planners/sequential/spfiles.h

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#ifndef __SPFILES_H_
#define __SPFILES_H_

// Add extra Max float definition       
#ifndef MAXFLOAT
#define MAXFLOAT        (float)3.34e38
#endif //MAXFLOAT 
#define MAXFLOAT1       (float)3.3399e38

// Definition of All Data Files         

typedef enum filetype
  {
        Robot_Struct_Data,              // Robot Structure Definition   
        Obs_Struct_Data,                // Obstacles Structural Definition
        Obs_Bitmap_Data,                // Obstacles Bitmap Data        
        Ws_Distance_Map,                // Workspace distance map       
        Ws_Voronoi_Map,                 // Workspace Voronoi Map        
        TQ_CSpace_Obs,                  // TxQ Space Obstacles Bitmap   
        TQ_CSpace_Distance_Map,         // TxQ Space Distance Map       
        TQ_CSpace_Voronoi_Map,          // TxQ Space Voronoi Map        
        TQ_CSpace_Heuristic_Map,        // TxQ Space Heuristic Map      
        TQ_CSpace_Path,                 // TxQ Space Path Sequence      
        Global_Path_Int,                // Global Path in Joint Data    
        Global_Path_Float,
        Global_Path_Discrete            // Global Path in TxQ Descritization
  } FileType;

// File Head Descripter                 

typedef struct filedescript
  {
        FileType        ftype;          // Main Definition of file      
        char            comment[20];    // Short Info about the file    
        short           note;           // Farther Notes                
        short           octet;          // Basic Data Size              
        short           dimx;           // Dimensional Specification    
        short           dimy;           // Maximum 3D   Now             
        short           dimz;
} FileDescript;

#endif

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