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1 /* $Id: pathplan.h,v 1.5 2009/06/03 01:10:54 ellson Exp $ $Revision: 1.5 $ */
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2 /* vim:set shiftwidth=4 ts=8: */
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3
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4 /**********************************************************
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5 * This software is part of the graphviz package *
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6 * http://www.graphviz.org/ *
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7 * *
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8 * Copyright (c) 1994-2004 AT&T Corp. *
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9 * and is licensed under the *
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10 * Common Public License, Version 1.0 *
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11 * by AT&T Corp. *
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12 * *
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13 * Information and Software Systems Research *
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14 * AT&T Research, Florham Park NJ *
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15 **********************************************************/
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16
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17
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18
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19 #ifndef _PATH_INCLUDE
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20 #define _PATH_INCLUDE
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21
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22 #include "pathgeom.h"
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23
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24 #ifdef __cplusplus
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25 extern "C" {
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26 #endif
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27
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28
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29 #if defined(_BLD_pathplan) && defined(__EXPORT__)
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30 # define extern __EXPORT__
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31 #endif
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32
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33 /* find shortest euclidean path within a simple polygon */
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34 extern int Pshortestpath(Ppoly_t * boundary, Ppoint_t endpoints[2],
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35 Ppolyline_t * output_route);
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36
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37 /* fit a spline to an input polyline, without touching barrier segments */
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38 extern int Proutespline(Pedge_t * barriers, int n_barriers,
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39 Ppolyline_t input_route,
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40 Pvector_t endpoint_slopes[2],
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41 Ppolyline_t * output_route);
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42
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43 /* utility function to convert from a set of polygonal obstacles to barriers */
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44 extern int Ppolybarriers(Ppoly_t ** polys, int npolys,
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45 Pedge_t ** barriers, int *n_barriers);
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46
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47 /* function to convert a polyline into a spline representation */
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48 extern void make_polyline(Ppolyline_t line, Ppolyline_t* sline);
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49
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50 #undef extern
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51
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52 #ifdef __cplusplus
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53 }
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54 #endif
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55 #endif
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