planners/sequential/sp3dstct.h

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#ifndef __SP3DSTCT_H_
#define __SP3DSTCT_H_

#include "sp3dcst.h"

/*
typedef enum pathcode
  {
        In_Main,        // Block occured in last main path section      
        In_Frwd,        // Block occured in last forward path section
        In_Bkwd         // Block occured in last backward path section  
  } BlockCode;
*/

/* Sequential planner return code       */
typedef enum sprc
  {
        SP_STOP_S,      /* A Stopping signal    */
        SP_CHANGE_S,    /* A Parameter Change request signal    */
        SP_NO_S,        /* No Signal            */
        SP_TQ_OK,       /* A txq path is found for a link       */
        SP_TQ_NOT_OK,   /* A txq path is not found for a link   */
        SP_PLANNING,    /* Sequential planner is planning       */
        SP_SUCCEEDED,   /* Sequential planner succeeded         */
        SP_FAILED,      /* Sequential planner Failed            */
        SP_STOPPING,    /* Sequential planner received a stop signal */
        SP_STOPPED,     /* Sequential planner being stopped by a signal */
        SP_IF_NOT_OK,   /* Initial or Final position is not good */ 
        SP_UNKNOWN      /* Don't know what happened             */
  } SPRC;

/*
typedef struct char2dpoint              // Char Size 2d Point   
  {
        char    x, y;
  } Char2DPoint;
*/
/*
typedef struct charpoint                // Char Size Point      
  {
        char    x, y, z;
  } CharPoint;
*/
/*
typedef struct sphortintoint2d          //Short Integer Size 2d Point   
  {
        short int       x, y;
  } ShortInt2DPoint;
*/
/*
typedef struct sphortintoint            // Short Integer Size Point     
  {
        short int       x, y, z;
  } ShortIntPoint;
*/

typedef struct int2dpoint               // Integer Size 2d Point        
  {
        int     x, y, z;
  } Int2DPoint;

typedef struct intpoint         // Integer Size Point   
  {
        int     x, y, z;
  } IntPoint;

/*
typedef struct float2dpoint             // Float Size 2d Point  
  {
        float   x, y;
  } Float2DPoint;
*/
/*
typedef struct floatpoint               // Float Size Point     
  {
        float   x, y, z;
  } FloatPoint;
*/
/*
typedef struct double2dpoint    // Double Size 2d Point 
  {
        double  x, y;
  } Double2DPoint;
*/
/*
typedef struct doublepoint              // Double Size Point    
  {
        double  x, y, z;
  } DoublePoint;
*/
/*
typedef struct  shortintimage   // Short Integer Size Image     
  {
        int     dimx;
        int     dimy;
        int     dimz;
        short int       ***d;
  } ShortIntImage;      
*/

typedef struct tqconfig         // TxQ space point      
  {
        int     t, q;
  } TQConfig;

typedef struct linkpath         // Path for each link           
  {     // includes both real and parameter 
        int     maxdim, dim;
        TQConfig        *d;
  } LinkPath;

/*
typedef struct dofpath          // Path for global dofs         
  {     // act as d[i][degree] 
        int     maxdim, dim;
        double  **d;
  } DOFPath;
*/
/*
typedef struct confpath         // Path of robot in configuration space 
  {
        int     degree;
        LinkPath        *cpath;
  } ConfPath;
*/
/*
typedef struct link
  {
        float   a, l;
        int     nverts;                 // number of vertices of link           
        FloatPoint      base;   // Link Frame base coordinate   
        FloatPoint      vertex[MAX_VERTEX];
  } Link;
*/
/*
typedef struct arm
  {
        int     nlinks;
        Link    *link;
  } Arm;
*/

typedef struct jointlimit
{
    int status;         // 1 apply, 0 not       
    double start;
    double end;
} JointLimit;

typedef struct intjointlimit
  {
        int     status;         // 1 apply, 0 not       
        int     start, end;
  } IntJointLimit;

typedef struct tqlinkcspace
  {
        int     dimt, dimq;
        int     t_bound, q_bound, p_bound; // path parameters bound     
        unsigned char   **bitmap;
        short   int     **distmap;
        unsigned char   **voro;
        short   int     **potential;
  } TQLinkCSpace;

typedef struct tqcspace
  {
        int     nlinks;
        TQLinkCSpace    *tqlink;
  } TQCSpace;

typedef struct BT_NUMBER 
  {
        int     BT_number;
  } BT_Number;

typedef struct BT_RECORD
  {
        BT_Number       *BT_level[6];
  } BT_Record;

typedef int     IntConfig[MAX_DEGREE];                  // Be sure CHECK        
typedef double  FloatConfig[MAX_DEGREE];        // Degree Maximum limit 
typedef double  DoubleConfig[MAX_DEGREE];

#endif

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