graspit: /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit

00001 /*<html><pre>  -<a                             href="qh-c.htm#poly"
00002   >-------------------------------</a><a name="TOP">-</a>
00003 
00004    poly.h 
00005    header file for poly.c and poly2.c
00006 
00007    see qh-c.htm, qhull.h and poly.c
00008 
00009    copyright (c) 1993-1998, The Geometry Center
00010 */
00011 
00012 #ifndef qhDEFpoly
00013 #define qhDEFpoly 1
00014 
00015 /*===============   constants ========================== */
00016 
00017 /*-<a                             href="qh-c.htm#geom"
00018   >--------------------------------</a><a name="ALGORITHMfault">-</a>
00019   
00020   ALGORITHMfault   
00021     use as argument to checkconvex() to report errors during buildhull
00022 */
00023 #define qh_ALGORITHMfault 0
00024 
00025 /*-<a                             href="qh-c.htm#poly"
00026   >--------------------------------</a><a name="DATAfault">-</a>
00027   
00028   DATAfault        
00029     use as argument to checkconvex() to report errors during initialhull
00030 */
00031 #define qh_DATAfault 1
00032 
00033 /*-<a                             href="qh-c.htm#poly"
00034   >--------------------------------</a><a name="DUPLICATEridge">-</a>
00035   
00036   DUPLICATEridge
00037     special value for facet->neighbor to indicate a duplicate ridge
00038   
00039   notes:
00040     set by matchneighbor, used by matchmatch and mark_dupridge
00041 */
00042 #define qh_DUPLICATEridge ( facetT * ) 1L
00043 
00044 /*-<a                             href="qh-c.htm#poly"
00045   >--------------------------------</a><a name="MERGEridge">-</a>
00046   
00047   MERGEridge       flag in facet
00048     special value for facet->neighbor to indicate a merged ridge
00049   
00050   notes:
00051     set by matchneighbor, used by matchmatch and mark_dupridge
00052 */
00053 #define qh_MERGEridge ( facetT * ) 2L
00054 
00055 
00056 /*============ -structures- ====================*/
00057 
00058 /*-<a                             href="qh-c.htm#poly"
00059   >--------------------------------</a><a name="hashentryT">-</a>
00060   
00061   hashentryT
00062     hash table entry for matching sub-ridges in qh_makecone()
00063 */
00064 typedef struct hashentryT hashentryT;
00065 
00066 struct hashentryT {
00067   facetT     *facet;        /* facet */
00068   hashentryT *next;         /* next hash table entry for this bucket */
00069   unsigned    skipindex;    /* skipped vertex in facet, for orientation */
00070 };
00071 
00072 /*=========== -macros- =========================*/
00073 
00074 /*-<a                             href="qh-c.htm#poly"
00075   >--------------------------------</a><a name="FORALLfacet_">-</a>
00076   
00077   FORALLfacet_( facetlist ) { ... }
00078     assign 'facet' to each facet in facetlist
00079     
00080   notes:
00081     uses 'facetT *facet;'
00082     assumes last facet is a sentinel
00083     
00084   see:
00085     FORALLfacets
00086 */
00087 #define FORALLfacet_( facetlist ) if ( facetlist ) for( facet=( facetlist );facet && facet->next;facet=facet->next )
00088 
00089 /*-<a                             href="qh-c.htm#poly"
00090   >--------------------------------</a><a name="FORALLnew_facets">-</a>
00091   
00092   FORALLnewfacets { ... } 
00093     assign 'facet' to each facet in qh.newfacet_list
00094     
00095   notes:
00096     uses 'facetT *newfacet;'
00097     at exit, newfacet==NULL
00098 */
00099 #define FORALLnew_facets for( newfacet=qh newfacet_list;newfacet && newfacet->next;newfacet=newfacet->next )
00100 
00101 /*-<a                             href="qh-c.htm#poly"
00102   >--------------------------------</a><a name="FORALLvertex_">-</a>
00103   
00104   FORALLvertex_( vertexlist ) { ... }
00105     assign 'vertex' to each vertex in vertexlist
00106     
00107   notes:
00108     uses 'vertexT *vertex;'
00109     at exit, vertex==NULL
00110 */
00111 #define FORALLvertex_( vertexlist ) for ( vertex=( vertexlist );vertex && vertex->next;vertex= vertex->next )
00112 
00113 /*-<a                             href="qh-c.htm#poly"
00114   >--------------------------------</a><a name="FORALLvisible_facets">-</a>
00115   
00116   FORALLvisible_facets { ... }
00117     assign 'visible' to each visible facet in qh.visible_list
00118     
00119   notes:
00120     uses 'vacetT *visible;'
00121     at exit, visible==NULL
00122 */
00123 #define FORALLvisible_facets for (visible=qh visible_list; visible && visible->visible; visible= visible->next)
00124 
00125 /*-<a                             href="qh-c.htm#poly"
00126   >--------------------------------</a><a name="FORALLsame_">-</a>
00127   
00128   FORALLsame_( newfacet ) { ... } 
00129     assign 'same' to each facet in newfacet->f.samecycle
00130     
00131   notes:
00132     uses 'facetT *same;'
00133     stops when it returns to newfacet
00134 */
00135 #define FORALLsame_(newfacet) for (same= newfacet->f.samecycle; same != newfacet; same= same->f.samecycle)
00136 
00137 /*-<a                             href="qh-c.htm#poly"
00138   >--------------------------------</a><a name="FORALLsame_cycle_">-</a>
00139   
00140   FORALLsame_cycle_( newfacet ) { ... } 
00141     assign 'same' to each facet in newfacet->f.samecycle
00142     
00143   notes:
00144     uses 'facetT *same;'
00145     at exit, same == NULL
00146 */
00147 #define FORALLsame_cycle_(newfacet) \
00148      for (same= newfacet->f.samecycle; \
00149          same; same= (same == newfacet ?  NULL : same->f.samecycle))
00150 
00151 /*-<a                             href="qh-c.htm#poly"
00152   >--------------------------------</a><a name="FOREACHentry_">-</a>
00153   
00154   FOREACHentry_( entries ) { ... } 
00155     assign 'entry' to each hash entry in entries
00156     
00157   notes:
00158     uses 'hashentryT *entry, **entryp;'
00159     see <a href="set.h#FOREACHsetelement_">FOREACHsetelement_</a>
00160 */
00161 #define FOREACHentry_(entries) FOREACHsetelement_(hashentryT, entries, entry)
00162 
00163 /*-<a                             href="qh-c.htm#poly"
00164   >--------------------------------</a><a name="FOREACHneighborA_">-</a>
00165   
00166   FOREACHneighborA_( facet ) { ... }
00167     assign 'neighborA' to each neighbor in facet->neighbors
00168   
00169   FOREACHneighborA_( vertex ) { ... }
00170     assign 'neighborA' to each neighbor in vertex->neighbors
00171   
00172   declare:
00173     facetT *neighborA, **neighborAp;
00174 
00175   see:
00176     <a href="set.h#FOREACHsetelement_">FOREACHsetelement_</a>
00177 */
00178 #define FOREACHneighborA_(facet)  FOREACHsetelement_(facetT, facet->neighbors, neighborA)
00179 
00180 /*-<a                             href="qh-c.htm#poly"
00181   >--------------------------------</a><a name="FOREACHvisible_">-</a>
00182   
00183   FOREACHvisible_( facets ) { ... } 
00184     assign 'visible' to each facet in facets
00185     
00186   notes:
00187     uses 'facetT *facet, *facetp;'
00188     see <a href="set.h#FOREACHsetelement_">FOREACHsetelement_</a>
00189 */
00190 #define FOREACHvisible_(facets) FOREACHsetelement_(facetT, facets, visible)
00191 
00192 /*-<a                             href="qh-c.htm#poly"
00193   >--------------------------------</a><a name="FOREACHnewfacet_">-</a>
00194   
00195   FOREACHnewfacet_( facets ) { ... } 
00196     assign 'newfacet' to each facet in facets
00197     
00198   notes:
00199     uses 'facetT *newfacet, *newfacetp;'
00200     see <a href="set.h#FOREACHsetelement_">FOREACHsetelement_</a>
00201 */
00202 #define FOREACHnewfacet_(facets) FOREACHsetelement_(facetT, facets, newfacet)
00203 
00204 /*-<a                             href="qh-c.htm#poly"
00205   >--------------------------------</a><a name="FOREACHvertexA_">-</a>
00206   
00207   FOREACHvertexA_( vertices ) { ... } 
00208     assign 'vertexA' to each vertex in vertices
00209     
00210   notes:
00211     uses 'vertexT *vertexA, *vertexAp;'
00212     see <a href="set.h#FOREACHsetelement_">FOREACHsetelement_</a>
00213 */
00214 #define FOREACHvertexA_(vertices) FOREACHsetelement_(vertexT, vertices, vertexA)
00215 
00216 /*-<a                             href="qh-c.htm#poly"
00217   >--------------------------------</a><a name="FOREACHvertexreverse12_">-</a>
00218   
00219   FOREACHvertexreverse12_( vertices ) { ... } 
00220     assign 'vertex' to each vertex in vertices
00221     reverse order of first two vertices
00222     
00223   notes:
00224     uses 'vertexT *vertex, *vertexp;'
00225     see <a href="set.h#FOREACHsetelement_">FOREACHsetelement_</a>
00226 */
00227 #define FOREACHvertexreverse12_(vertices) FOREACHsetelementreverse12_(vertexT, vertices, vertex)
00228 
00229 
00230 /*=============== prototypes poly.c in alphabetical order ================*/
00231 
00232 void    qh_appendfacet(facetT *facet);
00233 void    qh_appendvertex(vertexT *vertex);
00234 void    qh_attachnewfacets (void);
00235 boolT   qh_checkflipped (facetT *facet, realT *dist, boolT allerror);
00236 void    qh_delfacet(facetT *facet);
00237 void    qh_deletevisible(void /*qh visible_list, qh horizon_list*/);
00238 setT   *qh_facetintersect (facetT *facetA, facetT *facetB, int *skipAp,int *skipBp, int extra);
00239 unsigned qh_gethash (int hashsize, setT *set, int size, int firstindex, void *skipelem);
00240 facetT *qh_makenewfacet(setT *vertices, boolT toporient, facetT *facet);
00241 void    qh_makenewplanes ( void /* newfacet_list */);
00242 facetT *qh_makenew_nonsimplicial (facetT *visible, vertexT *apex, int *numnew);
00243 facetT *qh_makenew_simplicial (facetT *visible, vertexT *apex, int *numnew);
00244 void    qh_matchneighbor (facetT *newfacet, int newskip, int hashsize,
00245                           int *hashcount);
00246 void    qh_matchnewfacets (void);
00247 boolT   qh_matchvertices (int firstindex, setT *verticesA, int skipA, 
00248                           setT *verticesB, int *skipB, boolT *same);
00249 facetT *qh_newfacet(void);
00250 ridgeT *qh_newridge(void);
00251 int     qh_pointid (pointT *point);
00252 void    qh_removefacet(facetT *facet);
00253 void    qh_removevertex(vertexT *vertex);
00254 void    qh_updatevertices (void);
00255 
00256 
00257 /*========== -prototypes poly2.c in alphabetical order ===========*/
00258 
00259 void    qh_addhash (void* newelem, setT *hashtable, int hashsize, unsigned hash);
00260 void    qh_check_bestdist (void);
00261 void    qh_check_maxout (void);
00262 void    qh_check_output (void);
00263 void    qh_check_point (pointT *point, facetT *facet, realT *maxoutside, realT *maxdist, facetT **errfacet1, facetT **errfacet2);
00264 void    qh_check_points(void);
00265 void    qh_checkconvex(facetT *facetlist, int fault);
00266 void    qh_checkfacet(facetT *facet, boolT newmerge, boolT *waserrorp);
00267 void    qh_checkflipped_all (facetT *facetlist);
00268 void    qh_checkpolygon(facetT *facetlist);
00269 void    qh_checkvertex (vertexT *vertex);
00270 void    qh_clearcenters (qh_CENTER type);
00271 void    qh_createsimplex(setT *vertices);
00272 void    qh_delridge(ridgeT *ridge);
00273 void    qh_delvertex (vertexT *vertex);
00274 setT   *qh_facet3vertex (facetT *facet);
00275 facetT *qh_findbestfacet (pointT *point, boolT bestoutside,
00276            realT *bestdist, boolT *isoutside);
00277 facetT *qh_findfacet_all (pointT *point, realT *bestdist, boolT *isoutside,
00278                           int *numpart);
00279 int     qh_findgood (facetT *facetlist, int goodhorizon);
00280 void    qh_findgood_all (facetT *facetlist);
00281 void    qh_furthestnext (void /* qh facet_list */);
00282 void    qh_furthestout (facetT *facet);
00283 void    qh_infiniteloop (facetT *facet);
00284 void    qh_initbuild(void);
00285 void    qh_initialhull(setT *vertices);
00286 setT   *qh_initialvertices(int dim, setT *maxpoints, pointT *points, int numpoints);
00287 vertexT *qh_isvertex (pointT *point, setT *vertices);
00288 vertexT *qh_makenewfacets (pointT *point /*horizon_list, visible_list*/);
00289 void    qh_matchduplicates (facetT *atfacet, int atskip, int hashsize, int *hashcount);
00290 void    qh_nearcoplanar ( void /* qh.facet_list */);
00291 vertexT *qh_nearvertex (facetT *facet, pointT *point, realT *bestdistp);
00292 int     qh_newhashtable(int newsize);
00293 vertexT *qh_newvertex(pointT *point);
00294 ridgeT *qh_nextridge3d (ridgeT *atridge, facetT *facet, vertexT **vertexp);
00295 void    qh_outcoplanar (void /* facet_list */);
00296 pointT *qh_point (int id);
00297 void    qh_point_add (setT *set, pointT *point, void *elem);
00298 setT   *qh_pointfacet (void /*qh facet_list*/);
00299 setT   *qh_pointvertex (void /*qh facet_list*/);
00300 void    qh_prependfacet(facetT *facet, facetT **facetlist);
00301 void    qh_printhashtable(FILE *fp);
00302 void    qh_printlists (void);
00303 void    qh_resetlists (boolT stats /*qh newvertex_list newfacet_list visible_list*/);
00304 void    qh_setvoronoi_all (void);
00305 void    qh_vertexintersect(setT **vertexsetA,setT *vertexsetB);
00306 setT   *qh_vertexintersect_new(setT *vertexsetA,setT *vertexsetB);
00307 void    qh_vertexneighbors (void /*qh facet_list*/);
00308 boolT   qh_vertexsubset(setT *vertexsetA, setT *vertexsetB);
00309 
00310 
00311 #endif /* qhDEFpoly */
/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/qhull/poly.h
