planners/sequential/sp3dcst.h

Go to the documentation of this file.

#ifndef __SP3DCST_H_
#define __SP3DCST_H_

#define PI      3.14159
#define RAD_PER_DEG     PI/180.0
#define DEG_PER_RAD     180.0/PI

// Constants for bitmap, distance map, voronoi diagram, Potential Field
   
#define MAXSHORTINT     32767
//#define CONTOUR  0
#define OBSTACLE 128
//#define ROBOT    64
#define FREESPACE 255

//#define WORKSPACE_2D          // Define 2-dimensional workspace       
//#define       SELFCOLLISIONCHECK      1       // self-collision check sign    

#define MAX_DEGREE      10      // Maximum degree of robot              
//#define       MAX_VERTEX      4       // Maximum Vertex number in Polygon     

#define WS_SIZE 128             // Default Work Space bitmap SIZE       
//#define       DIMX    WS_SIZE
//#define DIMY  WS_SIZE
//#define       DIMZ    WS_SIZE

#define SAFETY_DISTANCE         (int)(WS_SIZE/128)
#define TQ_SAFETY_DISTANCE      (int)(DIMQ/100)

#define CS_SIZE 90              // Default Configuration Space SIZE     
#define DIMT    CS_SIZE
#define DIMQ    CS_SIZE

//#define       TQVIEWSIZEX     DIMT/3
//#define       TQVIEWSIZEY     DIMQ/3

//#define       TQVIEWNOTOPEN   -1

#define MAX_PART_PATH           10*CS_SIZE      // Maximum part CS path 
#define MAX_CS_PATH_LEN         20*CS_SIZE              // Maximum CS path      

#define NO_PATH_COMPRESS        TRUE

//#define FIXED_T               FALSE   // Fixed t-parameter length             

//#define       CONSIDER_ARM_REACH      TRUE

// Constants for the Backtracking       
#define MAX_BACKTRACKING_LEVEL  3
#define MAX_BACKTRACKING_NUMBER 20
#define MAXBLOCKLENGTH          CS_SIZE/20
#define BLOCKWIDTH              DIMQ/64

//#define       WSD     3       // Workspace Dimension  

//const int UNDONE = -1;        // used when composing heuristic map

#endif

---