You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
103 lines
2.6 KiB
103 lines
2.6 KiB
5 days ago
|
|
||
|
|
#ifndef VOXEL_DISTANCE_API_H
|
||
|
|
#define VOXEL_DISTANCE_API_H
|
||
|
|
|
||
|
|
#include <cstdint>
|
||
|
|
#include "CommonStructs.hpp"
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
extern "C" {
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// ========== 平台相关的导出宏 ==========
|
||
|
|
#ifdef _WIN32
|
||
|
|
#if defined(VOXEL_DISTANCE_EXPORTS) || defined(BUSBAR_PLANNER_EXPORTS)
|
||
|
|
// 编译动态库时导出
|
||
|
|
#define VOXEL_API __declspec(dllexport)
|
||
|
|
#elif defined(BUSBAR_ROUTER_STATIC) || !defined(VOXEL_DLL) // 新增：默认走静态分支
|
||
|
|
// 编译可执行文件/静态库，无导入导出
|
||
|
|
#define VOXEL_API
|
||
|
|
#else
|
||
|
|
// 使用动态库时导入（保留）
|
||
|
|
#define VOXEL_API __declspec(dllimport)
|
||
|
|
#endif
|
||
|
|
#else
|
||
|
|
#define VOXEL_API
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// ========== 纯 C 接口 ==========
|
||
|
|
|
||
|
|
/**
|
||
|
|
* 计算飞行距离(在非障碍空间中的最短路径)
|
||
|
|
*/
|
||
|
|
VOXEL_API int CalculateFlightDistance(
|
||
|
|
const int* component_A_coords,
|
||
|
|
int component_A_count,
|
||
|
|
const int* component_B_coords,
|
||
|
|
int component_B_count,
|
||
|
|
int xsize,
|
||
|
|
int ysize,
|
||
|
|
int zsize,
|
||
|
|
const uint16_t* voxel_types,
|
||
|
|
double threshold,
|
||
|
|
const IniInPutStruct* inputDataA,
|
||
|
|
size_t inputCountA,
|
||
|
|
const IniInPutStruct* inputDataB,
|
||
|
|
size_t inputCountB,
|
||
|
|
const IniInPutStruct* pInputDataGlobal,
|
||
|
|
size_t inputDataGlobalSize,
|
||
|
|
float offset_x,
|
||
|
|
float offset_y,
|
||
|
|
float offset_z,
|
||
|
|
float rangeXMin,
|
||
|
|
float rangeXMax,
|
||
|
|
float rangeYMin,
|
||
|
|
float rangeYMax,
|
||
|
|
float rangeZMin,
|
||
|
|
float rangeZMax,
|
||
|
|
double* out_distance,
|
||
|
|
int* out_start_x,
|
||
|
|
int* out_start_y,
|
||
|
|
int* out_start_z,
|
||
|
|
int* out_end_x,
|
||
|
|
int* out_end_y,
|
||
|
|
int* out_end_z,
|
||
|
|
float* out_path_coords,
|
||
|
|
int* out_path_count,
|
||
|
|
float voxel_size
|
||
|
|
);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* 计算爬行距离(在障碍物表面的最短路径)
|
||
|
|
*/
|
||
|
|
VOXEL_API int CalculateCreepDistance(
|
||
|
|
const int* component_A_coords,
|
||
|
|
int component_A_count,
|
||
|
|
const int* component_B_coords,
|
||
|
|
int component_B_count,
|
||
|
|
int xsize,
|
||
|
|
int ysize,
|
||
|
|
int zsize,
|
||
|
|
const bool* obstacles,
|
||
|
|
double threshold,
|
||
|
|
double* out_distance,
|
||
|
|
int* out_start_x,
|
||
|
|
int* out_start_y,
|
||
|
|
int* out_start_z,
|
||
|
|
int* out_end_x,
|
||
|
|
int* out_end_y,
|
||
|
|
int* out_end_z,
|
||
|
|
float* out_path_coords,
|
||
|
|
int* out_path_count
|
||
|
|
);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* 获取最后一次错误信息
|
||
|
|
*/
|
||
|
|
VOXEL_API const char* VoxelGetLastError(void);
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif // VOXEL_DISTANCE_API_H
|