Graphviz  2.41.20170921.2350
pathplan.h
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1 /* $Id$ $Revision$ */
2 /* vim:set shiftwidth=4 ts=8: */
3 
4 /*************************************************************************
5  * Copyright (c) 2011 AT&T Intellectual Property
6  * All rights reserved. This program and the accompanying materials
7  * are made available under the terms of the Eclipse Public License v1.0
8  * which accompanies this distribution, and is available at
9  * http://www.eclipse.org/legal/epl-v10.html
10  *
11  * Contributors: See CVS logs. Details at http://www.graphviz.org/
12  *************************************************************************/
13 
14 
15 
16 #ifndef _PATH_INCLUDE
17 #define _PATH_INCLUDE
18 
19 #include "pathgeom.h"
20 
21 #ifdef __cplusplus
22 extern "C" {
23 #endif
24 
25 
26 #if defined(_BLD_pathplan) && defined(__EXPORT__)
27 # define extern __EXPORT__
28 #endif
29 
30 /* find shortest euclidean path within a simple polygon */
31  extern int Pshortestpath(Ppoly_t * boundary, Ppoint_t endpoints[2],
32  Ppolyline_t * output_route);
33 
34 /* fit a spline to an input polyline, without touching barrier segments */
35  extern int Proutespline(Pedge_t * barriers, int n_barriers,
36  Ppolyline_t input_route,
37  Pvector_t endpoint_slopes[2],
38  Ppolyline_t * output_route);
39 
40 /* utility function to convert from a set of polygonal obstacles to barriers */
41  extern int Ppolybarriers(Ppoly_t ** polys, int npolys,
42  Pedge_t ** barriers, int *n_barriers);
43 
44 /* function to convert a polyline into a spline representation */
45  extern void make_polyline(Ppolyline_t line, Ppolyline_t* sline);
46 
47 #undef extern
48 
49 #ifdef __cplusplus
50 }
51 #endif
52 #endif
int Proutespline(Pedge_t *barriers, int n_barriers, Ppolyline_t input_route, Pvector_t endpoint_slopes[2], Ppolyline_t *output_route)
void make_polyline(Ppolyline_t line, Ppolyline_t *sline)
Definition: util.c:82
int Ppolybarriers(Ppoly_t **polys, int npolys, Pedge_t **barriers, int *n_barriers)
Definition: util.c:48
int Pshortestpath(Ppoly_t *boundary, Ppoint_t endpoints[2], Ppolyline_t *output_route)
Definition: pathgeom.h:26