51 lines
1.5 KiB
C++
51 lines
1.5 KiB
C++
/* Copyright 2020 The MathWorks, Inc. */
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/**
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* @file
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* External C-API interfaces for UAV Dubins motion primitive calculations.
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* To fully support code generation, note that this file needs to be fully
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* compliant with the C89/C90 (ANSI) standard.
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*/
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#ifndef UAVDUBINSCODEGEN_DUBINS_API_H_
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#define UAVDUBINSCODEGEN_DUBINS_API_H_
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#ifdef BUILDING_LIBMWUAVDUBINSCODEGEN
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#include "uavdubinscodegen/uavdubinscodegen_util.hpp"
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#else
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/* To deal with the fact that PackNGo has no include file hierarchy during test */
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#include "uavdubinscodegen_util.hpp"
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#endif
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EXTERN_C UAVDUBINSCODEGEN_API void* uavDubinsConnectionObj(const double airSpeed,
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const double maxRollAngle, double* flightPathAngleLimit,
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double* disabledPathTypes, uint32_T numDisabledPathTypes);
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/**
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* @brief Free memory and reset to initial state
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* @param[in] connObj uavDubinsConnection internal object
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*/
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EXTERN_C UAVDUBINSCODEGEN_API void uavDubinsConnectionObjCleanup(void* connObj);
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/**
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* @copydoc uavDubinsDistanceCodegen_real64
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*/
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EXTERN_C UAVDUBINSCODEGEN_API void uavDubinsDistanceCodegen_real64(
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void* connObj,
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real64_T* startPose,
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const uint32_T numStartPoses,
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real64_T* goalPose,
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const uint32_T numGoalPoses,
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const boolean_T flagOptimal,
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const real64_T minTurningRadius,
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real64_T* sp,
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real64_T* g,
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real64_T* fpa,
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real64_T* a,
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real64_T* mtr,
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real64_T* h,
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real64_T* mt,
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real64_T* ml);
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#endif /* UAVDUBINSCODEGEN_DUBINS_API_H_ */
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