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