/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/qhull/geom.h File Reference

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Defines

#define det2_(a1, a2, b1, b2)   (( a1 )*( b2 ) - ( a2 )*( b1 ))
#define det3_(a1, a2, a3, b1, b2, b3, c1, c2, c3)
#define dW(p1, p2)   ( *( rows[p1]+3 ) - *( rows[p2]+3 ))
#define dX(p1, p2)   ( *( rows[p1] ) - *( rows[p2] ))
#define dY(p1, p2)   ( *( rows[p1]+1 ) - *( rows[p2]+1 ))
#define dZ(p1, p2)   ( *( rows[p1]+2 ) - *( rows[p2]+2 ))
#define fabs_(a)   ((( a ) < 0 ) ? -( a ):( a ))
#define fmax_(a, b)   ( ( a ) < ( b ) ? ( b ) : ( a ) )
#define fmin_(a, b)   ( ( a ) > ( b ) ? ( b ) : ( a ) )
#define maximize_(maxval, val)   {if (( maxval ) < ( val )) ( maxval )= ( val );}
#define minimize_(minval, val)   {if (( minval ) > ( val )) ( minval )= ( val );}

Functions

void qh_backnormal (realT **rows, int numrow, int numcol, boolT sign, coordT *normal, boolT *nearzero)
coordT * qh_copypoints (coordT *points, int numpoints, int dimension)
void qh_crossproduct (int dim, realT vecA[3], realT vecB[3], realT vecC[3])
realT qh_determinant (realT **rows, int dim, boolT *nearzero)
realT qh_detjoggle (pointT *points, int numpoints, int dimension)
void qh_detroundoff (void)
realT qh_detsimplex (pointT *apex, setT *points, int dim, boolT *nearzero)
realT qh_distnorm (int dim, pointT *point, pointT *normal, realT *offsetp)
void qh_distplane (pointT *point, facetT *facet, realT *dist)
realT qh_distround (int dimension, realT maxabs, realT maxsumabs)
realT qh_divzero (realT numer, realT denom, realT mindenom1, boolT *zerodiv)
realT qh_facetarea (facetT *facet)
realT qh_facetarea_simplex (int dim, coordT *apex, setT *vertices, vertexT *notvertex, boolT toporient, coordT *normal, realT *offset)
pointT * qh_facetcenter (setT *vertices)
facetTqh_findbest (pointT *point, facetT *startfacet, boolT bestoutside, boolT newfacets, boolT noupper, realT *dist, boolT *isoutside, int *numpart)
facetTqh_findbestnew (pointT *point, facetT *startfacet, realT *dist, boolT *isoutside, int *numpart)
boolT qh_findbestsharp (pointT *point, facetT **bestfacet, realT *bestdist, int *numpart)
facetTqh_findgooddist (pointT *point, facetT *facetA, realT *distp, facetT **facetlist)
void qh_gausselim (realT **rows, int numrow, int numcol, boolT *sign, boolT *nearzero)
realT qh_getangle (pointT *vect1, pointT *vect2)
void qh_getarea (facetT *facetlist)
pointT * qh_getcenter (setT *vertices)
pointT * qh_getcentrum (facetT *facet)
realT qh_getdistance (facetT *facet, facetT *neighbor, realT *mindist, realT *maxdist)
boolT qh_gram_schmidt (int dim, realT **rows)
boolT qh_inthresholds (coordT *normal, realT *angle)
void qh_joggleinput (void)
realT * qh_maxabsval (realT *normal, int dim)
setTqh_maxmin (pointT *points, int numpoints, int dimension)
realT qh_maxouter (void)
void qh_maxsimplex (int dim, setT *maxpoints, pointT *points, int numpoints, setT **simplex)
realT qh_minabsval (realT *normal, int dim)
int qh_mindiff (realT *vecA, realT *vecB, int dim)
void qh_normalize (coordT *normal, int dim, boolT toporient)
void qh_normalize2 (coordT *normal, int dim, boolT toporient, realT *minnorm, boolT *ismin)
boolT qh_orientoutside (facetT *facet)
void qh_outerinner (facetT *facet, realT *outerplane, realT *innerplane)
coordT qh_pointdist (pointT *point1, pointT *point2, int dim)
void qh_printmatrix (FILE *fp, char *string, realT **rows, int numrow, int numcol)
void qh_printpoints (FILE *fp, char *string, setT *points)
void qh_projectinput (void)
pointT * qh_projectpoint (pointT *point, facetT *facet, realT dist)
void qh_projectpoints (signed char *project, int n, realT *points, int numpoints, int dim, realT *newpoints, int newdim)
int qh_rand (void)
realT qh_randomfactor (void)
void qh_randommatrix (realT *buffer, int dim, realT **row)
void qh_rotateinput (realT **rows)
void qh_rotatepoints (realT *points, int numpoints, int dim, realT **rows)
void qh_scaleinput (void)
void qh_scalelast (coordT *points, int numpoints, int dim, coordT low, coordT high, coordT newhigh)
void qh_scalepoints (pointT *points, int numpoints, int dim, realT *newlows, realT *newhighs)
void qh_setfacetplane (facetT *newfacets)
boolT qh_sethalfspace (int dim, coordT *coords, coordT **nextp, coordT *normal, coordT *offset, coordT *feasible)
coordT * qh_sethalfspace_all (int dim, int count, coordT *halfspaces, pointT *feasible)
void qh_sethyperplane_det (int dim, coordT **rows, coordT *point0, boolT toporient, coordT *normal, realT *offset, boolT *nearzero)
void qh_sethyperplane_gauss (int dim, coordT **rows, pointT *point0, boolT toporient, coordT *normal, coordT *offset, boolT *nearzero)
void qh_srand (int seed)
pointT * qh_voronoi_center (int dim, setT *points)

Define Documentation

#define det2_ ( a1,
a2,
b1,
b2   )     (( a1 )*( b2 ) - ( a2 )*( b1 ))

Definition at line 65 of file geom.h.

#define det3_ ( a1,
a2,
a3,
b1,
b2,
b3,
c1,
c2,
c3   ) 
Value:
( ( a1 )*det2_( b2,b3,c2,c3 ) \
                - ( b1 )*det2_( a2,a3,c2,c3 ) + ( c1 )*det2_( a2,a3,b2,b3 ) )

Definition at line 76 of file geom.h.

#define dW ( p1,
p2   )     ( *( rows[p1]+3 ) - *( rows[p2]+3 ))

Definition at line 93 of file geom.h.

#define dX ( p1,
p2   )     ( *( rows[p1] ) - *( rows[p2] ))

Definition at line 90 of file geom.h.

#define dY ( p1,
p2   )     ( *( rows[p1]+1 ) - *( rows[p2]+1 ))

Definition at line 91 of file geom.h.

#define dZ ( p1,
p2   )     ( *( rows[p1]+2 ) - *( rows[p2]+2 ))

Definition at line 92 of file geom.h.

#define fabs_ (  )     ((( a ) < 0 ) ? -( a ):( a ))

Definition at line 23 of file geom.h.

#define fmax_ ( a,
 )     ( ( a ) < ( b ) ? ( b ) : ( a ) )

Definition at line 31 of file geom.h.

#define fmin_ ( a,
 )     ( ( a ) > ( b ) ? ( b ) : ( a ) )

Definition at line 39 of file geom.h.

#define maximize_ ( maxval,
val   )     {if (( maxval ) < ( val )) ( maxval )= ( val );}

Definition at line 47 of file geom.h.

#define minimize_ ( minval,
val   )     {if (( minval ) > ( val )) ( minval )= ( val );}

Definition at line 55 of file geom.h.


Function Documentation

void qh_backnormal ( realT **  rows,
int  numrow,
int  numcol,
boolT  sign,
coordT *  normal,
boolT *  nearzero 
)

Definition at line 57 of file geom.c.

coordT* qh_copypoints ( coordT *  points,
int  numpoints,
int  dimension 
)

Definition at line 29 of file geom2.c.

void qh_crossproduct ( int  dim,
realT  vecA[3],
realT  vecB[3],
realT  vecC[3] 
)

Definition at line 54 of file geom2.c.

realT qh_determinant ( realT **  rows,
int  dim,
boolT *  nearzero 
)

Definition at line 82 of file geom2.c.

realT qh_detjoggle ( pointT *  points,
int  numpoints,
int  dimension 
)

Definition at line 129 of file geom2.c.

void qh_detroundoff ( void   ) 

Definition at line 192 of file geom2.c.

realT qh_detsimplex ( pointT *  apex,
setT points,
int  dim,
boolT *  nearzero 
)

Definition at line 309 of file geom2.c.

realT qh_distnorm ( int  dim,
pointT *  point,
pointT *  normal,
realT *  offsetp 
)

Definition at line 353 of file geom2.c.

void qh_distplane ( pointT *  point,
facetT facet,
realT *  dist 
)

Definition at line 113 of file geom.c.

realT qh_distround ( int  dimension,
realT  maxabs,
realT  maxsumabs 
)

Definition at line 382 of file geom2.c.

realT qh_divzero ( realT  numer,
realT  denom,
realT  mindenom1,
boolT *  zerodiv 
)

Definition at line 415 of file geom2.c.

realT qh_facetarea ( facetT facet  ) 

Definition at line 462 of file geom2.c.

realT qh_facetarea_simplex ( int  dim,
coordT *  apex,
setT vertices,
vertexT notvertex,
boolT  toporient,
coordT *  normal,
realT *  offset 
)

Definition at line 521 of file geom2.c.

pointT* qh_facetcenter ( setT vertices  ) 

Definition at line 595 of file geom2.c.

facetT* qh_findbest ( pointT *  point,
facetT startfacet,
boolT  bestoutside,
boolT  newfacets,
boolT  noupper,
realT *  dist,
boolT *  isoutside,
int *  numpart 
)

Definition at line 231 of file geom.c.

facetT* qh_findbestnew ( pointT *  point,
facetT startfacet,
realT *  dist,
boolT *  isoutside,
int *  numpart 
)

Definition at line 427 of file geom.c.

boolT qh_findbestsharp ( pointT *  point,
facetT **  bestfacet,
realT *  bestdist,
int *  numpart 
)

Definition at line 630 of file geom2.c.

facetT* qh_findgooddist ( pointT *  point,
facetT facetA,
realT *  distp,
facetT **  facetlist 
)

Definition at line 692 of file geom2.c.

void qh_gausselim ( realT **  rows,
int  numrow,
int  numcol,
boolT *  sign,
boolT *  nearzero 
)

Definition at line 536 of file geom.c.

realT qh_getangle ( pointT *  vect1,
pointT *  vect2 
)

Definition at line 599 of file geom.c.

void qh_getarea ( facetT facetlist  ) 

Definition at line 763 of file geom2.c.

pointT* qh_getcenter ( setT vertices  ) 

Definition at line 624 of file geom.c.

pointT* qh_getcentrum ( facetT facet  ) 

Definition at line 655 of file geom.c.

realT qh_getdistance ( facetT facet,
facetT neighbor,
realT *  mindist,
realT *  maxdist 
)

Definition at line 683 of file geom.c.

boolT qh_gram_schmidt ( int  dim,
realT **  rows 
)

Definition at line 818 of file geom2.c.

boolT qh_inthresholds ( coordT *  normal,
realT *  angle 
)

Definition at line 862 of file geom2.c.

void qh_joggleinput ( void   ) 

Definition at line 925 of file geom2.c.

realT* qh_maxabsval ( realT *  normal,
int  dim 
)

Definition at line 986 of file geom2.c.

setT* qh_maxmin ( pointT *  points,
int  numpoints,
int  dimension 
)

Definition at line 1028 of file geom2.c.

realT qh_maxouter ( void   ) 

Definition at line 1114 of file geom2.c.

void qh_maxsimplex ( int  dim,
setT maxpoints,
pointT *  points,
int  numpoints,
setT **  simplex 
)

Definition at line 1146 of file geom2.c.

realT qh_minabsval ( realT *  normal,
int  dim 
)

Definition at line 1246 of file geom2.c.

int qh_mindiff ( realT *  vecA,
realT *  vecB,
int  dim 
)

Definition at line 1266 of file geom2.c.

void qh_normalize ( coordT *  normal,
int  dim,
boolT  toporient 
)

Definition at line 723 of file geom.c.

void qh_normalize2 ( coordT *  normal,
int  dim,
boolT  toporient,
realT *  minnorm,
boolT *  ismin 
)

Definition at line 759 of file geom.c.

boolT qh_orientoutside ( facetT facet  ) 

Definition at line 1293 of file geom2.c.

void qh_outerinner ( facetT facet,
realT *  outerplane,
realT *  innerplane 
)

Definition at line 1327 of file geom2.c.

coordT qh_pointdist ( pointT *  point1,
pointT *  point2,
int  dim 
)

Definition at line 1368 of file geom2.c.

void qh_printmatrix ( FILE *  fp,
char *  string,
realT **  rows,
int  numrow,
int  numcol 
)

Definition at line 1393 of file geom2.c.

void qh_printpoints ( FILE *  fp,
char *  string,
setT points 
)

Definition at line 1417 of file geom2.c.

void qh_projectinput ( void   ) 

Definition at line 1470 of file geom2.c.

pointT* qh_projectpoint ( pointT *  point,
facetT facet,
realT  dist 
)

Definition at line 848 of file geom.c.

void qh_projectpoints ( signed char *  project,
int  n,
realT *  points,
int  numpoints,
int  dim,
realT *  newpoints,
int  newdim 
)

Definition at line 1564 of file geom2.c.

int qh_rand ( void   ) 

Definition at line 726 of file rbox.c.

realT qh_randomfactor ( void   ) 

Definition at line 1652 of file geom2.c.

void qh_randommatrix ( realT *  buffer,
int  dim,
realT **  row 
)

Definition at line 1671 of file geom2.c.

void qh_rotateinput ( realT **  rows  ) 

Definition at line 1704 of file geom2.c.

void qh_rotatepoints ( realT *  points,
int  numpoints,
int  dim,
realT **  rows 
)

Definition at line 1730 of file geom2.c.

void qh_scaleinput ( void   ) 

Definition at line 1766 of file geom2.c.

void qh_scalelast ( coordT *  points,
int  numpoints,
int  dim,
coordT  low,
coordT  high,
coordT  newhigh 
)

Definition at line 1795 of file geom2.c.

void qh_scalepoints ( pointT *  points,
int  numpoints,
int  dim,
realT *  newlows,
realT *  newhighs 
)

Definition at line 1838 of file geom2.c.

void qh_setfacetplane ( facetT newfacets  ) 

Definition at line 883 of file geom.c.

boolT qh_sethalfspace ( int  dim,
coordT *  coords,
coordT **  nextp,
coordT *  normal,
coordT *  offset,
coordT *  feasible 
)

Definition at line 1960 of file geom2.c.

coordT* qh_sethalfspace_all ( int  dim,
int  count,
coordT *  halfspaces,
pointT *  feasible 
)

Definition at line 2032 of file geom2.c.

void qh_sethyperplane_det ( int  dim,
coordT **  rows,
coordT *  point0,
boolT  toporient,
coordT *  normal,
realT *  offset,
boolT *  nearzero 
)

Definition at line 1024 of file geom.c.

void qh_sethyperplane_gauss ( int  dim,
coordT **  rows,
pointT *  point0,
boolT  toporient,
coordT *  normal,
coordT *  offset,
boolT *  nearzero 
)

Definition at line 1094 of file geom.c.

void qh_srand ( int  seed  ) 

Definition at line 743 of file rbox.c.

pointT* qh_voronoi_center ( int  dim,
setT points 
)

Definition at line 2082 of file geom2.c.

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autogenerated on Wed Jan 25 10:59:21 2012