Keiji Code | |
Robot MotionFILES:main.c trace.c Nomad files locomotion.c nomad_basic.c realtime.c |
FUNCTIONS: /Robot-Funcs/locomotion.c: void nomad_set_accel(int t_ac, int s_ac, int r_ac) /Robot-Funcs/locomotion.c: void nomad_max_speed(int tsp, int ssp, int rsp) /Robot-Funcs/locomotion.c: void nomad_set_speed(int trans, int rot, int turret) /Robot-Funcs/locomotion.c: void nomad_move(int tpr, int spr, int rpr) /Robot-Funcs/locomotion.c: void nomad_move_and_stop(int px, int py) /Robot-Funcs/locomotion.c: void nomad_wait_for_stop() /Robot-Funcs/locomotion.c: void nomad_stop_now(void) /Robot-Funcs/locomotion.c: void nomad_rotate(int angle) /Robot-Funcs/locomotion.c: void nomad_get_status(NOMAD_COORD *robot) /Robot-Funcs/locomotion.c: int nomad_get_trans_velosity(void) /Robot-Funcs/locomotion.c: int nomad_get_steer_velosity(void) /Robot-Funcs/locomotion.c: int nomad_get_turret_velosity(void) /Robot-Funcs/locomotion.c: int nomad_get_steer_angle(void) /Robot-Funcs/locomotion.c: int nomad_get_turret_angle(void) /Robot-Funcs/locomotion.c: int nomad_X(void) /Robot-Funcs/locomotion.c: int nomad_Y(void) /Robot-Funcs/locomotion.c: int nomad_STEER(void) /Robot-Funcs/locomotion.c: int nomad_TURRET(void) /Robot-Funcs/nomad_basic.c: void nomad_Initialize(void) /Robot-Funcs/nomad_basic.c: void nomad_Disconnect(void) /Robot-Funcs/nomad_basic.c: void nomad_Speak(char *talking) /Robot-Funcs/nomad_basic.c: void numSpeakTen(int num) /Robot-Funcs/nomad_basic.c: void nomad_numSpeak(int num) /Robot-Funcs/nomad_basic.c: void nomad_refresh_data() |
Local Mins / ATMFILES:gvg.h Nomad files realtime.c robot.h us-sonar.c access.c |
FUNCTIONS: /access.c: void calc_two_small_local_min_idx(int *idx1, int *idx2) /Robot-Funcs/us-sonar.c: void get_sonar_and_pos_array(void) /Robot-Funcs/us-sonar.c: void init_sonar_history(void) /Robot-Funcs/us-sonar.c: void set_sonar_structure(void) /Robot-Funcs/us-sonar.c: int calc_arc_itsec(int si, int num, int ri, int ref, int *x, int *y) /Robot-Funcs/us-sonar.c: void calc_intersection_of_sonar_arcs(void) /Robot-Funcs/us-sonar.c: void choose_intersection_of_sonar(void) /Robot-Funcs/us-sonar.c: void calc_16_dir_smooth_data(int coord_x, int coord_y) /Robot-Funcs/us-sonar.c: int four_local_minima_calculation(LOCAL_MIN_ST *local_min) /Robot-Funcs/us-sonar.c: int nomad_get_LM_immidiately(int x, int y, LOCAL_MIN_ST *local_min) /Robot-Funcs/us-sonar.c: int nomad_get_local_minima(int x, int y, LOCAL_MIN_ST *local_min) /Robot-Funcs/us-sonar.c: int find_space(int deg1, int deg2) /Robot-Funcs/us-sonar.c: int find_nearest_object(int deg1, int deg2, int *dir) /Robot-Funcs/us-sonar.c: int find_farest_object(int deg1, int deg2, int *dir) /Robot-Funcs/us-sonar.c: void get_fine_data_coordinate(COORDINATE *pos, int *val) |
Access GVGFILES:access.c main.c trace.c |
FUNCTIONS: /access.c: int determine_access_dir(void) /access.c: int robot_arrive_at_GVG(void) /access.c: void access_GVG(void) |
Edge TracingFILES:main.c trace.c locomotion.c |
FUNCTIONS: /trace.c: int object_in_robot_direction(int r_dir) /trace.c: int select_direction(int now, int aim) /trace.c: void set_following_line_by_2LM(int a, int b) /trace.c: void set_following_line_by_3LM(int s0, int s1, int s2) /trace.c: void set_following_line_by_4LM(void) /trace.c: void set_following_line(int lmNum, int mode) /trace.c: void set_deperture_point_and_following_line(void) /Robot-Funcs/locomotion.c: void nomad_set_line(int x, int y, int d, int s) /Robot-Funcs/locomotion.c: void calc_robot_coordinate_based_on_line(NOMAD_COORD *coord) /Robot-Funcs/locomotion.c: void nomad_trace_line(void) |
Meetpoint HomingFILES:honing.c main.c trace.c |
FUNCTIONS: /honing.c: int neighbor_of_meet_point(void) /honing.c: int almost_neighbor_of_meet_point(void) /honing.c: int calc_honing_point(int *hx, int *hy) /honing.c: int meet_point_hunting(void) /trace.c: int set_following_line_by_hone(void) |
GVG Graph / Node RegistrationFILES:graph.c gvg.h main.c signiture.c |
FUNCTIONS: /graph.c: NODE_TYPE *get_start_node(void) /graph.c: void init_node_structure(void) /graph.c: int node_dist(NODE_TYPE *node1, NODE_TYPE *node2) /graph.c: int neighbor_of_last_visit_node(void) /graph.c: int near_of_back_traced_node(void) /graph.c: int type_estimation(NODE_TYPE *node) /graph.c: void new_edge_management(int exp_dir, NODE_TYPE *new_node) /graph.c: void registrate_new_meet_node(void) /graph.c: void renewal_old_meet_node(void) /graph.c: void registrate_new_boundary_node(void) /graph.c: void add_path_structure(void) /signiture.c: int diff_LM_value_average(NODE_TYPE *node1, NODE_TYPE *node2) /signiture.c: int comp_node_signiture(NODE_TYPE *node1, NODE_TYPE *node2 ) /signiture.c: void comp_struct_registration(NODE_TYPE *node1, int e1, NODE_TYPE *node2, int e2) /signiture.c: void mfree_comp_structure() /signiture.c: int handedness_confirmation(NODE_TYPE *node1, int e1, NODE_TYPE *node2, int e2) /signiture.c: int unsearched_node_confirmation(NODE_TYPE *nodeA, NODE_TYPE *nodeB) /signiture.c: int t_match_recursive(NODE_TYPE *node1, int f1, NODE_TYPE *node2, int f2, int *hit) /signiture.c: void marge_edges(NODE_TYPE *node1, int e1, NODE_TYPE *node2, int e2) /signiture.c: void reconstruct_graph(void) /signiture.c: void topology_matching_and_reconst_graph(void) |
Determine DirectionFILES:det_dir.c main.c signiture.c |
FUNCTIONS: /det_dir.c: int unexplored_path_included(NODE_TYPE *tmp) /det_dir.c: int find_return_edge(void) /det_dir.c: int check_unexplored_edge(void) /det_dir.c: int determine_direction(void) |
LoggingFILES:log.c log.h Log-Funcs/display.c |
FUNCTIONS: /main.c: void logging_functions(void) /Log-Display/log.c: void write_direction_info(void) /Log-Display/log.c: void read_direction_info(DIR_ST *dst) /Log-Display/log.c: void write_gvg_structure_to_file(NODE_TYPE *start_node) /Log-Display/log.c: NODE_TYPE *read_gvg_structure_from_file(void) /Log-Display/log.c: void write_object_history_to_file(COORDINATE *obj_hist, int *value, int x, int y) /Log-Display/log.c: int read_object_history_from_file(COORDINATE *fine, int *value, int *rx, int *ry) /Log-Display/log.c: void write_local_minima_to_file(void) /Log-Display/log.c: void read_local_minima_from_file(void) /Log-Display/log.c: void write_sonar_arc_and_intersection(void) /Log-Display/log.c: int read_sonar_arc_and_intersection(void) /Log-Display/log.c: void file_open_for_read_data(int my_argc, char *my_argv) /Log-Display/log.c: void log_file_name_registration(int my_argc, char *my_argv) /Log-Display/log.c: void close_log_files(void) /Log-Display/log.c: void log_printf(char *string,...) |
X-DisplayFILES:graphic_tools.c graphic_tools.h Display-Funcs/display.c marking.c |
FUNCTIONS: /Display-Funcs/display.c: void scaled_line(int x0, int y0, int x1, int y1, char *color) /Display-Funcs/display.c: void scaled_circle(int x, int y, int r, char *color) /Display-Funcs/display.c: void scaled_mark_plus(int x, int y, char *color) /Display-Funcs/display.c: void scaled_mark_plus_small(int x, int y, char *color) /Display-Funcs/display.c: void determine_color(int num, char *color) /Display-Funcs/display.c: void display_raw_sonar() /Display-Funcs/display.c: void display_fine_data(void) /Display-Funcs/display.c: void display_smooth_data(void) /Display-Funcs/display.c: void display_direction(int rx, int ry, int dir, char *color) /Display-Funcs/display.c: void display_local_minima(void) /Display-Funcs/display.c: void display_status(void) /Display-Funcs/graphic_tools.c: unsigned long GSelectColor(char *color) /Display-Funcs/graphic_tools.c: void GOpen(char *dpy_name) /Display-Funcs/graphic_tools.c: void clear_window(void) /Display-Funcs/graphic_tools.c: int get_mouse_arc(int *bx,int *by,int *ex,int *ey) /Display-Funcs/graphic_tools.c: int get_mouse_point(int *x, int *y) /Display-Funcs/graphic_tools.c: void draw_string(int x,int y,char *str) /Display-Funcs/graphic_tools.c: void remove_Event(void) /Display-Funcs/graphic_tools.c: void GClose(void) /Display-Funcs/graphic_tools.c: void ForegroundColorSet(char *color) /Display-Funcs/graphic_tools.c: void draw_circle(int x,int y,int r, char *color) /Display-Funcs/graphic_tools.c: void GBackColorSet(char *color) /Display-Funcs/graphic_tools.c: void draw_line_X(int x1,int y1,int x2,int y2,int wid, char *color) /Display-Funcs/graphic_tools.c: void draw_fill_box_X(int x1,int y1,int x2,int y2, char *color) /Display-Funcs/graphic_tools.c: void draw_box_X(int x1,int y1,int x2,int y2, char *color) /Display-Funcs/graphic_tools.c: void flush(void) |
Console outputFILES:data_print.c |
FUNCTIONS: /data_print.c: void print_local_minima(void) /data_print.c: void print_node_info(NODE_TYPE *node) /data_print.c: void print_final_structure(void) |
Auxiliary / Math functionsFILES:calc_funcs.c gvg.h access.c |
FUNCTIONS: /access.c: int sup_angle(int dir1, int dir2) /calc_funcs.c: double dabs(double val) /calc_funcs.c: double cos_deg(double value) /calc_funcs.c: double sin_deg(double value) /calc_funcs.c: int fix_angle(int angle) /calc_funcs.c: int calc_diff_angle(int x, int y) /calc_funcs.c: int calc_middle_angle(int dir1, int dir2) /calc_funcs.c: void calc_XY_from_deg_val(int deg, int val, int *x, int *y) /calc_funcs.c: void calc_deg_val_from_vector(int x, int y, int *deg, int *val) /calc_funcs.c: int calc_vec_to_deg(int vx, int vy) /calc_funcs.c: int calc_quadratic_equation(double a, double b, double c, double *x1, double *x2) /calc_funcs.c: int calc_circles_intersection(int ia1, int ib1, int ir1, int ia2, int ib2, int ir2, int *ix1, int *iy1, int *ideg11, int *ideg12, int *ix2, int *iy2, int *ideg21, int *ideg22) /calc_funcs.c: void making_unit_vector(double ix, double iy, double *ox, double *oy) /honing.c: void find_center(double x1, double y1, double x2, double y2, double x3, double y3, double *x, double *y) /main.c: void initialization(void) /signiture.c: void increase_upto_three(int *num) /trace.c: int nomad_navi_speed(void) |