tmplan.h File Reference

Data structure for task-motion plans. More...

Go to the source code of this file.

Enumerations
enum	tmplan_op_type { TMPLAN_OP_ACTION, TMPLAN_OP_MOTION_PLAN, TMPLAN_OP_REPARENT }
	Types of operators in a task-motion plan. More...

Functions
AA_API struct tmplan *	tmplan_create (struct aa_mem_region *reg)
	Create a new task-motion plan allocated out of the given region. More...
AA_API void	tmplan_finish_op (struct tmplan *tmp)
	Finalize the last added operator. More...
AA_API void	tmplan_add_op (struct tmplan *tmp, void *op)
	Add a new operator to the plan. More...
AA_API void	tmplan_add_action (struct tmplan *tmp)
	Add a task operator to the plan.
AA_API void	tmplan_add_motion_plan (struct tmplan *tmp)
	Add a motion plan to the plan.
AA_API void	tmplan_add_reparent (struct tmplan *tmp)
	Add a reparent operator to the plan.
AA_API struct tmplan_op *	tmplan_last_op (struct tmplan *tmp)
	Return a pointer to the last added operator. More...
AA_API enum tmplan_op_type	tmplan_op_type (const struct tmplan_op *op)
	Return the type of the operator.
AA_API void	tmplan_op_action_set (struct tmplan_op_action *op, const char *value)
	Set the value of the task action, represented as a string.
AA_API const char *	tmplan_op_action_get (const struct tmplan_op_action *op)
	Get the value of the task action, represented as a string.
AA_API void	tmplan_op_motion_plan_add_var (struct tmplan_op_motion_plan *op, const char *name)
	Add a new configuration variable to the motion plan.
AA_API void	tmplan_op_motion_plan_map_var (struct tmplan_op_motion_plan *op, void(*function)(void *cx, const char *name), void *cx)
	Apply function to each configuration variable name in the motion plan.
AA_API int	tmplan_map_ops (const struct tmplan *tmp, void(*function)(void *cx, const struct tmplan_op *op), void *cx)
	Apply function to each op in the plan.
AA_API void	tmplan_op_motion_plan_path_start (struct tmplan_op_motion_plan *op)
	Preprate to add points to the motion plan.
AA_API void	tmplan_op_motion_plan_path_add (struct tmplan_op_motion_plan *op, double x)
	Add the next waypoint configuration value to the motion plan.
AA_API void	tmplan_op_motion_plan_path_finish (struct tmplan_op_motion_plan *op)
	Finalize the motion plan path.
AA_API double *	tmplan_op_motion_plan_path (struct tmplan_op_motion_plan *op)
	Return a pointer to the path data.
AA_API size_t	tmplan_op_motion_plan_config_count (struct tmplan_op_motion_plan *op)
	Return the number of configuration variables used for the path.
AA_API size_t	tmplan_op_motion_plan_path_size (struct tmplan_op_motion_plan *op)
	Return the number of elements in the path. More...
AA_API void	tmplan_op_reparent_set_frame (struct tmplan_op_reparent *op, const char *frame)
	Set the frame being reparented.
AA_API void	tmplan_op_reparent_set_new_parent (struct tmplan_op_reparent *op, const char *frame)
	Set the new parent.
AA_API const char *	tmplan_op_reparent_get_frame (struct tmplan_op_reparent *op)
	Get the frame being reparented.
AA_API const char *	tmplan_op_reparent_get_new_parent (struct tmplan_op_reparent *op)
	Get the new parent.
AA_API struct tmplan *	tmplan_parse_filename (const char *filename, struct aa_mem_region *reg)
	Parse a plan file, allocation out of the given region.
AA_API struct tmplan *	tmplan_parse_file (FILE *in, struct aa_mem_region *reg)
	Parse a plan file, allocation out of the given region.
AA_API int	tmplan_write (const struct tmplan *tmp, FILE *out)
	Write a tmplan to `out'.

Detailed Description

Data structure for task-motion plans.

Enumeration Type Documentation

enum tmplan_op_type

Types of operators in a task-motion plan.

Enumerator
TMPLAN_OP_ACTION	A task action.
TMPLAN_OP_MOTION_PLAN	A motion plan.
TMPLAN_OP_REPARENT	A scene-graph reparenting.

Function Documentation

AA_API void tmplan_add_op	(	struct tmplan *	tmp,
		void *	op
	)

Add a new operator to the plan.

Precondition

The previously added operator (if any) must be finalized before this operator is allocated from the memory region.

This function is called internally by the plan file parser.

AA_API struct tmplan* tmplan_create

(

struct aa_mem_region *

reg

)

Create a new task-motion plan allocated out of the given region.

To deallocate the task-motion plan, pop it from the region using aa_mem_region_pop().

AA_API void tmplan_finish_op

(

struct tmplan *

tmp

)

Finalize the last added operator.

This function is called internally by the plan file parser.

AA_API struct tmplan_op* tmplan_last_op

(

struct tmplan *

tmp

)

Return a pointer to the last added operator.

This function is used internally by the plan file parser.

AA_API size_t tmplan_op_motion_plan_path_size

(

struct tmplan_op_motion_plan *

op

)

Return the number of elements in the path.

The number of waypoints in the path is the path size divided by the number of configuration variables.