This directory (~pradeep/WWW/cs576) conatins the following files:
main.C
main.h
template.html
movie1.gif
movie2.gif
movie3.gif
movie4.gif
movie5.gif
example1.txt
Makefile

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Here I shall give a breif description of the various functions in main.C

double action_loss(point &p, int state)

	takes in an initial point and a state and gives the cost of action
	if point in goal cost =0
	otherwise cost = C_u (Constant = 1) + INFINITE *indynamic(p)

double get_x(int index)
double get_y(int index)

	return the point given the array index (point to which the array index
	refers to)

bool chk_closeness(point dest)

	Checks if the point is close to the dynamic region

double cost_to_go_for_action(point init, point dest, int curr_state)

	returns cost for an action given initial point, destination point
	and the current state

point get_next_point(int angle_index, point &p)

	returns the point corresponding to the next action

double cost_to_go(point init, int state,point &nextpoint)

	returns the minimum cost among all the actions given the initial 
	point and the state. Also returns the destination point due to 
	the application of the action.

void dynamic()

	the dynamic programming algorithm which finds the optimal cost
	matrix.

void getinput()

	gets the input

void show(window &W1,point p,int state,char file_name[])

	Display procedure. Also generates the ps files

int cmp_x(const point &p1, const point &p2)
int cmp_y(const point &p1, const point &p2)

	used to compare the coordinates of p1 and p2.

void min_max()

	used to get the maximum and minimum point of the border

bool in_goal(point p)

	checks if p in goal region

void initialize_arr()

	initializes the array which used in dynamic()

bool done(double A_prev[DIV][DIV], double A_curr[DIV][DIV])

	checks if the dynamic programming algorithm has reached the 
	terminating condition.

bool find_region(point p, int &j,int &i)

	finds the four points between which point 'p' lies

double get_slope(double a, double b, double c)

	returns the ratio in which 'b' divides 'a' and 'c'

double interpolated_cost(double A[DIV][DIV],double alpha,double beta,int j,int i
)

	returns the Interpolated cost given the ratios in which the four 
	points are with respect to the destination point

bool in_obs(point p)

	checks if 'p' in obstacle region

int in_dynamic(point p)

	checks if 'p' in dynamic region

void move(double A[DIV][DIV],double  B[DIV][DIV])

	copies A to B

int  next_env(int prev_state)

	returns the next environment state

void execute(point initial)

	procedure which actually executes the motion plan given an initial
	position of the robot and an initial environment state.