\section{lib/pathplan/vispath.h File Reference}
\label{vispath_8h}\index{lib/pathplan/vispath.\-h@{lib/pathplan/vispath.\-h}}
{\ttfamily \#include $<$pathgeom.\-h$>$}\\*
Include dependency graph for vispath.\-h\-:\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=153pt]{vispath_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]{vispath_8h__dep__incl}
\end{center}
\end{figure}
\subsection*{Macros}
\begin{DoxyCompactItemize}
\item 
\#define {\bf P\-O\-L\-Y\-I\-D\-\_\-\-N\-O\-N\-E}~-\/1111
\item 
\#define {\bf P\-O\-L\-Y\-I\-D\-\_\-\-U\-N\-K\-N\-O\-W\-N}~-\/2222
\end{DoxyCompactItemize}
\subsection*{Functions}
\begin{DoxyCompactItemize}
\item 
{\bf vconfig\-\_\-t} $\ast$ {\bf Pobsopen} ({\bf Ppoly\-\_\-t} $\ast$$\ast$obstacles, {\bf int} n\-\_\-obstacles)
\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)
\end{DoxyCompactItemize}


\subsection{Macro Definition Documentation}
\index{vispath.\-h@{vispath.\-h}!P\-O\-L\-Y\-I\-D\-\_\-\-N\-O\-N\-E@{P\-O\-L\-Y\-I\-D\-\_\-\-N\-O\-N\-E}}
\index{P\-O\-L\-Y\-I\-D\-\_\-\-N\-O\-N\-E@{P\-O\-L\-Y\-I\-D\-\_\-\-N\-O\-N\-E}!vispath.h@{vispath.\-h}}
\subsubsection[{P\-O\-L\-Y\-I\-D\-\_\-\-N\-O\-N\-E}]{\setlength{\rightskip}{0pt plus 5cm}\#define P\-O\-L\-Y\-I\-D\-\_\-\-N\-O\-N\-E~-\/1111}\label{vispath_8h_aaa9152ed14f844801b1ccad64599851a}


Definition at line 47 of file vispath.\-h.



Referenced by get\-Path(), and make\-Spline().

\index{vispath.\-h@{vispath.\-h}!P\-O\-L\-Y\-I\-D\-\_\-\-U\-N\-K\-N\-O\-W\-N@{P\-O\-L\-Y\-I\-D\-\_\-\-U\-N\-K\-N\-O\-W\-N}}
\index{P\-O\-L\-Y\-I\-D\-\_\-\-U\-N\-K\-N\-O\-W\-N@{P\-O\-L\-Y\-I\-D\-\_\-\-U\-N\-K\-N\-O\-W\-N}!vispath.h@{vispath.\-h}}
\subsubsection[{P\-O\-L\-Y\-I\-D\-\_\-\-U\-N\-K\-N\-O\-W\-N}]{\setlength{\rightskip}{0pt plus 5cm}\#define P\-O\-L\-Y\-I\-D\-\_\-\-U\-N\-K\-N\-O\-W\-N~-\/2222}\label{vispath_8h_aa7e4cf2add5fd397f04a4467c77b0b67}


Definition at line 48 of file vispath.\-h.



Referenced by pt\-Vis().



\subsection{Function Documentation}
\index{vispath.\-h@{vispath.\-h}!Pobsclose@{Pobsclose}}
\index{Pobsclose@{Pobsclose}!vispath.h@{vispath.\-h}}
\subsubsection[{Pobsclose}]{\setlength{\rightskip}{0pt plus 5cm}void Pobsclose (
\begin{DoxyParamCaption}
\item[{{\bf vconfig\-\_\-t} $\ast$}]{config}
\end{DoxyParamCaption}
)}\label{vispath_8h_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{vispath.\-h@{vispath.\-h}!Pobsopen@{Pobsopen}}
\index{Pobsopen@{Pobsopen}!vispath.h@{vispath.\-h}}
\subsubsection[{Pobsopen}]{\setlength{\rightskip}{0pt plus 5cm}{\bf vconfig\-\_\-t}$\ast$ Pobsopen (
\begin{DoxyParamCaption}
\item[{{\bf Ppoly\-\_\-t} $\ast$$\ast$}]{obstacles, }
\item[{{\bf int}}]{n\-\_\-obstacles}
\end{DoxyParamCaption}
)}\label{vispath_8h_a569ee4cd0620bc481e56c2b783ba2fc3}


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{vispath.\-h@{vispath.\-h}!Pobspath@{Pobspath}}
\index{Pobspath@{Pobspath}!vispath.h@{vispath.\-h}}
\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{vispath_8h_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().

