wolffd@0: /* $Id: pathplan.h,v 1.5 2009/06/03 01:10:54 ellson Exp $ $Revision: 1.5 $ */
wolffd@0: /* vim:set shiftwidth=4 ts=8: */
wolffd@0: 
wolffd@0: /**********************************************************
wolffd@0: *      This software is part of the graphviz package      *
wolffd@0: *                http://www.graphviz.org/                 *
wolffd@0: *                                                         *
wolffd@0: *            Copyright (c) 1994-2004 AT&T Corp.           *
wolffd@0: *                and is licensed under the                *
wolffd@0: *            Common Public License, Version 1.0           *
wolffd@0: *                      by AT&T Corp.                      *
wolffd@0: *                                                         *
wolffd@0: *        Information and Software Systems Research        *
wolffd@0: *              AT&T Research, Florham Park NJ             *
wolffd@0: **********************************************************/
wolffd@0: 
wolffd@0: 
wolffd@0: 
wolffd@0: #ifndef _PATH_INCLUDE
wolffd@0: #define _PATH_INCLUDE
wolffd@0: 
wolffd@0: #include "pathgeom.h"
wolffd@0: 
wolffd@0: #ifdef __cplusplus
wolffd@0: extern "C" {
wolffd@0: #endif
wolffd@0: 
wolffd@0: 
wolffd@0: #if defined(_BLD_pathplan) && defined(__EXPORT__)
wolffd@0: #   define extern __EXPORT__
wolffd@0: #endif
wolffd@0: 
wolffd@0: /* find shortest euclidean path within a simple polygon */
wolffd@0:     extern int Pshortestpath(Ppoly_t * boundary, Ppoint_t endpoints[2],
wolffd@0: 			     Ppolyline_t * output_route);
wolffd@0: 
wolffd@0: /* fit a spline to an input polyline, without touching barrier segments */
wolffd@0:     extern int Proutespline(Pedge_t * barriers, int n_barriers,
wolffd@0: 			    Ppolyline_t input_route,
wolffd@0: 			    Pvector_t endpoint_slopes[2],
wolffd@0: 			    Ppolyline_t * output_route);
wolffd@0: 
wolffd@0: /* utility function to convert from a set of polygonal obstacles to barriers */
wolffd@0:     extern int Ppolybarriers(Ppoly_t ** polys, int npolys,
wolffd@0: 			     Pedge_t ** barriers, int *n_barriers);
wolffd@0: 
wolffd@0: /* function to convert a polyline into a spline representation */
wolffd@0:     extern void make_polyline(Ppolyline_t line, Ppolyline_t* sline);
wolffd@0: 
wolffd@0: #undef extern
wolffd@0: 
wolffd@0: #ifdef __cplusplus
wolffd@0: }
wolffd@0: #endif
wolffd@0: #endif