Chirag Khopkar
Stanford University
<chirag@cs.stanford.edu>

CS 326a Project: Coordination of multiple car-like robots.

Main Modules:

1.  World module (world.c world.h)
	
	Contains general polygon data structures and files for reading in a
world.

2.  C-Obstacle Region module (constraint.c constraint.h)

	Contains functions to calculate the C-Obstacle region of a 2d polygonal
 environment for a given robot.

3.  C-Obstacle Sentence module (csentence.c csentence.h)
	
	Contains the sentence-like representation of the C-Obstacle region used to generate the bitmap.

4. Grid module (grid.h grid.c)

	Contain the 3-d bitmap representation of the environment, along with
the potential value at each grid cell.

5. Potential module (potential.h potential.c)

	Contains NF1 and NF2 calculating functions.

6. Holonomic planning module (holonomic.h holonomic.c)
		
	Contains functions to perform a BFS on the grid to obtain a holonomic
path from the initial configuration to the goal configuration.

7. Nonholonomic planning module (nonholonomic.h nonholonomic.c)

	Contains functions to convert the holonomic path into a nonholonomic
one using Reeds-Shepp curves.

8. Coordination module (coordinate.h coordinate.c)

	Contains functions to coordinate paths of multiple robots.


Helper Modules

1.  Configuration  (config.h config.c)

	Contains description of a configuration data type.

2.  Vector (vector.h vector.c)

	Functions for vectors.

3.  List (list.h list.c)
	
	Functions for a linked list (which actually acts like a stack)

4.  Reeds Shepp curves (rs.c rs.h -- given)

	Functions to generate Reeds Shepp curves.

5.  Open and Tree (open.h open.c tree.h tree.c)

	Functions for use in the holonomic planner as it performs a BFS.

6.  General Functions (genfuncs.h genfuncs.c)

	Functions which are used repeatedly by all modules
	(eg OpenFile, RadToDeg, etc)


Notes

1.  My main.c still has some OpenGL code.  If you feel like running it on an SGI, please uncomment the following lines:
	a. #include <glut.h>
	b. All the code from Reshape down to PrintStaticObjects.
	c. The for loop after the call to CoordinateRobotPaths.
	d. The rest of main after ConvertToMovieClass.