sbpl_arm_planner: bresenham.h Source File

00001 /*
00002  * Copyright (c) 2010, Maxim Likhachev
00003  * All rights reserved.
00004  * 
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  * 
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the University of Pennsylvania nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  * 
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include <vector>
00031 #include <iostream>
00032 #include <math.h>
00033 
00034 #ifndef _BRESENHAM3D_
00035 #define _BRESENHAM3D_
00036 
00037 typedef struct {
00038   int X1, Y1, Z1;
00039   int X2, Y2, Z2;
00040   int XIndex, YIndex, ZIndex;
00041   int UsingXYZIndex;
00042   int IncX, IncY, IncZ;
00043   int dx, dy, dz;
00044   int dx2, dy2, dz2;
00045   int err1, err2;
00046 } bresenham3d_param_t;
00047 
00048 void get_bresenham3d_parameters(int p1x, int p1y, int p1z, int p2x, int p2y, int p2z, bresenham3d_param_t *params);
00049 
00050 void get_current_point3d(bresenham3d_param_t *params, int *x, int *y, int *z);
00051 
00052 int get_next_point3d(bresenham3d_param_t *params);
00053 
00054 #endif