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pathplan.h File Reference
#include "pathgeom.h"
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int Pshortestpath (Ppoly_t *boundary, Ppoint_t endpoints[2], Ppolyline_t *output_route)
int Proutespline (Pedge_t *barriers, int n_barriers, Ppolyline_t input_route, Pvector_t endpoint_slopes[2], Ppolyline_t *output_route)
int Ppolybarriers (Ppoly_t **polys, int npolys, Pedge_t **barriers, int *n_barriers)
void make_polyline (Ppolyline_t line, Ppolyline_t *sline)

Function Documentation

void make_polyline ( Ppolyline_t  line,
Ppolyline_t sline 

Definition at line 82 of file util.c.

References ALLOC, Ppoly_t::pn, and Ppoly_t::ps.

Referenced by makeStraightEdges(), and simpleSplineRoute().

int Ppolybarriers ( Ppoly_t **  polys,
int  npolys,
Pedge_t **  barriers,
int n_barriers 

Definition at line 48 of file util.c.

References Pedge_t::a, assert, Pedge_t::b, Ppoly_t::pn, and Ppoly_t::ps.

int Proutespline ( Pedge_t barriers,
int  n_barriers,
Ppolyline_t  input_route,
Pvector_t  endpoint_slopes[2],
Ppolyline_t output_route 

Referenced by makeSpline(), and simpleSplineRoute().

int Pshortestpath ( Ppoly_t boundary,
Ppoint_t  endpoints[2],
Ppolyline_t output_route 

Referenced by simpleSplineRoute().