Graphviz: lib/pathplan/pathplan.h Source File

Graphviz 2.29.20120524.0446
00001 /* $Id$ $Revision$ */
00002 /* vim:set shiftwidth=4 ts=8: */
00003 
00004 /*************************************************************************
00005  * Copyright (c) 2011 AT&T Intellectual Property 
00006  * All rights reserved. This program and the accompanying materials
00007  * are made available under the terms of the Eclipse Public License v1.0
00008  * which accompanies this distribution, and is available at
00009  * http://www.eclipse.org/legal/epl-v10.html
00010  *
00011  * Contributors: See CVS logs. Details at http://www.graphviz.org/
00012  *************************************************************************/
00013 
00014 
00015 
00016 #ifndef _PATH_INCLUDE
00017 #define _PATH_INCLUDE
00018 
00019 #include "pathgeom.h"
00020 
00021 #ifdef __cplusplus
00022 extern "C" {
00023 #endif
00024 
00025 
00026 #if defined(_BLD_pathplan) && defined(__EXPORT__)
00027 #   define extern __EXPORT__
00028 #endif
00029 
00030 /* find shortest euclidean path within a simple polygon */
00031     extern int Pshortestpath(Ppoly_t * boundary, Ppoint_t endpoints[2],
00032                              Ppolyline_t * output_route);
00033 
00034 /* fit a spline to an input polyline, without touching barrier segments */
00035     extern int Proutespline(Pedge_t * barriers, int n_barriers,
00036                             Ppolyline_t input_route,
00037                             Pvector_t endpoint_slopes[2],
00038                             Ppolyline_t * output_route);
00039 
00040 /* utility function to convert from a set of polygonal obstacles to barriers */
00041     extern int Ppolybarriers(Ppoly_t ** polys, int npolys,
00042                              Pedge_t ** barriers, int *n_barriers);
00043 
00044 /* function to convert a polyline into a spline representation */
00045     extern void make_polyline(Ppolyline_t line, Ppolyline_t* sline);
00046 
00047 #undef extern
00048 
00049 #ifdef __cplusplus
00050 }
00051 #endif
00052 #endif