequential::find_main_path(), and PL_Sequential::voro_heuristic2d().

#define NO_PATH_COMPRESS   TRUE

Definition at line 42 of file sp3dcst.h. Referenced by PL_Sequential::reparameterize_path().

#define OBSTACLE   128

Definition at line 12 of file sp3dcst.h. Referenced by PL_Sequential::compute_a_column_for_link_cspace(), PL_Sequential::distance2d(), PL_Sequential::plan_path_for_first_link(), and PL_Sequential::voro_heuristic2d().

#define PI   3.14159

Definition at line 4 of file sp3dcst.h.

#define RAD_PER_DEG   PI/180.0

Definition at line 5 of file sp3dcst.h.

#define SAFETY_DISTANCE   (int)(WS_SIZE/128)

Definition at line 27 of file sp3dcst.h. Referenced by PL_Sequential::find_backward_extension(), and PL_Sequential::find_forward_extension().

#define TQ_SAFETY_DISTANCE   (int)(DIMQ/100)

Definition at line 28 of file sp3dcst.h.

#define WS_SIZE   128

Definition at line 22 of file sp3dcst.h.

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