\section{lib/pathplan/vis.h File Reference}
\label{vis_8h}\index{lib/pathplan/vis.\-h@{lib/pathplan/vis.\-h}}
{\ttfamily \#include $<$assert.\-h$>$}\\*
{\ttfamily \#include $<$math.\-h$>$}\\*
{\ttfamily \#include $<$stdlib.\-h$>$}\\*
{\ttfamily \#include $<$limits.\-h$>$}\\*
{\ttfamily \#include \char`\"{}vispath.\-h\char`\"{}}\\*
{\ttfamily \#include \char`\"{}pathutil.\-h\char`\"{}}\\*
Include dependency graph for vis.\-h\-:\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=350pt]{vis_8h__incl}
\end{center}
\end{figure}
This graph shows which files directly or indirectly include this file\-:\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=350pt]{vis_8h__dep__incl}
\end{center}
\end{figure}
\subsection*{Data Structures}
\begin{DoxyCompactItemize}
\item 
struct {\bf vconfig\-\_\-s}
\end{DoxyCompactItemize}
\subsection*{Macros}
\begin{DoxyCompactItemize}
\item 
\#define {\bf O\-B\-S\-C\-U\-R\-E\-D}~0.\-0
\item 
\#define {\bf E\-Q}(p, q)~((p.\-x == q.\-x) \&\& (p.\-y == q.\-y))
\item 
\#define {\bf N\-E\-Q}(p, q)~(!{\bf E\-Q}(p,q))
\item 
\#define {\bf N\-I\-L}(p)~((p)0)
\item 
\#define {\bf C\-W}~0
\item 
\#define {\bf C\-C\-W}~1
\end{DoxyCompactItemize}
\subsection*{Typedefs}
\begin{DoxyCompactItemize}
\item 
typedef {\bf C\-O\-O\-R\-D} $\ast$$\ast$ {\bf array2}
\end{DoxyCompactItemize}
\subsection*{Functions}
\begin{DoxyCompactItemize}
\item 
{\bf C\-O\-O\-R\-D} $\ast$ {\bf pt\-Vis} ({\bf vconfig\-\_\-t} $\ast$, {\bf int}, {\bf Ppoint\-\_\-t})
\item 
{\bf int} {\bf direct\-Vis} ({\bf Ppoint\-\_\-t}, {\bf int}, {\bf Ppoint\-\_\-t}, {\bf int}, {\bf vconfig\-\_\-t} $\ast$)
\item 
void {\bf visibility} ({\bf vconfig\-\_\-t} $\ast$)
\item 
{\bf int} $\ast$ {\bf make\-Path} ({\bf Ppoint\-\_\-t} p, {\bf int} pp, {\bf C\-O\-O\-R\-D} $\ast$pvis, {\bf Ppoint\-\_\-t} q, {\bf int} qp, {\bf C\-O\-O\-R\-D} $\ast$qvis, {\bf vconfig\-\_\-t} $\ast$conf)
\end{DoxyCompactItemize}


\subsection{Macro Definition Documentation}
\index{vis.\-h@{vis.\-h}!C\-C\-W@{C\-C\-W}}
\index{C\-C\-W@{C\-C\-W}!vis.h@{vis.\-h}}
\subsubsection[{C\-C\-W}]{\setlength{\rightskip}{0pt plus 5cm}\#define C\-C\-W~1}\label{vis_8h_a8a460b6555077a64fc97f2e7ef47b843}


Definition at line 36 of file vis.\-h.

\index{vis.\-h@{vis.\-h}!C\-W@{C\-W}}
\index{C\-W@{C\-W}!vis.h@{vis.\-h}}
\subsubsection[{C\-W}]{\setlength{\rightskip}{0pt plus 5cm}\#define C\-W~0}\label{vis_8h_abe61b07c31c2a3e90576eb4c5d95b024}


Definition at line 35 of file vis.\-h.

\index{vis.\-h@{vis.\-h}!E\-Q@{E\-Q}}
\index{E\-Q@{E\-Q}!vis.h@{vis.\-h}}
\subsubsection[{E\-Q}]{\setlength{\rightskip}{0pt plus 5cm}\#define E\-Q(
\begin{DoxyParamCaption}
\item[{}]{p, }
\item[{}]{q}
\end{DoxyParamCaption}
)~((p.\-x == q.\-x) \&\& (p.\-y == q.\-y))}\label{vis_8h_a0101900d9af579acec25746ee2c6603f}


Definition at line 32 of file vis.\-h.

\index{vis.\-h@{vis.\-h}!N\-E\-Q@{N\-E\-Q}}
\index{N\-E\-Q@{N\-E\-Q}!vis.h@{vis.\-h}}
\subsubsection[{N\-E\-Q}]{\setlength{\rightskip}{0pt plus 5cm}\#define N\-E\-Q(
\begin{DoxyParamCaption}
\item[{}]{p, }
\item[{}]{q}
\end{DoxyParamCaption}
)~(!{\bf E\-Q}(p,q))}\label{vis_8h_a3f40f46327dca8c54b148df22b9aa749}


Definition at line 33 of file vis.\-h.

\index{vis.\-h@{vis.\-h}!N\-I\-L@{N\-I\-L}}
\index{N\-I\-L@{N\-I\-L}!vis.h@{vis.\-h}}
\subsubsection[{N\-I\-L}]{\setlength{\rightskip}{0pt plus 5cm}\#define N\-I\-L(
\begin{DoxyParamCaption}
\item[{}]{p}
\end{DoxyParamCaption}
)~((p)0)}\label{vis_8h_a481130b06dad25ebf4479a09e86809e9}


Definition at line 34 of file vis.\-h.

\index{vis.\-h@{vis.\-h}!O\-B\-S\-C\-U\-R\-E\-D@{O\-B\-S\-C\-U\-R\-E\-D}}
\index{O\-B\-S\-C\-U\-R\-E\-D@{O\-B\-S\-C\-U\-R\-E\-D}!vis.h@{vis.\-h}}
\subsubsection[{O\-B\-S\-C\-U\-R\-E\-D}]{\setlength{\rightskip}{0pt plus 5cm}\#define O\-B\-S\-C\-U\-R\-E\-D~0.\-0}\label{vis_8h_abab87c90d9dfcb8ddb0c3070a803c58f}


Definition at line 31 of file vis.\-h.



\subsection{Typedef Documentation}
\index{vis.\-h@{vis.\-h}!array2@{array2}}
\index{array2@{array2}!vis.h@{vis.\-h}}
\subsubsection[{array2}]{\setlength{\rightskip}{0pt plus 5cm}typedef {\bf C\-O\-O\-R\-D}$\ast$$\ast$ {\bf array2}}\label{vis_8h_a63ef20a1933eefdf3e0a23191d28091b}


Definition at line 29 of file vis.\-h.



\subsection{Function Documentation}
\index{vis.\-h@{vis.\-h}!direct\-Vis@{direct\-Vis}}
\index{direct\-Vis@{direct\-Vis}!vis.h@{vis.\-h}}
\subsubsection[{direct\-Vis}]{\setlength{\rightskip}{0pt plus 5cm}{\bf int} direct\-Vis (
\begin{DoxyParamCaption}
\item[{{\bf Ppoint\-\_\-t}}]{, }
\item[{{\bf int}}]{, }
\item[{{\bf Ppoint\-\_\-t}}]{, }
\item[{{\bf int}}]{, }
\item[{{\bf vconfig\-\_\-t} $\ast$}]{}
\end{DoxyParamCaption}
)}\label{vis_8h_a489cb5d4eec4e0e2cb5bab50bacd4835}


Definition at line 400 of file visibility.\-c.



References I\-N\-T\-E\-R\-S\-E\-C\-T, vconfig\-\_\-s\-::\-N, vconfig\-\_\-s\-::next, vconfig\-\_\-s\-::\-P, s1(), and vconfig\-\_\-s\-::start.



Referenced by make\-Path().

\index{vis.\-h@{vis.\-h}!make\-Path@{make\-Path}}
\index{make\-Path@{make\-Path}!vis.h@{vis.\-h}}
\subsubsection[{make\-Path}]{\setlength{\rightskip}{0pt plus 5cm}{\bf int}$\ast$ make\-Path (
\begin{DoxyParamCaption}
\item[{{\bf Ppoint\-\_\-t}}]{p, }
\item[{{\bf int}}]{pp, }
\item[{{\bf C\-O\-O\-R\-D} $\ast$}]{pvis, }
\item[{{\bf Ppoint\-\_\-t}}]{q, }
\item[{{\bf int}}]{qp, }
\item[{{\bf C\-O\-O\-R\-D} $\ast$}]{qvis, }
\item[{{\bf vconfig\-\_\-t} $\ast$}]{conf}
\end{DoxyParamCaption}
)}\label{vis_8h_acd95c37af048c4a743fe542e22e82585}


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



References direct\-Vis(), vconfig\-\_\-s\-::\-N, shortest\-Path(), and vconfig\-\_\-s\-::vis.



Referenced by Pobspath().

\index{vis.\-h@{vis.\-h}!pt\-Vis@{pt\-Vis}}
\index{pt\-Vis@{pt\-Vis}!vis.h@{vis.\-h}}
\subsubsection[{pt\-Vis}]{\setlength{\rightskip}{0pt plus 5cm}{\bf C\-O\-O\-R\-D}$\ast$ pt\-Vis (
\begin{DoxyParamCaption}
\item[{{\bf vconfig\-\_\-t} $\ast$}]{, }
\item[{{\bf int}}]{, }
\item[{{\bf Ppoint\-\_\-t}}]{}
\end{DoxyParamCaption}
)}\label{vis_8h_a49db5a4d9b7ce6c94358ab33abb6685f}


Definition at line 339 of file visibility.\-c.



References dist(), vconfig\-\_\-s\-::\-N, vconfig\-\_\-s\-::next, vconfig\-\_\-s\-::\-P, P\-O\-L\-Y\-I\-D\-\_\-\-U\-N\-K\-N\-O\-W\-N, vconfig\-\_\-s\-::prev, and vconfig\-\_\-s\-::start.



Referenced by Pobspath().

\index{vis.\-h@{vis.\-h}!visibility@{visibility}}
\index{visibility@{visibility}!vis.h@{vis.\-h}}
\subsubsection[{visibility}]{\setlength{\rightskip}{0pt plus 5cm}void visibility (
\begin{DoxyParamCaption}
\item[{{\bf vconfig\-\_\-t} $\ast$}]{}
\end{DoxyParamCaption}
)}\label{vis_8h_a13177f668cf5b81eee77c5c74aeeef22}


Definition at line 305 of file visibility.\-c.



References vconfig\-\_\-s\-::\-N, and vconfig\-\_\-s\-::vis.



Referenced by Pobsopen().

