\section{lib/pathplan/util.c File Reference}
\label{util_8c}\index{lib/pathplan/util.\-c@{lib/pathplan/util.\-c}}
{\ttfamily \#include $<$assert.\-h$>$}\\*
{\ttfamily \#include $<$stdlib.\-h$>$}\\*
{\ttfamily \#include \char`\"{}pathutil.\-h\char`\"{}}\\*
Include dependency graph for util.\-c\-:\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=242pt]{util_8c__incl}
\end{center}
\end{figure}
\subsection*{Macros}
\begin{DoxyCompactItemize}
\item 
\#define {\bf A\-L\-L\-O\-C}(size, ptr, type)~(ptr? (type$\ast$)realloc(ptr,(size)$\ast$sizeof(type))\-:(type$\ast$)malloc((size)$\ast$sizeof(type)))
\end{DoxyCompactItemize}
\subsection*{Functions}
\begin{DoxyCompactItemize}
\item 
{\bf Ppoly\-\_\-t} {\bf copypoly} ({\bf Ppoly\-\_\-t} argpoly)
\item 
void {\bf free\-Path} ({\bf Ppolyline\-\_\-t} $\ast$p)
\item 
void {\bf freepoly} ({\bf Ppoly\-\_\-t} argpoly)
\item 
{\bf int} {\bf Ppolybarriers} ({\bf Ppoly\-\_\-t} $\ast$$\ast$polys, {\bf int} npolys, {\bf Pedge\-\_\-t} $\ast$$\ast$barriers, {\bf int} $\ast$n\-\_\-barriers)
\item 
void {\bf make\-\_\-polyline} ({\bf Ppolyline\-\_\-t} line, {\bf Ppolyline\-\_\-t} $\ast$sline)
\end{DoxyCompactItemize}


\subsection{Macro Definition Documentation}
\index{util.\-c@{util.\-c}!A\-L\-L\-O\-C@{A\-L\-L\-O\-C}}
\index{A\-L\-L\-O\-C@{A\-L\-L\-O\-C}!util.c@{util.\-c}}
\subsubsection[{A\-L\-L\-O\-C}]{\setlength{\rightskip}{0pt plus 5cm}\#define A\-L\-L\-O\-C(
\begin{DoxyParamCaption}
\item[{}]{size, }
\item[{}]{ptr, }
\item[{}]{type}
\end{DoxyParamCaption}
)~(ptr? (type$\ast$)realloc(ptr,(size)$\ast$sizeof(type))\-:(type$\ast$)malloc((size)$\ast$sizeof(type)))}\label{util_8c_afff066b1a9aeba23d3c19af72e3e4b92}


Definition at line 23 of file util.\-c.



Referenced by make\-\_\-polyline().



\subsection{Function Documentation}
\index{util.\-c@{util.\-c}!copypoly@{copypoly}}
\index{copypoly@{copypoly}!util.c@{util.\-c}}
\subsubsection[{copypoly}]{\setlength{\rightskip}{0pt plus 5cm}{\bf Ppoly\-\_\-t} copypoly (
\begin{DoxyParamCaption}
\item[{{\bf Ppoly\-\_\-t}}]{argpoly}
\end{DoxyParamCaption}
)}\label{util_8c_a87a35ac5490e072ebd843b02b19f01c0}


Definition at line 25 of file util.\-c.



References Ppoly\-\_\-t\-::pn, and Ppoly\-\_\-t\-::ps.

\index{util.\-c@{util.\-c}!free\-Path@{free\-Path}}
\index{free\-Path@{free\-Path}!util.c@{util.\-c}}
\subsubsection[{free\-Path}]{\setlength{\rightskip}{0pt plus 5cm}void free\-Path (
\begin{DoxyParamCaption}
\item[{{\bf Ppolyline\-\_\-t} $\ast$}]{p}
\end{DoxyParamCaption}
)}\label{util_8c_ae3dd307dd10b34f23bd094cf69f23c9f}


Definition at line 37 of file util.\-c.



References Ppoly\-\_\-t\-::ps.



Referenced by wedged\-Ellipse().

\index{util.\-c@{util.\-c}!freepoly@{freepoly}}
\index{freepoly@{freepoly}!util.c@{util.\-c}}
\subsubsection[{freepoly}]{\setlength{\rightskip}{0pt plus 5cm}void freepoly (
\begin{DoxyParamCaption}
\item[{{\bf Ppoly\-\_\-t}}]{argpoly}
\end{DoxyParamCaption}
)}\label{util_8c_a356c850f235c27b0c9a3648c4f94cc88}


Definition at line 43 of file util.\-c.



References Ppoly\-\_\-t\-::ps.

\index{util.\-c@{util.\-c}!make\-\_\-polyline@{make\-\_\-polyline}}
\index{make\-\_\-polyline@{make\-\_\-polyline}!util.c@{util.\-c}}
\subsubsection[{make\-\_\-polyline}]{\setlength{\rightskip}{0pt plus 5cm}void make\-\_\-polyline (
\begin{DoxyParamCaption}
\item[{{\bf Ppolyline\-\_\-t}}]{line, }
\item[{{\bf Ppolyline\-\_\-t} $\ast$}]{sline}
\end{DoxyParamCaption}
)}\label{util_8c_a19e43c4a1b6a0ff5b83a6a05298efe96}


Definition at line 82 of file util.\-c.



References A\-L\-L\-O\-C, Ppoly\-\_\-t\-::pn, and Ppoly\-\_\-t\-::ps.



Referenced by make\-Straight\-Edges(), and simple\-Spline\-Route().

\index{util.\-c@{util.\-c}!Ppolybarriers@{Ppolybarriers}}
\index{Ppolybarriers@{Ppolybarriers}!util.c@{util.\-c}}
\subsubsection[{Ppolybarriers}]{\setlength{\rightskip}{0pt plus 5cm}{\bf int} Ppolybarriers (
\begin{DoxyParamCaption}
\item[{{\bf Ppoly\-\_\-t} $\ast$$\ast$}]{polys, }
\item[{{\bf int}}]{npolys, }
\item[{{\bf Pedge\-\_\-t} $\ast$$\ast$}]{barriers, }
\item[{{\bf int} $\ast$}]{n\-\_\-barriers}
\end{DoxyParamCaption}
)}\label{util_8c_ae6c3192fb411d7d68e828b8afd3f0dfd}


Definition at line 48 of file util.\-c.



References Pedge\-\_\-t\-::a, assert, Pedge\-\_\-t\-::b, Ppoly\-\_\-t\-::pn, and Ppoly\-\_\-t\-::ps.

