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73 lines
2.3 KiB
73 lines
2.3 KiB
#ifndef BUSBAR_PLANNER_API_H
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#define BUSBAR_PLANNER_API_H
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#ifdef _WIN32
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#ifdef BUSBAR_PLANNER_EXPORTS
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#define BUSBAR_API __declspec(dllexport)
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#else
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#define BUSBAR_API __declspec(dllimport)
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#endif
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#else
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#define BUSBAR_API
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#endif
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extern "C" {
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/**
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* 巴片路径规划接口
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*
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* @param start_x, start_y, start_z: 起点坐标
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* @param end_x, end_y, end_z: 终点坐标
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* @param dir_x, dir_y, dir_z: 起始方向
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* @param xsize, ysize, zsize: 地图尺寸
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* @param obstacles: 障碍物数组 (xsize*ysize*zsize)
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* @param available_types, 可选用的巴片类型
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* @param busbar_width: 巴片宽度
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* @param busbar_thickness: 巴片厚度
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* @param clearance: 安全距离
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* @param vertical_bend_cost: 立弯参数
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* @param horizontal_bend_cost: 平弯参数
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* @param twist_cost: 扭转参数
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* @param total_cost: 输出总成本
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* @param segment_count: 输出段数量
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* @param segment_types: 输出段类型数组
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* @param start_pos_x, start_pos_y, start_pos_z: 输出各段起点坐标数组
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* @param start_normal_x, start_normal_y, start_normal_z: 输出各段起点法向量数组
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* @param end_pos_x, end_pos_y, end_pos_z: 输出各段终点坐标数组
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* @param end_normal_x, end_normal_y, end_normal_z: 输出各段终点法向量数组
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*
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* @return true表示规划成功，false表示失败
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*/
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BUSBAR_API bool planBusbarPath(
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// 输入参数
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int start_x, int start_y, int start_z,
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int end_x, int end_y, int end_z,
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float dir_x, float dir_y, float dir_z,
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int xsize, int ysize, int zsize,
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const bool* obstacles,
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const bool* available_types,
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float busbar_width,
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float busbar_thickness,
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float clearance,
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float vertical_bend_v,
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float flat_bend_f,
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float twist_t,
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// 输出参数
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float* total_cost,
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int* segment_count,
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int* segment_types,
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int* start_pos_x,
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int* start_pos_y,
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int* start_pos_z,
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float* start_normal_x,
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float* start_normal_y,
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float* start_normal_z,
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int* end_pos_x,
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int* end_pos_y,
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int* end_pos_z,
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float* end_normal_x,
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float* end_normal_y,
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float* end_normal_z
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);
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}
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#endif // BUSBAR_PLANNER_API_H
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