aversive_10-03-12/modules/devices/robot/obstacle_avoidance/obstacle_avoidance.h File Reference

Init the oa structure. Note: In the algorithm, the first polygon is a dummy one, and is used to represent the START and END points (so it has 2 vertices)

Definition at line 42 of file obstacle_avoidance.c.

References _poly::l, oa_start_end_points(), obstacle_avoidance::points, obstacle_avoidance::polys, and _poly::pts.

oa_poly_t* oa_new_poly ( uint8_t size )

Create a new obstacle polygon. Return NULL on error.

Definition at line 84 of file obstacle_avoidance.c.

References obstacle_avoidance::cur_poly_idx, obstacle_avoidance::cur_pt_idx, _poly::l, MAX_POLY, MAX_PTS, obstacle_avoidance::points, obstacle_avoidance::polys, and _poly::pts.

void oa_poly_set_point	(	oa_poly_t *	pol,
		int32_t	x,
		int32_t	y,
		uint8_t	i
	)

set a point of the polygon.

Add a point to the polygon.

Definition at line 101 of file obstacle_avoidance.c.

References DEBUG, E_OA, _poly::pts, _ext_point::valid, _ext_point::weight, _ext_point::x, and _ext_point::y.

int8_t oa_process ( void )

process the path from start to end. Return 0 on sucess.

Definition at line 687 of file obstacle_avoidance.c.

References calc_rays(), calc_rays_weight(), obstacle_avoidance::cur_poly_idx, DEBUG, dijkstra(), E_OA, get_path(), obstacle_avoidance::polys, _poly::pts, obstacle_avoidance::ray_n, obstacle_avoidance::rays, obstacle_avoidance::u, obstacle_avoidance::weight, _ext_point::x, and _ext_point::y.

void oa_start_end_points	(	int32_t	st_x,
		int32_t	st_y,
		int32_t	en_x,
		int32_t	en_y
	)

Set the start and destination point.

Set the start and destination point. Return 0 on sucess

Definition at line 56 of file obstacle_avoidance.c.

References obstacle_avoidance::cur_poly_idx, obstacle_avoidance::cur_pt_idx, obstacle_avoidance::points, _ext_point::valid, _ext_point::weight, _ext_point::x, and _ext_point::y.

Referenced by oa_init().


Data Structures
struct	_ext_point
struct	_point
struct	_line
struct	_poly
struct	obstacle_avoidance
Defines
#define	MAX_POLY 3
#define	MAX_PTS 10
#define	MAX_RAYS 100
#define	MAX_CHKPOINTS 5
#define	PLAYGROUND_X_MIN 0
#define	PLAYGROUND_X_MAX 300
#define	PLAYGROUND_Y_MIN 0
#define	PLAYGROUND_Y_MAX 210
Typedefs
typedef struct _ext_point	oa_ext_point_t
typedef struct _point	oa_point_t
typedef struct _line	oa_line_t
typedef struct _poly	oa_poly_t
Functions
void	oa_init (void)
void	oa_start_end_points (int32_t st_x, int32_t st_y, int32_t en_x, int32_t en_y)
oa_poly_t *	oa_new_poly (uint8_t size)
void	oa_poly_set_point (oa_poly_t *pol, int32_t x, int32_t y, uint8_t i)
int8_t	oa_process (void)
oa_point_t *	oa_get_path (void)
uint8_t	is_point_in_poly (oa_poly_t *pol, int16_t x, int16_t y)