Operations on lists of neighbors. More...

Functions
void	nbrListCreate (NbrList *nbrListPtr)
	Fills the provided nbrList with the current set of neighbors. More...

void	nbrListClear (NbrList *nbrListPtr)
	Sets the size of nbrList to 0. More...

void	nbrListPrintDebug (NbrList nbrListPtr, char name)
	Prints the IDs and update times for all robots in the neighbor list. More...

void	nbrListAddNbr (NbrList nbrListPtr, Nbr nbrPtr)
	Adds a neighbor to a neighbor's linked list of neighbors if there is room. More...

void	nbrListRemoveNbr (NbrList nbrListPtr, Nbr nbrPtr)
	Removes nbrPtr from list (if it exists). More...

void	nbrListCopy (NbrList nbrListDstPtr, NbrList nbrListSrcPtr)
	Copies the neighbor list from SRC to DST. More...

int16	nbrListAverageBearing (NbrList *nbrListPtr)
	Determines average bearing of all neighbors using sum of vectors method (optimized). More...

Nbr *	nbrListGetFirst (NbrList *nbrListPtr)
	Returns a pointer to the neighbor at the head of the list, or NULL. More...

Nbr *	nbrListGetSecond (NbrList *nbrListPtr)
	Returns a pointer to the neighbor second in the list, or NULL. More...

Nbr *	nbrListGetNbrWithID (NbrList *nbrListPtr, uint8 ID)
	Returns a pointer to the neighbor with ID, or NULL. More...

Nbr *	nbrListGetSmallestAngleDeviation2 (NbrList nbrListPtr, Nbr nbrPtr)
	returns the neighbor whose bearing is closest to nbrPtr's bearing, NULL if list is empty. More...

Nbr *	nbrListGetClosestNbrToBearing (NbrList *nbrListPtr, int16 bearing)
	returns the neighbor whose bearing is closest to bearing, NULL if list is empty. More...

NbrList *	nbrListUnion (NbrList nbrListOutPtr, NbrList nbrList1Ptr, NbrList *nbrList2Ptr)
	Computes the union of the two input neighbor lists. More...

NbrList *	nbrListFindNbrsWithDataEqual (NbrList nbrListOutPtr, NbrList nbrListInPtr, NbrData *nbrDataPtr, uint8 val)
	returns a pointer to the list of neighbors with the same data value More...

NbrList *	nbrListFindNbrsWithDataEqual2 (NbrList nbrListOutPtr, NbrList nbrListInPtr, NbrData *nbrDataPtr, uint8 val1, uint8 val2)
	returns a pointer to the list of neighbors with the same data values More...

Nbr *	nbrListGetNbrMinBearing (NbrList *nbrListInPtr)
	Finds the neighbor with the minimum bearing in a list of neighbors. More...

NbrList *	nbrListSortByBearing (NbrList nbrListOutPtr, NbrList nbrListInPtr)
	Sorts the nbr List in counter clockwise order by bearing. More...

NbrList *	nbrListIncludeSectorInclusive (NbrList nbrListOutPtr, NbrList nbrListInPtr, int16 angleStart, int16 angleEnd)
	Creates a list of neighbors that lie within the specified sector between angleStart and angleEnd. More...

NbrList *	nbrListIncludeSectorExclusive (NbrList nbrListOutPtr, NbrList nbrListInPtr, int16 angleStart, int16 angleEnd)
	Creates a list of neighbors that lie outside of the specified sector between angleStart and angleEnd. More...

NbrList *	nbrListGetRobots (NbrList nbrListOutPtr, NbrList nbrListInPtr)
	Finds neighbors that are robots. More...

Detailed Description

Operations on lists of neighbors.

This includes adding/removing neighbors, searching for neighbors, and looking for robots with certain bearings.

Since: September 13, 2011

Author: James McLurkin

Function Documentation

void nbrListAddNbr	(	NbrList *	nbrListPtr,
		Nbr *	nbrPtr
	)

Adds a neighbor to a neighbor's linked list of neighbors if there is room.

Parameters

nbrListPtr	the neighbor's linked list
nbrPtr	a new neighbor

Returns: void

int16 nbrListAverageBearing ( NbrList * nbrListPtr)

Determines average bearing of all neighbors using sum of vectors method (optimized).

Parameters

nbrListPtr list of neighbors

Returns: average bearing (milliradians)

void nbrListClear ( NbrList * nbrListPtr)

Sets the size of nbrList to 0.

Parameters

nbrListPtr pointer for the list of neighbors to be altered

Returns: void

void nbrListCopy	(	NbrList *	nbrListDstPtr,
		NbrList *	nbrListSrcPtr
	)

Copies the neighbor list from SRC to DST.

Parameters

nbrListSrcPtr	(unchanged)
nbrListDstPtr	becomes a copy of nbrListSrcPtr

Returns: void

void nbrListCreate ( NbrList * nbrListPtr)

Fills the provided nbrList with the current set of neighbors.

Parameters

nbrListPtr for the list of neighbors

Returns: void

NbrList* nbrListFindNbrsWithDataEqual	(	NbrList *	nbrListOutPtr,
		NbrList *	nbrListInPtr,
		NbrData *	nbrDataPtr,
		uint8	val
	)

returns a pointer to the list of neighbors with the same data value

Parameters

nbrListOutPtr	pointer to output list of neighbors
nbrListInPtr	pointer to input list of neighbors
nbrDataPtr	list of data on messages
val	value of data to match

Returns: a pointer to the output list of neighbors with the same data value

NbrList* nbrListFindNbrsWithDataEqual2	(	NbrList *	nbrListOutPtr,
		NbrList *	nbrListInPtr,
		NbrData *	nbrDataPtr,
		uint8	val1,
		uint8	val2
	)

returns a pointer to the list of neighbors with the same data values

Parameters

nbrListOutPtr	pointer to output list of neighbors
nbrListInPtr	pointer to input list of neighbors
nbrDataPtr	list of data on messages
val1	first value of data to match
val2	second value of data to match

Returns: a pointer to the output list of neighbors with the same data values

Nbr* nbrListGetClosestNbrToBearing	(	NbrList *	nbrListPtr,
		int16	bearing
	)

returns the neighbor whose bearing is closest to bearing, NULL if list is empty.

Parameters

nbrListPtr	list of neighbors
bearing	a reference bearing

Returns: pointer to neighbor whose bearing is closest to bearing, NULL if list is empty.

Nbr* nbrListGetFirst ( NbrList * nbrListPtr)

Returns a pointer to the neighbor at the head of the list, or NULL.

Parameters

nbrListPtr pointer for the list of neighbors

Returns: a pointer to the neighbor at the head of the list, or NULL

Nbr* nbrListGetNbrMinBearing ( NbrList * nbrListInPtr)

Finds the neighbor with the minimum bearing in a list of neighbors.

Parameters

nbrListInPtr pointer to the neighbor list to search

Returns: pointer to the neighbor with the minimum bearing

Nbr* nbrListGetNbrWithID	(	NbrList *	nbrListPtr,
		uint8	ID
	)

Returns a pointer to the neighbor with ID, or NULL.

Parameters

nbrListPtr	pointer for the list of neighbors
ID	the unique number of the robot being searched for

Returns: a pointer to the neighbor with ID, or NULL

NbrList* nbrListGetRobots	(	NbrList *	nbrListOutPtr,
		NbrList *	nbrListInPtr
	)

Finds neighbors that are robots.

Parameters

nbrListOutPtr	pointer to the neighbor list updated by this function
nbrListInPtr	pointer to the neighbor list to search for robots

Returns: updated nbrListOutPtr that contains only neighbors that are robots

Nbr* nbrListGetSecond ( NbrList * nbrListPtr)

Returns a pointer to the neighbor second in the list, or NULL.

Parameters

nbrListPtr pointer for the list of neighbors

Returns: a pointer to the neighbor second in the list, or NULL

Nbr* nbrListGetSmallestAngleDeviation2	(	NbrList *	nbrListPtr,
		Nbr *	nbrPtr
	)

returns the neighbor whose bearing is closest to nbrPtr's bearing, NULL if list is empty.

Parameters

nbrListPtr	list of neighbors
nbrPtr	a neighbor used as a reference

Returns: pointer to neighbor whose bearing is closest to nbrPtr's bearing, NULL if list is empty.

NbrList* nbrListIncludeSectorExclusive	(	NbrList *	nbrListOutPtr,
		NbrList *	nbrListInPtr,
		int16	angleStart,
		int16	angleEnd
	)

Creates a list of neighbors that lie outside of the specified sector between angleStart and angleEnd.

Parameters

nbrListOutPtr	pointer to the memory location where the generated list should be stored
nbrListInPtr	pointer to the list of neighbors to check
angleStart	starting bearing of the sector
angleEnd	ending bearing of the sector

Returns: the list of neighbors outside of the specified sector

NbrList* nbrListIncludeSectorInclusive	(	NbrList *	nbrListOutPtr,
		NbrList *	nbrListInPtr,
		int16	angleStart,
		int16	angleEnd
	)

Creates a list of neighbors that lie within the specified sector between angleStart and angleEnd.

Parameters

nbrListOutPtr	pointer to the memory location where the generated list should be stored
nbrListInPtr	pointer to the list of neighbors to check
angleStart	starting bearing of the sector
angleEnd	ending bearing of the sector

Returns: the list of neighbors within the specified sector

void nbrListPrintDebug	(	NbrList *	nbrListPtr,
		char *	name
	)

Prints the IDs and update times for all robots in the neighbor list.

Formated as follows: {name, ID updateTime, ID updateTime, ...}

Parameters

nbrListPtr	pointer for the neighborlist
name	for the list name

Returns: void

void nbrListRemoveNbr	(	NbrList *	nbrListPtr,
		Nbr *	nbrPtr
	)

Removes nbrPtr from list (if it exists).

Parameters

nbrListPtr	list of neighbors
nbrPtr	a neighbor to be removed

Returns: void

NbrList* nbrListSortByBearing	(	NbrList *	nbrListOutPtr,
		NbrList *	nbrListInPtr
	)

Sorts the nbr List in counter clockwise order by bearing.

Parameters

nbrListOutPtr	pointer to output list of neighbors
nbrListInPtr	pointer to input list of neighbors

Returns: a sorted list of neighbors

NbrList* nbrListUnion	(	NbrList *	nbrListOutPtr,
		NbrList *	nbrList1Ptr,
		NbrList *	nbrList2Ptr
	)

Computes the union of the two input neighbor lists.

Parameters

nbrListOutPtr	pointer to the list created from the union
nbrList1Ptr	first neighbor list
nbrList2Ptr	second neighbor list

Returns

a pointer to a neighbor list that is the union of the two input lists

Functions

Detailed Description

Function Documentation