planners/sequential/sp3dgl.h

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#ifndef __SP3DGL_H_
#define __SP3DGL_H_

#define DEBUG_  TRUE

#if defined(_PLANNER_MAIN_)
#define EXTERN
#else
#define EXTERN extern
#endif

EXTERN  int     debug,  // debug level  
                arm_degree,             // Arm real degree              
                //dimx, dimy, dimz,     /* Workspace working dimension  */
                dimt[MAX_DEGREE],
                dimq[MAX_DEGREE];       // TxQ space working dimension  

EXTERN  unsigned char   *wall;

EXTERN  //double   COEFX, COEFY, COEFZ, // Coefficients converting real space to working space  
                COEFD_Q, COEFQ_D;  // Coefficients for angle to look-up table index conversion
                        
//EXTERN        double   *TCOS, *TSIN;

/*
EXTERN  Arm             original_arm,    First readed in arm            
                converted_arm,  // arm converted into working space     
                working_arm;    // converted for working                
*/

// Initial and final configurations                     

EXTERN  double     *orig_initial_config, *orig_final_config;
EXTERN  IntConfig       initial_config, final_config; // Converted configuration in look-up table

                
EXTERN  JointLimit      original_joint_limit[MAX_DEGREE];  // Joint limits
EXTERN  IntJointLimit   joint_limit[MAX_DEGREE];

/*
EXTERN  unsigned char   **ws_map;               // bitmap for obstacles         
EXTERN  short int       **ws_dist;      // distance map for the work space  
EXTERN  unsigned char   **ws_voro;      // voronoi diagram for the work space 
EXTERN  short int       **link_map;                     // bitmap for links to check selfcollision 
EXTERN  short int       linkfill[MAX_DEGREE],   // Fill selfcollision data 
                linkmask[MAX_DEGREE];                   // Selfcollision mask           

EXTERN  FloatPoint      base;           // converted base in working space 
*/

EXTERN  TQCSpace        tqcs;           // The Whole TxQ Cspace struct  

// Link Pathes in TxQ; 
EXTERN  LinkPath        *lnkcps, 
                                        bkwdpath, frwdpath, mainpath, combpath; //IMPROVE: do not need to be global

// Record t, q parameters in linkpath corresponding to starts and goals
EXTERN  TQConfig        initial_tq[MAX_DEGREE], final_tq[MAX_DEGREE];

EXTERN  double          **globalpath;
EXTERN  int     globaldim;

EXTERN  char            datadir[40];

// Planner control parameters   
EXTERN  int             max_level, max_bt_no;

/* TxQ View parameters */
/*
EXTERN  int     tqview_image_no[MAX_DEGREE], tqview_ctrl_no[MAX_DEGREE],
                tqview_image_id[MAX_DEGREE], tqview_ctrl_id[MAX_DEGREE],
                tqviewposx[MAX_DEGREE], tqviewposy[MAX_DEGREE],
                tqviewsizex[MAX_DEGREE], tqviewsizey[MAX_DEGREE],
                viewob[MAX_DEGREE], viewpath[MAX_DEGREE],
                viewif[MAX_DEGREE];
*/
/* Debug Control */

EXTERN  int     sp_debug_level;
//EXTERN  double distance_detect_range;
//EXTERN  double link_radius[MAX_DEGREE+1];

//IAN: getting rid of act
//EXTERN        A_List ptr_list_robot;  
//EXTERN        AF_Functional_object *robot, *obstacle;
//EXTERN        AF_Link *ptr_link[MAX_DEGREE+1];
//EXTERN        AP_Physical_object *ptr_joint[MAX_DEGREE+1],
//              *ptr_rigid_body[MAX_DEGREE+1];
//EXTERN        AF_Functional_object *working_tool;

#endif

 

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