Motion Planning Kernel: planners/aca/jma

00001 /*============================================================================= *
00002  * File           : jma_test.h
00003  * Module         : tests
00004  * Author         : Juan Manuel AHUACTZIN
00005  * Creation       : Wed Jun  9 11:56:23 PDT 1999
00006  *
00007  *============================================================================= *
00008                 (c) Copyright 1999, J.M. Ahuactzin all rights reserved
00009  *============================================================================= *
00010  *------------------------- Description ---------------------------------------  
00011  *   
00012  *------------------------- Modifications ------------------------------------- *
00013  * 
00014  * 
00015  */
00016 
00017 
00018 #define WIN_WIDTH  1000
00019 #define WIN_HEIGHT 500
00020 #define EPSILON  1.0e-3
00021 
00022 #define NO_POINT 0
00023 #define ONE_POINT 1
00024 #define MANY_POINTS 2
00025 
00026 #define N_OBST 200
00027 #define N_ROBST 100
00028 
00029 #define THICKNESS 3
00030 #define GENERATE_RANDOMLY 0
00031 
00032 char my_screen[WIN_WIDTH][WIN_HEIGHT];
00033 
00034 typedef struct {
00035   double x1;
00036   double y1;
00037   double x2;
00038   double y2;
00039 } my_obstacle;
00040 
00041 
00042 double my_distance_func(double[],double[]);
00043 int my_random_path(int,int,int,JMA_Configuration,JMA_Configuration*);
00044 int my_local_planner(double[],double[]);
00045 int my_ptp_collision(double[],double[]);
00046 int my_goal_func(double[]);
00047 int segments_intersection(double,double,double,double,double,double,
00048                           double,double,double*,double*);
00049 int in_plane(double,double,double,double,double,double);
00050 int generate_path_planning_problem(int, my_obstacle[],JMA_Configuration*,double[]);
00051 void show_trajectory(JMA_Roadmap_Tree*,int[],int,double[]);
00052 double switch_random();
00053 void switch_srandom(int);
planners/aca/jma_test.h
