comparison toolboxes/graph_visualisation/include/graphviz/pathplan.h @ 0:cc4b1211e677 tip

initial commit to HG from
Changeset:
646 (e263d8a21543) added further path and more save "camirversion.m"

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