estar/cwrap.h File Reference

#include <stdio.h>

Include dependency graph for cwrap.h:

Go to the source code of this file.

Functions
int	estar_create (const char *kernel_name, unsigned int xsize, unsigned int ysize, double scale, int connect_diagonal, FILE *dbgstream)
	Returns:
void	estar_destroy (int handle)
int	estar_get_freespace_meta (int handle, double *freespace_meta)
	Returns:
int	estar_get_obstacle_meta (int handle, double *obstacle_meta)
	Returns:
int	estar_get_value (int handle, unsigned int ix, unsigned int iy, double *value)
	Returns:
int	estar_get_meta (int handle, unsigned int ix, unsigned int iy, double *meta)
	Returns:
int	estar_set_meta (int handle, unsigned int ix, unsigned int iy, double meta)
	Returns:
int	estar_add_goal (int handle, unsigned int ix, unsigned int iy, double value)
	Returns:
int	estar_is_goal (int handle, unsigned int ix, unsigned int iy)
	Returns:
int	estar_have_work (int handle)
	Returns:
int	estar_compute_one (int handle, double slack)
	Returns:
int	estar_dump_grid (int handle, FILE *stream)
	Returns:
int	estar_dump_queue (int handle, FILE *stream, size_t limit)
	Returns:

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Function Documentation

int estar_add_goal	(	int	handle,
		unsigned int	ix,
		unsigned int	iy,
		double	value
	)

Returns:

• -1: invalid handle
• 0: success

int estar_compute_one	(	int	handle,
		double	slack
	)

Returns:

• -1: invalid handle
• 0: success

int estar_create	(	const char *	kernel_name,
		unsigned int	xsize,
		unsigned int	ysize,
		double	scale,
		int	connect_diagonal,
		FILE *	dbgstream
	)

Returns:

• -1: invalid kernel_name
• otherwise: handle to be used in other calls

void estar_destroy

(

int

handle

)

int estar_dump_grid	(	int	handle,
		FILE *	stream
	)

Returns:

• -1: invalid handle
• 0: success

int estar_dump_queue	(	int	handle,
		FILE *	stream,
		size_t	limit
	)

Returns:

• -1: invalid handle
• 0: success

int estar_get_freespace_meta	(	int	handle,
		double *	freespace_meta
	)

Returns:

• -1: invalid handle
• 0: success

int estar_get_meta	(	int	handle,
		unsigned int	ix,
		unsigned int	iy,
		double *	meta
	)

Returns:

• -1: invalid handle
• 0: success

int estar_get_obstacle_meta	(	int	handle,
		double *	obstacle_meta
	)

Returns:

• -1: invalid handle
• 0: success

int estar_get_value	(	int	handle,
		unsigned int	ix,
		unsigned int	iy,
		double *	value
	)

Returns:

• -1: invalid handle
• 0: success

int estar_have_work

(

int

handle

)

Returns:

• -1: invalid handle
• 0: NO work pending, ie empty queue
• 1: non-empty queue

int estar_is_goal	(	int	handle,
		unsigned int	ix,
		unsigned int	iy
	)

Returns:

• -1: invalid handle
• 0: (ix, iy) is NOT a goal
• 1: (ix, iy) is a goal

int estar_set_meta	(	int	handle,
		unsigned int	ix,
		unsigned int	iy,
		double	meta
	)

Returns:

• -1: invalid handle
• 0: success

---

E* Interpolated Graph Replanner Wed Dec 12 18:55:43 2007