Package gen.lib.pathplan

Class route__c

java.lang.Object

gen.lib.pathplan.route__c

public class route__c
extends Object

Constructor Summary

Constructors

Constructor	Description
route__c()

Method Summary

Modifier and Type	Method	Description
static ST_pointf	add(ST_pointf p1, ST_pointf p2)
static void	addroot(double root, double[] roots, int[] rootnp)
static double	B0(double t)
static double	B01(double t)
static double	B1(double t)
static double	B2(double t)
static double	B23(double t)
static double	B3(double t)
static double	dist(ST_pointf p1, ST_pointf p2)
static double	dist_n(CArray<ST_pointf> p, int n)
static double	dot(ST_pointf p1, ST_pointf p2)
static void	growops(int newopn)
static int	mkspline(CArray<ST_pointf> inps, int inpn, CArray<ST_tna_t> tnas, ST_pointf ev0, ST_pointf ev1, ST_pointf sp0, ST_pointf sv0, ST_pointf sp1, ST_pointf sv1)
static ST_pointf	normv(ST_pointf v)
static void	points2coeff(double v0, double v1, double v2, double v3, double[] coeff)
static int	Proutespline(CArray<ST_Pedge_t> edges, int edgen, ST_Ppoly_t input, CArray<ST_pointf> evs, ST_Ppoly_t output)
static int	reallyroutespline(CArray<ST_Pedge_t> edges, int edgen, CArray<ST_pointf> inps, int inpn, ST_pointf ev0, ST_pointf ev1)
static ST_pointf	scale(ST_pointf p, double c)
static int	splinefits(CArray<ST_Pedge_t> edges, int edgen, ST_pointf pa, ST_pointf va, ST_pointf pb, ST_pointf vb, CArray<ST_pointf> inps, int inpn)
static int	splineintersectsline(CArray<ST_pointf> sps, CArray<ST_pointf> lps, double[] roots)
static boolean	splineisinside(CArray<ST_Pedge_t> edges, int edgen, CArray<ST_pointf> sps)
static ST_pointf	sub(ST_pointf p1, ST_pointf p2)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

route__c

public route__c()

Method Detail

Proutespline

public static int Proutespline(CArray<ST_Pedge_t> edges,
                               int edgen,
                               ST_Ppoly_t input,
                               CArray<ST_pointf> evs,
                               ST_Ppoly_t output)

reallyroutespline

public static int reallyroutespline(CArray<ST_Pedge_t> edges,
                                    int edgen,
                                    CArray<ST_pointf> inps,
                                    int inpn,
                                    ST_pointf ev0,
                                    ST_pointf ev1)

mkspline

public static int mkspline(CArray<ST_pointf> inps,
                           int inpn,
                           CArray<ST_tna_t> tnas,
                           ST_pointf ev0,
                           ST_pointf ev1,
                           ST_pointf sp0,
                           ST_pointf sv0,
                           ST_pointf sp1,
                           ST_pointf sv1)

dist_n

public static double dist_n(CArray<ST_pointf> p,
                            int n)

splinefits

public static int splinefits(CArray<ST_Pedge_t> edges,
                             int edgen,
                             ST_pointf pa,
                             ST_pointf va,
                             ST_pointf pb,
                             ST_pointf vb,
                             CArray<ST_pointf> inps,
                             int inpn)

splineisinside

public static boolean splineisinside(CArray<ST_Pedge_t> edges,
                                     int edgen,
                                     CArray<ST_pointf> sps)

splineintersectsline

public static int splineintersectsline(CArray<ST_pointf> sps,
                                       CArray<ST_pointf> lps,
                                       double[] roots)

points2coeff

public static void points2coeff(double v0,
                                double v1,
                                double v2,
                                double v3,
                                double[] coeff)

addroot

public static void addroot(double root,
                           double[] roots,
                           int[] rootnp)

normv

public static ST_pointf normv(ST_pointf v)

growops

public static void growops(int newopn)

add

public static ST_pointf add(ST_pointf p1,
                            ST_pointf p2)

sub

public static ST_pointf sub(ST_pointf p1,
                            ST_pointf p2)

dist

public static double dist(ST_pointf p1,
                          ST_pointf p2)

scale

public static ST_pointf scale(ST_pointf p,
                              double c)

dot

public static double dot(ST_pointf p1,
                         ST_pointf p2)

B0

public static double B0(double t)

B1

public static double B1(double t)

B2

public static double B2(double t)

B3

public static double B3(double t)

B01

public static double B01(double t)

B23

public static double B23(double t)