E* Interpolated Graph Replanner: pnf/pnf

00001 /* 
00002  * Copyright (C) 2003
00003  * Swiss Federal Institute of Technology, Lausanne. All rights reserved.
00004  * 
00005  * Authors: Bjoern Jensen <bjoern dot jensen at singleton-technology dot com>
00006  *          Roland Philippsen <roland dot philippsen at gmx dot net>
00007  *          Autonomous Systems Lab <http://asl.epfl.ch/>
00008  * 
00009  * This program is free software; you can redistribute it and/or modify
00010  * it under the terms of the GNU General Public License as published by
00011  * the Free Software Foundation; either version 2 of the License, or
00012  * (at your option) any later version.
00013  * 
00014  * This program is distributed in the hope that it will be useful,
00015  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00016  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00017  * GNU General Public License for more details.
00018  * 
00019  * You should have received a copy of the GNU General Public License
00020  * along with this program; if not, write to the Free Software
00021  * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307
00022  * USA
00023  */
00024 
00025 
00026 #ifndef PNF_COOC_H
00027 #define PNF_COOC_H
00028 
00029 
00030 #ifdef __cplusplus
00031 extern "C" {
00032 #endif // __cplusplus
00033 
00034 
00082 double pnf_cooc_detail(double lambda_i,
00083                        double lambda_r,
00084                        double v_i,
00085                        double v_r,
00086                        double delta,
00087                        double * pleft,
00088                        double * pbothleft,
00089                        double * pmiddle,
00090                        double * pbothright,
00091                        double * pright,
00092                        int * left,
00093                        int * bothleft,
00094                        int * middle,
00095                        int * bothright,
00096                        int * right,
00097                        int * boundguard);
00098 
00099 
00112 double pnf_cooc(double lambda_i,
00113                 double lambda_r,
00114                 double v_i,
00115                 double v_r,
00116                 double delta);
00117 
00118 
00119 
00128 double pnf_cooc_test_alt(double lambda_i,
00129                          double lambda_r,
00130                          double v_i,
00131                          double v_r,
00132                          double delta,
00133                          unsigned int n_v_i_steps);
00134 
00135 
00136 #ifdef __cplusplus
00137 }
00138 #endif // __cplusplus
00139 
00140 #endif // PNF_COOC_H
pnf/pnf_cooc.h
