File contains main constants. More...

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Macros
#define	CN_DEFAULT_AGENTS_MAX_NUM 10
	Default agent max neighbours number value. More...

#define	CN_DEFAULT_ALLOWSQUEEZE 0
	Default Theta* ALLOWSQUEEZE value. More...

#define	CN_DEFAULT_BREAKINGTIES 0
	Default Theta* BREAKINGTIES value. More...

#define	CN_DEFAULT_CUTCORNERS 0
	Default Theta* CUTCORNERS value. More...

#define	CN_DEFAULT_DELTA 0.1
	Default delta value. More...

#define	CN_DEFAULT_HWEIGHT 1
	Default H-weight for Theta* value. More...

#define	CN_DEFAULT_MAX_SPEED 1
	Default agent max speed value. More...

#define	CN_DEFAULT_METRIC_TYPE CN_SP_MT_EUCL
	Default Theta* heuristic-function value. More...

#define	CN_DEFAULT_OBS_TIME_BOUNDARY 10
	Default ORCA time boundary for obstacles value. More...

#define	CN_DEFAULT_RADIUS_OF_SIGHT 10
	Default agent radius of sight value. More...

#define	CN_DEFAULT_REPS 0.19
	Default agent buffer size value. More...

#define	CN_DEFAULT_SIZE 1
	Default agent size value. More...

#define	CN_DEFAULT_ST CN_SP_ST_THETA
	Default path planning algorithm. More...

#define	CN_DEFAULT_TIME_BOUNDARY 5.4
	Default ORCA time boundary value. More...

#define	CN_DEFAULT_TIME_STEP 0.25
	Default simulation timestep value. More...

#define	CN_EPS 0.00001f
	Epsilon for float number operations definition. More...

#define	CN_GC_NOOBS 0
	Not obstacle cell in XML. More...

#define	CN_GC_OBS 1
	Obstacle cell in XML. More...

#define	CN_PI_CONSTANT 3.14159265359
	Pi number operations definition. More...

#define	CN_SP_BT_GMAX 1
	Gmax constant. More...

#define	CN_SP_BT_GMIN 0
	Gmin constant. More...

#define	CN_SP_MT_CHEB 3
	Chebyshev distance constant. More...

#define	CN_SP_MT_DIAG 0
	Diagonal distance constant. More...

#define	CN_SP_MT_EUCL 2
	Euclid distance constant. More...

#define	CN_SP_MT_MANH 1
	Manhattan distance constant. More...

#define	CN_SP_ST_DIR 1
	Direct planning algorithm constant. More...

#define	CN_SP_ST_THETA 0
	Theta* path planning algorithm constant. More...

#define	CN_SQRT_TWO 1.41421356237
	SQRT(2) number operations definition. More...

#define	CNS_AT_ST_ORCA "orca"
	XML text constant. More...

#define	CNS_DEFAULT_AGENT_TYPE CNS_AT_ST_ORCA
	Default collision avoidance algorithm. More...

#define	CNS_DEFAULT_ST CNS_SP_ST_THETA
	Default path planning algorithm. More...

#define	CNS_SP_MT_CHEB "chebyshev"
	XML text constant. More...

#define	CNS_SP_MT_DIAG "diagonal"
	XML text constant. More...

#define	CNS_SP_MT_EUCL "euclid"
	XML text constant. More...

#define	CNS_SP_MT_MANH "manhattan"
	XML text constant. More...

#define	CNS_SP_ST_DIR "direct"
	XML text constant. More...

#define	CNS_SP_ST_THETA "thetastar"
	XML text constant. More...

#define	CNS_TAG_AGENT "agent"
	XML tag or attribute. More...

#define	CNS_TAG_AGENTS "agents"
	XML tag or attribute. More...

#define	CNS_TAG_ALG "algorithm"
	XML tag or attribute. More...

#define	CNS_TAG_AS "allowsqueeze"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_AGENTSMAXNUM "agentsmaxnum"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_COL_AGNT "collisions"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_COL_OBST "collisionsobst"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_FLOWTIME "flowtime"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_GX "goal.xr"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_GY "goal.yr"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_ID "id"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_LENGTH "length"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_LENGTH_SCALED "length_scaled"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_MAKESPAN "makespan"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_MAXSPEED "movespeed"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_NODESCREATED "nodescreated"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_NUM "number"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_NUMOFSTEPS "numberofsteps"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_PARACTNUM "paractivatingnum"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_PATHFOUND "pathfound"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_REPS "reps"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_RUNTIME "runtime"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_SIGHTRADIUS "sightradius"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_SIZE "size"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_SR "successrate"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_STEPS "steps"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_STX "start.xr"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_STY "start.yr"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_TIME "time"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_TIMEBOUNDARY "timeboundary"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_TIMEBOUNDARYOBST "timeboundaryobst"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_TYPE "type"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_X "xr"
	XML tag or attribute. More...

#define	CNS_TAG_ATTR_Y "yr"
	XML tag or attribute. More...

#define	CNS_TAG_BT "breakingties"
	XML tag or attribute. More...

#define	CNS_TAG_CC "cutcorners"
	XML tag or attribute. More...

#define	CNS_TAG_CELLSIZE "cellsize"
	XML tag or attribute. More...

#define	CNS_TAG_DEF_PARAMS "default_parameters"
	XML tag or attribute. More...

#define	CNS_TAG_DEL "delta"
	XML tag or attribute. More...

#define	CNS_TAG_GRID "grid"
	XML tag or attribute. More...

#define	CNS_TAG_HEIGHT "height"
	XML tag or attribute. More...

#define	CNS_TAG_HW "hweight"
	XML tag or attribute. More...

#define	CNS_TAG_LOG "log"
	XML tag or attribute. More...

#define	CNS_TAG_MAP "map"
	XML tag or attribute. More...

#define	CNS_TAG_MT "metrictype"
	XML tag or attribute. More...

#define	CNS_TAG_OBST "obstacle"
	XML tag or attribute. More...

#define	CNS_TAG_OBSTS "obstacles"
	XML tag or attribute. More...

#define	CNS_TAG_PATH "path"
	XML tag or attribute. More...

#define	CNS_TAG_ROOT "root"
	Enable full output to std stream. More...

#define	CNS_TAG_ROW "row"
	XML tag or attribute. More...

#define	CNS_TAG_ST "searchtype"
	XML tag or attribute. More...

#define	CNS_TAG_STEP "step"
	XML tag or attribute. More...

#define	CNS_TAG_SUM "summary"
	XML tag or attribute. More...

#define	CNS_TAG_TS "timestep"
	XML tag or attribute. More...

#define	CNS_TAG_VERTEX "vertex"
	XML tag or attribute. More...

#define	CNS_TAG_WIDTH "width"
	XML tag or attribute. More...

#define	FULL_OUTPUT false
	Enable full output to std stream. More...

#define	Vector Point
	Vector type definition. More...

#define	Velocity Point
	Velocity type definition. More...

Detailed Description

File contains main constants.

Definition in file Const.h.

Macro Definition Documentation

#define CN_DEFAULT_AGENTS_MAX_NUM 10

Default agent max neighbours number value.

Definition at line 116 of file Const.h.

#define CN_DEFAULT_ALLOWSQUEEZE 0

Default Theta* ALLOWSQUEEZE value.

Definition at line 122 of file Const.h.

#define CN_DEFAULT_BREAKINGTIES 0

Default Theta* BREAKINGTIES value.

Definition at line 121 of file Const.h.

#define CN_DEFAULT_CUTCORNERS 0

Default Theta* CUTCORNERS value.

Definition at line 123 of file Const.h.

#define CN_DEFAULT_DELTA 0.1

Default delta value.

Definition at line 126 of file Const.h.

#define CN_DEFAULT_HWEIGHT 1

Default H-weight for Theta* value.

Definition at line 124 of file Const.h.

#define CN_DEFAULT_MAX_SPEED 1

Default agent max speed value.

Definition at line 115 of file Const.h.

#define CN_DEFAULT_METRIC_TYPE CN_SP_MT_EUCL

Default Theta* heuristic-function value.

Definition at line 120 of file Const.h.

#define CN_DEFAULT_OBS_TIME_BOUNDARY 10

Default ORCA time boundary for obstacles value.

Definition at line 118 of file Const.h.

#define CN_DEFAULT_RADIUS_OF_SIGHT 10

Default agent radius of sight value.

Definition at line 119 of file Const.h.

#define CN_DEFAULT_REPS 0.19

Default agent buffer size value.

Definition at line 127 of file Const.h.

#define CN_DEFAULT_SIZE 1

Default agent size value.

Definition at line 114 of file Const.h.

#define CN_DEFAULT_ST CN_SP_ST_THETA

Default path planning algorithm.

Definition at line 130 of file Const.h.

#define CN_DEFAULT_TIME_BOUNDARY 5.4

Default ORCA time boundary value.

Definition at line 117 of file Const.h.

#define CN_DEFAULT_TIME_STEP 0.25

Default simulation timestep value.

Definition at line 125 of file Const.h.

#define CN_EPS 0.00001f

Epsilon for float number operations definition.

Definition at line 14 of file Const.h.

#define CN_GC_NOOBS 0

Not obstacle cell in XML.

Definition at line 143 of file Const.h.

#define CN_GC_OBS 1

Obstacle cell in XML.

Definition at line 144 of file Const.h.

#define CN_PI_CONSTANT 3.14159265359

Pi number operations definition.

Definition at line 15 of file Const.h.

#define CN_SP_BT_GMAX 1

Gmax constant.

Definition at line 140 of file Const.h.

#define CN_SP_BT_GMIN 0

Gmin constant.

Definition at line 139 of file Const.h.

#define CN_SP_MT_CHEB 3

Chebyshev distance constant.

Definition at line 105 of file Const.h.

#define CN_SP_MT_DIAG 0

Diagonal distance constant.

Definition at line 102 of file Const.h.

#define CN_SP_MT_EUCL 2

Euclid distance constant.

Definition at line 104 of file Const.h.

#define CN_SP_MT_MANH 1

Manhattan distance constant.

Definition at line 103 of file Const.h.

#define CN_SP_ST_DIR 1

Direct planning algorithm constant.

Definition at line 108 of file Const.h.

#define CN_SP_ST_THETA 0

Theta* path planning algorithm constant.

Definition at line 107 of file Const.h.

#define CN_SQRT_TWO 1.41421356237

SQRT(2) number operations definition.

Definition at line 16 of file Const.h.

#define CNS_AT_ST_ORCA "orca"

XML text constant.

Definition at line 95 of file Const.h.

#define CNS_DEFAULT_AGENT_TYPE CNS_AT_ST_ORCA

Default collision avoidance algorithm.

Definition at line 132 of file Const.h.

#define CNS_DEFAULT_ST CNS_SP_ST_THETA

Default path planning algorithm.

Definition at line 131 of file Const.h.

#define CNS_SP_MT_CHEB "chebyshev"

XML text constant.

Definition at line 100 of file Const.h.

#define CNS_SP_MT_DIAG "diagonal"

XML text constant.

Definition at line 97 of file Const.h.

#define CNS_SP_MT_EUCL "euclid"

XML text constant.

Definition at line 99 of file Const.h.

#define CNS_SP_MT_MANH "manhattan"

XML text constant.

Definition at line 98 of file Const.h.

#define CNS_SP_ST_DIR "direct"

XML text constant.

Definition at line 93 of file Const.h.

#define CNS_SP_ST_THETA "thetastar"

XML text constant.

Definition at line 92 of file Const.h.

#define CNS_TAG_AGENT "agent"

XML tag or attribute.

Definition at line 36 of file Const.h.

#define CNS_TAG_AGENTS "agents"

XML tag or attribute.

Definition at line 22 of file Const.h.

#define CNS_TAG_ALG "algorithm"

XML tag or attribute.

Definition at line 43 of file Const.h.

#define CNS_TAG_AS "allowsqueeze"

XML tag or attribute.

Definition at line 47 of file Const.h.

#define CNS_TAG_ATTR_AGENTSMAXNUM "agentsmaxnum"

XML tag or attribute.

Definition at line 29 of file Const.h.

#define CNS_TAG_ATTR_COL_AGNT "collisions"

XML tag or attribute.

Definition at line 72 of file Const.h.

#define CNS_TAG_ATTR_COL_OBST "collisionsobst"

XML tag or attribute.

Definition at line 73 of file Const.h.

#define CNS_TAG_ATTR_FLOWTIME "flowtime"

XML tag or attribute.

Definition at line 70 of file Const.h.

#define CNS_TAG_ATTR_GX "goal.xr"

XML tag or attribute.

Definition at line 40 of file Const.h.

#define CNS_TAG_ATTR_GY "goal.yr"

XML tag or attribute.

Definition at line 41 of file Const.h.

#define CNS_TAG_ATTR_ID "id"

XML tag or attribute.

Definition at line 37 of file Const.h.

#define CNS_TAG_ATTR_LENGTH "length"

XML tag or attribute.

Definition at line 83 of file Const.h.

#define CNS_TAG_ATTR_LENGTH_SCALED "length_scaled"

XML tag or attribute.

Definition at line 84 of file Const.h.

#define CNS_TAG_ATTR_MAKESPAN "makespan"

XML tag or attribute.

Definition at line 71 of file Const.h.

#define CNS_TAG_ATTR_MAXSPEED "movespeed"

XML tag or attribute.

Definition at line 28 of file Const.h.

#define CNS_TAG_ATTR_NODESCREATED "nodescreated"

XML tag or attribute.

Definition at line 82 of file Const.h.

#define CNS_TAG_ATTR_NUM "number"

XML tag or attribute.

Definition at line 23 of file Const.h.

#define CNS_TAG_ATTR_NUMOFSTEPS "numberofsteps"

XML tag or attribute.

Definition at line 81 of file Const.h.

#define CNS_TAG_ATTR_PARACTNUM "paractivatingnum"

XML tag or attribute.

Definition at line 34 of file Const.h.

#define CNS_TAG_ATTR_PATHFOUND "pathfound"

XML tag or attribute.

Definition at line 75 of file Const.h.

#define CNS_TAG_ATTR_REPS "reps"

XML tag or attribute.

Definition at line 33 of file Const.h.

#define CNS_TAG_ATTR_RUNTIME "runtime"

XML tag or attribute.

Definition at line 69 of file Const.h.

#define CNS_TAG_ATTR_SIGHTRADIUS "sightradius"

XML tag or attribute.

Definition at line 31 of file Const.h.

#define CNS_TAG_ATTR_SIZE "size"

XML tag or attribute.

Definition at line 27 of file Const.h.

#define CNS_TAG_ATTR_SR "successrate"

XML tag or attribute.

Definition at line 68 of file Const.h.

#define CNS_TAG_ATTR_STEPS "steps"

XML tag or attribute.

Definition at line 76 of file Const.h.

#define CNS_TAG_ATTR_STX "start.xr"

XML tag or attribute.

Definition at line 38 of file Const.h.

#define CNS_TAG_ATTR_STY "start.yr"

XML tag or attribute.

Definition at line 39 of file Const.h.

#define CNS_TAG_ATTR_TIME "time"

XML tag or attribute.

Definition at line 85 of file Const.h.

#define CNS_TAG_ATTR_TIMEBOUNDARY "timeboundary"

XML tag or attribute.

Definition at line 30 of file Const.h.

#define CNS_TAG_ATTR_TIMEBOUNDARYOBST "timeboundaryobst"

XML tag or attribute.

Definition at line 32 of file Const.h.

#define CNS_TAG_ATTR_TYPE "type"

XML tag or attribute.

Definition at line 24 of file Const.h.

#define CNS_TAG_ATTR_X "xr"

XML tag or attribute.

Definition at line 63 of file Const.h.

#define CNS_TAG_ATTR_Y "yr"

XML tag or attribute.

Definition at line 64 of file Const.h.

#define CNS_TAG_BT "breakingties"

XML tag or attribute.

Definition at line 46 of file Const.h.

#define CNS_TAG_CC "cutcorners"

XML tag or attribute.

Definition at line 48 of file Const.h.

#define CNS_TAG_CELLSIZE "cellsize"

XML tag or attribute.

Definition at line 54 of file Const.h.

#define CNS_TAG_DEF_PARAMS "default_parameters"

XML tag or attribute.

Definition at line 26 of file Const.h.

#define CNS_TAG_DEL "delta"

XML tag or attribute.

Definition at line 51 of file Const.h.

#define CNS_TAG_GRID "grid"

XML tag or attribute.

Definition at line 57 of file Const.h.

#define CNS_TAG_HEIGHT "height"

XML tag or attribute.

Definition at line 56 of file Const.h.

#define CNS_TAG_HW "hweight"

XML tag or attribute.

Definition at line 49 of file Const.h.

#define CNS_TAG_LOG "log"

XML tag or attribute.

Definition at line 66 of file Const.h.

#define CNS_TAG_MAP "map"

XML tag or attribute.

Definition at line 53 of file Const.h.

#define CNS_TAG_MT "metrictype"

XML tag or attribute.

Definition at line 45 of file Const.h.

#define CNS_TAG_OBST "obstacle"

XML tag or attribute.

Definition at line 61 of file Const.h.

#define CNS_TAG_OBSTS "obstacles"

XML tag or attribute.

Definition at line 60 of file Const.h.

#define CNS_TAG_PATH "path"

XML tag or attribute.

Definition at line 74 of file Const.h.

#define CNS_TAG_ROOT "root"

Enable full output to std stream.

Definition at line 20 of file Const.h.

#define CNS_TAG_ROW "row"

XML tag or attribute.

Definition at line 58 of file Const.h.

#define CNS_TAG_ST "searchtype"

XML tag or attribute.

Definition at line 44 of file Const.h.

#define CNS_TAG_STEP "step"

XML tag or attribute.

Definition at line 77 of file Const.h.

#define CNS_TAG_SUM "summary"

XML tag or attribute.

Definition at line 67 of file Const.h.

#define CNS_TAG_TS "timestep"

XML tag or attribute.

Definition at line 50 of file Const.h.

#define CNS_TAG_VERTEX "vertex"

XML tag or attribute.

Definition at line 62 of file Const.h.

#define CNS_TAG_WIDTH "width"

XML tag or attribute.

Definition at line 55 of file Const.h.

#define FULL_OUTPUT false

Enable full output to std stream.

Definition at line 17 of file Const.h.

#define Vector Point

Vector type definition.

Definition at line 11 of file Const.h.

#define Velocity Point

Velocity type definition.

Definition at line 10 of file Const.h.

Macros

Detailed Description

Macro Definition Documentation