89 lines
4.3 KiB
C++
89 lines
4.3 KiB
C++
|
// Copyright 2019-2021 The MathWorks, Inc.
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @file
|
||
|
|
* @brief Helper functions used only during codegen (C wrappers for nav::searchTree)
|
||
|
|
*/
|
||
|
|
|
||
|
|
|
||
|
|
#ifndef PLANNINGCODEGEN_CGHELPERS_HPP
|
||
|
|
#define PLANNINGCODEGEN_CGHELPERS_HPP
|
||
|
|
|
||
|
|
#include "planningcodegen_utils.hpp"
|
||
|
|
|
||
|
|
// namespace is NOT supported
|
||
|
|
|
||
|
|
EXTERN_C PLANNINGCODEGEN_API void* planningcodegen_createTree(real64_T* state, real64_T sz);
|
||
|
|
|
||
|
|
EXTERN_C PLANNINGCODEGEN_API void planningcodegen_destructTree(void* tree);
|
||
|
|
|
||
|
|
EXTERN_C PLANNINGCODEGEN_API void planningcodegen_configureCommonCSMetric(
|
||
|
|
void* tree,
|
||
|
|
const real64_T* topologies,
|
||
|
|
const real64_T* weight,
|
||
|
|
real64_T size);
|
||
|
|
|
||
|
|
EXTERN_C PLANNINGCODEGEN_API void planningcodegen_configureDubinsMetric(void* tree,
|
||
|
|
real64_T turningRadius,
|
||
|
|
boolean_T isReversed);
|
||
|
|
|
||
|
|
EXTERN_C PLANNINGCODEGEN_API void planningcodegen_configureReedsSheppMetric(void* tree,
|
||
|
|
real64_T turningRadius,
|
||
|
|
real64_T reverseCost,
|
||
|
|
boolean_T isReversed);
|
||
|
|
|
||
|
|
EXTERN_C PLANNINGCODEGEN_API real64_T planningcodegen_getNumNodes(void* tree);
|
||
|
|
|
||
|
|
EXTERN_C PLANNINGCODEGEN_API boolean_T planningcodegen_insertNode(void* tree,
|
||
|
|
real64_T* data,
|
||
|
|
real64_T sz,
|
||
|
|
real64_T parentId,
|
||
|
|
real64_T* newIdx);
|
||
|
|
|
||
|
|
EXTERN_C PLANNINGCODEGEN_API boolean_T
|
||
|
|
planningcodegen_insertNodeWithPrecomputedCost(void* tree,
|
||
|
|
real64_T* data,
|
||
|
|
real64_T sz,
|
||
|
|
real64_T precomputedCost,
|
||
|
|
real64_T parentId,
|
||
|
|
real64_T* newIdx);
|
||
|
|
|
||
|
|
EXTERN_C PLANNINGCODEGEN_API real64_T planningcodegen_nearestNeighbor(void* tree,
|
||
|
|
real64_T* state,
|
||
|
|
real64_T sz);
|
||
|
|
|
||
|
|
EXTERN_C PLANNINGCODEGEN_API boolean_T planningcodegen_getNodeState(void* tree,
|
||
|
|
real64_T idx,
|
||
|
|
real64_T* state);
|
||
|
|
|
||
|
|
EXTERN_C PLANNINGCODEGEN_API void planningcodegen_tracebackToRoot(void* tree,
|
||
|
|
real64_T nodeId,
|
||
|
|
real64_T* nodeStateSeq,
|
||
|
|
real64_T* numNodes);
|
||
|
|
|
||
|
|
EXTERN_C PLANNINGCODEGEN_API real64_T planningcodegen_getNodeCostFromRoot(void* tree, real64_T idx);
|
||
|
|
|
||
|
|
EXTERN_C PLANNINGCODEGEN_API void planningcodegen_setBallRadiusConstant(void* tree, real64_T rc);
|
||
|
|
|
||
|
|
EXTERN_C PLANNINGCODEGEN_API void planningcodegen_setMaxConnectionDistance(void* tree,
|
||
|
|
real64_T dist);
|
||
|
|
|
||
|
|
EXTERN_C PLANNINGCODEGEN_API void planningcodegen_near(void* tree,
|
||
|
|
real64_T* state,
|
||
|
|
real64_T* nearStateIds,
|
||
|
|
real64_T* numNearStates);
|
||
|
|
|
||
|
|
EXTERN_C PLANNINGCODEGEN_API void planningcodegen_inspect(void* tree, real64_T* data);
|
||
|
|
|
||
|
|
EXTERN_C PLANNINGCODEGEN_API real64_T planningcodegen_rewire(void* tree,
|
||
|
|
real64_T nodeIdx,
|
||
|
|
real64_T newParentNodeIdx);
|
||
|
|
|
||
|
|
EXTERN_C PLANNINGCODEGEN_API real64_T
|
||
|
|
planningcodegen_rewireWithPrecomputedCost(void* tree,
|
||
|
|
real64_T nodeIdx,
|
||
|
|
real64_T newParentNodeIdx,
|
||
|
|
real64_T precomputedCost);
|
||
|
|
|
||
|
|
#endif
|