\section{lib/pathplan/solvers.c File Reference}
\label{solvers_8c}\index{lib/pathplan/solvers.\-c@{lib/pathplan/solvers.\-c}}
{\ttfamily \#include \char`\"{}config.\-h\char`\"{}}\\*
{\ttfamily \#include $<$math.\-h$>$}\\*
{\ttfamily \#include \char`\"{}solvers.\-h\char`\"{}}\\*
Include dependency graph for solvers.\-c\-:\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=235pt]{solvers_8c__incl}
\end{center}
\end{figure}
\subsection*{Macros}
\begin{DoxyCompactItemize}
\item 
\#define {\bf cbrt}(x)~((x $<$ 0) ? (-\/1$\ast$pow(-\/x, 1.\-0/3.\-0)) \-: pow (x, 1.\-0/3.\-0))
\item 
\#define {\bf M\-\_\-\-P\-I}~3.\-14159265358979323846
\item 
\#define {\bf E\-P\-S}~1\-E-\/7
\item 
\#define {\bf A\-E\-Q0}(x)~(((x) $<$ {\bf E\-P\-S}) \&\& ((x) $>$ -\/{\bf E\-P\-S}))
\end{DoxyCompactItemize}
\subsection*{Functions}
\begin{DoxyCompactItemize}
\item 
{\bf int} {\bf solve3} (double $\ast$coeff, double $\ast$roots)
\item 
{\bf int} {\bf solve2} (double $\ast$coeff, double $\ast$roots)
\item 
{\bf int} {\bf solve1} (double $\ast$coeff, double $\ast$roots)
\end{DoxyCompactItemize}


\subsection{Macro Definition Documentation}
\index{solvers.\-c@{solvers.\-c}!A\-E\-Q0@{A\-E\-Q0}}
\index{A\-E\-Q0@{A\-E\-Q0}!solvers.c@{solvers.\-c}}
\subsubsection[{A\-E\-Q0}]{\setlength{\rightskip}{0pt plus 5cm}\#define A\-E\-Q0(
\begin{DoxyParamCaption}
\item[{}]{x}
\end{DoxyParamCaption}
)~(((x) $<$ {\bf E\-P\-S}) \&\& ((x) $>$ -\/{\bf E\-P\-S}))}\label{solvers_8c_a6a21aa266af819e4e605f2ff91c64114}


Definition at line 31 of file solvers.\-c.



Referenced by solve1(), solve2(), and solve3().

\index{solvers.\-c@{solvers.\-c}!cbrt@{cbrt}}
\index{cbrt@{cbrt}!solvers.c@{solvers.\-c}}
\subsubsection[{cbrt}]{\setlength{\rightskip}{0pt plus 5cm}\#define cbrt(
\begin{DoxyParamCaption}
\item[{}]{x}
\end{DoxyParamCaption}
)~((x $<$ 0) ? (-\/1$\ast$pow(-\/x, 1.\-0/3.\-0)) \-: pow (x, 1.\-0/3.\-0))}\label{solvers_8c_ab95ebf7d48afa4fe99e6f59163a6ddbb}


Definition at line 24 of file solvers.\-c.



Referenced by solve3().

\index{solvers.\-c@{solvers.\-c}!E\-P\-S@{E\-P\-S}}
\index{E\-P\-S@{E\-P\-S}!solvers.c@{solvers.\-c}}
\subsubsection[{E\-P\-S}]{\setlength{\rightskip}{0pt plus 5cm}\#define E\-P\-S~1\-E-\/7}\label{solvers_8c_a6ebf6899d6c1c8b7b9d09be872c05aae}


Definition at line 30 of file solvers.\-c.

\index{solvers.\-c@{solvers.\-c}!M\-\_\-\-P\-I@{M\-\_\-\-P\-I}}
\index{M\-\_\-\-P\-I@{M\-\_\-\-P\-I}!solvers.c@{solvers.\-c}}
\subsubsection[{M\-\_\-\-P\-I}]{\setlength{\rightskip}{0pt plus 5cm}\#define M\-\_\-\-P\-I~3.\-14159265358979323846}\label{solvers_8c_ae71449b1cc6e6250b91f539153a7a0d3}


Definition at line 27 of file solvers.\-c.



Referenced by solve3().



\subsection{Function Documentation}
\index{solvers.\-c@{solvers.\-c}!solve1@{solve1}}
\index{solve1@{solve1}!solvers.c@{solvers.\-c}}
\subsubsection[{solve1}]{\setlength{\rightskip}{0pt plus 5cm}{\bf int} solve1 (
\begin{DoxyParamCaption}
\item[{double $\ast$}]{coeff, }
\item[{double $\ast$}]{roots}
\end{DoxyParamCaption}
)}\label{solvers_8c_a4ba778c22cf8b4106897344b5675b569}


Definition at line 100 of file solvers.\-c.



References A\-E\-Q0.



Referenced by solve2().

\index{solvers.\-c@{solvers.\-c}!solve2@{solve2}}
\index{solve2@{solve2}!solvers.c@{solvers.\-c}}
\subsubsection[{solve2}]{\setlength{\rightskip}{0pt plus 5cm}{\bf int} solve2 (
\begin{DoxyParamCaption}
\item[{double $\ast$}]{coeff, }
\item[{double $\ast$}]{roots}
\end{DoxyParamCaption}
)}\label{solvers_8c_ab2a4066e0d40060c954b215a09efa5f0}


Definition at line 76 of file solvers.\-c.



References A\-E\-Q0, and solve1().



Referenced by solve3().

\index{solvers.\-c@{solvers.\-c}!solve3@{solve3}}
\index{solve3@{solve3}!solvers.c@{solvers.\-c}}
\subsubsection[{solve3}]{\setlength{\rightskip}{0pt plus 5cm}{\bf int} solve3 (
\begin{DoxyParamCaption}
\item[{double $\ast$}]{coeff, }
\item[{double $\ast$}]{roots}
\end{DoxyParamCaption}
)}\label{solvers_8c_a9d0e6a3b9fe47321a0e4964276d55193}


Definition at line 33 of file solvers.\-c.



References A\-E\-Q0, alpha, cbrt, M\-\_\-\-P\-I, and solve2().

