\section{obstacle\_\-avoidance Struct Reference}
\label{structobstacle__avoidance}\index{obstacle\_\-avoidance@{obstacle\_\-avoidance}}
{\tt \#include $<$obstacle\_\-avoidance.h$>$}

\subsection*{Data Fields}
\begin{CompactItemize}
\item 
{\bf oa\_\-poly\_\-t} {\bf polys} [MAX\_\-POLY]
\item 
{\bf oa\_\-ext\_\-point\_\-t} {\bf points} [MAX\_\-PTS]
\item 
uint8\_\-t {\bf ray\_\-n}
\item 
uint8\_\-t {\bf cur\_\-poly\_\-idx}
\item 
uint8\_\-t {\bf cur\_\-pt\_\-idx}
\item 
uint16\_\-t {\bf weight} [MAX\_\-RAYS]
\item 
\begin{tabbing}
xx\=xx\=xx\=xx\=xx\=xx\=xx\=xx\=xx\=\kill
union \{\\
\>uint8\_t {\bf rays} [MAX\_RAYS $\ast$2]\\
\>{\bf oa\_point\_t} {\bf res} [MAX\_CHKPOINTS]\\
\} {\bf u}\\

\end{tabbing}\end{CompactItemize}


\subsection{Detailed Description}


Definition at line 106 of file obstacle\_\-avoidance.h.

\subsection{Field Documentation}
\index{obstacle\_\-avoidance@{obstacle\_\-avoidance}!polys@{polys}}
\index{polys@{polys}!obstacle_avoidance@{obstacle\_\-avoidance}}
\subsubsection[polys]{\setlength{\rightskip}{0pt plus 5cm}{\bf oa\_\-poly\_\-t} {\bf obstacle\_\-avoidance::polys}[MAX\_\-POLY]}\label{structobstacle__avoidance_64518087c533d7c7bf4610fda3eac41b}




Definition at line 107 of file obstacle\_\-avoidance.h.

Referenced by dijkstra(), oa\_\-init(), oa\_\-new\_\-poly(), and oa\_\-process().\index{obstacle\_\-avoidance@{obstacle\_\-avoidance}!points@{points}}
\index{points@{points}!obstacle_avoidance@{obstacle\_\-avoidance}}
\subsubsection[points]{\setlength{\rightskip}{0pt plus 5cm}{\bf oa\_\-ext\_\-point\_\-t} {\bf obstacle\_\-avoidance::points}[MAX\_\-PTS]}\label{structobstacle__avoidance_9ec788b2d3f5f7dbd51e68cd540288bf}




Definition at line 108 of file obstacle\_\-avoidance.h.

Referenced by oa\_\-init(), oa\_\-new\_\-poly(), and oa\_\-start\_\-end\_\-points().\index{obstacle\_\-avoidance@{obstacle\_\-avoidance}!ray\_\-n@{ray\_\-n}}
\index{ray\_\-n@{ray\_\-n}!obstacle_avoidance@{obstacle\_\-avoidance}}
\subsubsection[ray\_\-n]{\setlength{\rightskip}{0pt plus 5cm}uint8\_\-t {\bf obstacle\_\-avoidance::ray\_\-n}}\label{structobstacle__avoidance_a94330dae86b522f21f4ec0132982040}




Definition at line 110 of file obstacle\_\-avoidance.h.

Referenced by calc\_\-rays(), dijkstra(), and oa\_\-process().\index{obstacle\_\-avoidance@{obstacle\_\-avoidance}!cur\_\-poly\_\-idx@{cur\_\-poly\_\-idx}}
\index{cur\_\-poly\_\-idx@{cur\_\-poly\_\-idx}!obstacle_avoidance@{obstacle\_\-avoidance}}
\subsubsection[cur\_\-poly\_\-idx]{\setlength{\rightskip}{0pt plus 5cm}uint8\_\-t {\bf obstacle\_\-avoidance::cur\_\-poly\_\-idx}}\label{structobstacle__avoidance_d67ab8e80258017bd337c2668a02cb47}




Definition at line 111 of file obstacle\_\-avoidance.h.

Referenced by oa\_\-new\_\-poly(), oa\_\-process(), and oa\_\-start\_\-end\_\-points().\index{obstacle\_\-avoidance@{obstacle\_\-avoidance}!cur\_\-pt\_\-idx@{cur\_\-pt\_\-idx}}
\index{cur\_\-pt\_\-idx@{cur\_\-pt\_\-idx}!obstacle_avoidance@{obstacle\_\-avoidance}}
\subsubsection[cur\_\-pt\_\-idx]{\setlength{\rightskip}{0pt plus 5cm}uint8\_\-t {\bf obstacle\_\-avoidance::cur\_\-pt\_\-idx}}\label{structobstacle__avoidance_fc2796802d0f33c9abe171295099af69}




Definition at line 112 of file obstacle\_\-avoidance.h.

Referenced by oa\_\-new\_\-poly(), and oa\_\-start\_\-end\_\-points().\index{obstacle\_\-avoidance@{obstacle\_\-avoidance}!weight@{weight}}
\index{weight@{weight}!obstacle_avoidance@{obstacle\_\-avoidance}}
\subsubsection[weight]{\setlength{\rightskip}{0pt plus 5cm}uint16\_\-t {\bf obstacle\_\-avoidance::weight}[MAX\_\-RAYS]}\label{structobstacle__avoidance_bd11012f3b9de63d6326635bd6093265}




Definition at line 114 of file obstacle\_\-avoidance.h.

Referenced by dijkstra(), and oa\_\-process().\index{obstacle\_\-avoidance@{obstacle\_\-avoidance}!rays@{rays}}
\index{rays@{rays}!obstacle_avoidance@{obstacle\_\-avoidance}}
\subsubsection[rays]{\setlength{\rightskip}{0pt plus 5cm}uint8\_\-t {\bf obstacle\_\-avoidance::rays}[MAX\_\-RAYS $\ast$2]}\label{structobstacle__avoidance_cbf8a3a8ce767fba00061b89bf429262}




Definition at line 116 of file obstacle\_\-avoidance.h.

Referenced by dijkstra(), and oa\_\-process().\index{obstacle\_\-avoidance@{obstacle\_\-avoidance}!res@{res}}
\index{res@{res}!obstacle_avoidance@{obstacle\_\-avoidance}}
\subsubsection[res]{\setlength{\rightskip}{0pt plus 5cm}{\bf oa\_\-point\_\-t} {\bf obstacle\_\-avoidance::res}[MAX\_\-CHKPOINTS]}\label{structobstacle__avoidance_44fb4ffb3616698ba84cd6e954bd2c59}




Definition at line 117 of file obstacle\_\-avoidance.h.

Referenced by get\_\-path(), and oa\_\-get\_\-path().\index{obstacle\_\-avoidance@{obstacle\_\-avoidance}!u@{u}}
\index{u@{u}!obstacle_avoidance@{obstacle\_\-avoidance}}
\subsubsection[u]{\setlength{\rightskip}{0pt plus 5cm}union \{ ... \}   {\bf obstacle\_\-avoidance::u}}\label{structobstacle__avoidance_0c1f7759437d763e5ae658c6f683c501}




Referenced by dijkstra(), get\_\-path(), oa\_\-get\_\-path(), and oa\_\-process().

The documentation for this struct was generated from the following file:\begin{CompactItemize}
\item 
aversive\_\-10-03-12/modules/devices/robot/obstacle\_\-avoidance/{\bf obstacle\_\-avoidance.h}\end{CompactItemize}
