\section{lib/pathplan/cvt.c File Reference}
\label{cvt_8c}\index{lib/pathplan/cvt.\-c@{lib/pathplan/cvt.\-c}}
{\ttfamily \#include $<$stdio.\-h$>$}\\*
{\ttfamily \#include \char`\"{}vis.\-h\char`\"{}}\\*
Include dependency graph for cvt.\-c\-:\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=350pt]{cvt_8c__incl}
\end{center}
\end{figure}
\subsection*{Typedefs}
\begin{DoxyCompactItemize}
\item 
typedef {\bf Ppoint\-\_\-t} {\bf ilcoord\-\_\-t}
\end{DoxyCompactItemize}
\subsection*{Functions}
\begin{DoxyCompactItemize}
\item 
{\bf vconfig\-\_\-t} $\ast$ {\bf Pobsopen} ({\bf Ppoly\-\_\-t} $\ast$$\ast$obs, {\bf int} n\-\_\-obs)
\item 
void {\bf Pobsclose} ({\bf vconfig\-\_\-t} $\ast$config)
\item 
{\bf int} {\bf Pobspath} ({\bf vconfig\-\_\-t} $\ast$config, {\bf Ppoint\-\_\-t} p0, {\bf int} poly0, {\bf Ppoint\-\_\-t} p1, {\bf int} poly1, {\bf Ppolyline\-\_\-t} $\ast$output\-\_\-route)
\item 
{\bf int} {\bf Pobsbarriers} ({\bf vconfig\-\_\-t} $\ast$config, {\bf Pedge\-\_\-t} $\ast$$\ast$barriers, {\bf int} $\ast$n\-\_\-barriers)
\end{DoxyCompactItemize}


\subsection{Typedef Documentation}
\index{cvt.\-c@{cvt.\-c}!ilcoord\-\_\-t@{ilcoord\-\_\-t}}
\index{ilcoord\-\_\-t@{ilcoord\-\_\-t}!cvt.c@{cvt.\-c}}
\subsubsection[{ilcoord\-\_\-t}]{\setlength{\rightskip}{0pt plus 5cm}typedef {\bf Ppoint\-\_\-t} {\bf ilcoord\-\_\-t}}\label{cvt_8c_a0706da50ce4192b7bc2958d85c58b6d3}


Definition at line 22 of file cvt.\-c.



\subsection{Function Documentation}
\index{cvt.\-c@{cvt.\-c}!Pobsbarriers@{Pobsbarriers}}
\index{Pobsbarriers@{Pobsbarriers}!cvt.c@{cvt.\-c}}
\subsubsection[{Pobsbarriers}]{\setlength{\rightskip}{0pt plus 5cm}{\bf int} Pobsbarriers (
\begin{DoxyParamCaption}
\item[{{\bf vconfig\-\_\-t} $\ast$}]{config, }
\item[{{\bf Pedge\-\_\-t} $\ast$$\ast$}]{barriers, }
\item[{{\bf int} $\ast$}]{n\-\_\-barriers}
\end{DoxyParamCaption}
)}\label{cvt_8c_ae68b593915539261741867ce5bcf800c}


Definition at line 171 of file cvt.\-c.



References Pedge\-\_\-t\-::a, Pedge\-\_\-t\-::b, vconfig\-\_\-s\-::\-N, vconfig\-\_\-s\-::next, vconfig\-\_\-s\-::\-P, Pxy\-\_\-t\-::x, and Pxy\-\_\-t\-::y.

\index{cvt.\-c@{cvt.\-c}!Pobsclose@{Pobsclose}}
\index{Pobsclose@{Pobsclose}!cvt.c@{cvt.\-c}}
\subsubsection[{Pobsclose}]{\setlength{\rightskip}{0pt plus 5cm}void Pobsclose (
\begin{DoxyParamCaption}
\item[{{\bf vconfig\-\_\-t} $\ast$}]{config}
\end{DoxyParamCaption}
)}\label{cvt_8c_a357d41f927cd6706862e525d1243b3b0}


Definition at line 104 of file cvt.\-c.



References vconfig\-\_\-s\-::next, vconfig\-\_\-s\-::\-P, vconfig\-\_\-s\-::prev, vconfig\-\_\-s\-::start, and vconfig\-\_\-s\-::vis.

\index{cvt.\-c@{cvt.\-c}!Pobsopen@{Pobsopen}}
\index{Pobsopen@{Pobsopen}!cvt.c@{cvt.\-c}}
\subsubsection[{Pobsopen}]{\setlength{\rightskip}{0pt plus 5cm}{\bf vconfig\-\_\-t}$\ast$ Pobsopen (
\begin{DoxyParamCaption}
\item[{{\bf Ppoly\-\_\-t} $\ast$$\ast$}]{obs, }
\item[{{\bf int}}]{n\-\_\-obs}
\end{DoxyParamCaption}
)}\label{cvt_8c_aa19953b42943ec58bbc6fc7579e40a56}


Definition at line 62 of file cvt.\-c.



References vconfig\-\_\-s\-::\-N, vconfig\-\_\-s\-::next, vconfig\-\_\-s\-::\-Npoly, N\-U\-L\-L, vconfig\-\_\-s\-::\-P, Ppoly\-\_\-t\-::pn, vconfig\-\_\-s\-::prev, Ppoly\-\_\-t\-::ps, vconfig\-\_\-s\-::start, and visibility().



Referenced by compound\-Edges().

\index{cvt.\-c@{cvt.\-c}!Pobspath@{Pobspath}}
\index{Pobspath@{Pobspath}!cvt.c@{cvt.\-c}}
\subsubsection[{Pobspath}]{\setlength{\rightskip}{0pt plus 5cm}{\bf int} Pobspath (
\begin{DoxyParamCaption}
\item[{{\bf vconfig\-\_\-t} $\ast$}]{config, }
\item[{{\bf Ppoint\-\_\-t}}]{p0, }
\item[{{\bf int}}]{poly0, }
\item[{{\bf Ppoint\-\_\-t}}]{p1, }
\item[{{\bf int}}]{poly1, }
\item[{{\bf Ppolyline\-\_\-t} $\ast$}]{output\-\_\-route}
\end{DoxyParamCaption}
)}\label{cvt_8c_ae0ee087916380bcdf75922f88ed8e91d}


Definition at line 117 of file cvt.\-c.



References assert, make\-Path(), vconfig\-\_\-s\-::\-N, vconfig\-\_\-s\-::\-P, Ppoly\-\_\-t\-::pn, Ppoly\-\_\-t\-::ps, pt\-Vis(), and T\-R\-U\-E.



Referenced by get\-Path().

