Graphviz  2.41.20170921.2350
vispath.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 _VIS_INCLUDE
17 #define _VIS_INCLUDE
18 
19 #include <pathgeom.h>
20 
21 #ifdef __cplusplus
22 extern "C" {
23 #endif
24 
25 #if defined(_BLD_pathplan) && defined(__EXPORT__)
26 # define extern __EXPORT__
27 #endif
28 
29 /* open a visibility graph
30  * Points in polygonal obstacles must be in clockwise order.
31  */
32  extern vconfig_t *Pobsopen(Ppoly_t ** obstacles, int n_obstacles);
33 
34 /* close a visibility graph, freeing its storage */
35  extern void Pobsclose(vconfig_t * config);
36 
37 /* route a polyline from p0 to p1, avoiding obstacles.
38  * if an endpoint is inside an obstacle, pass the polygon's index >=0
39  * if the endpoint is not inside an obstacle, pass POLYID_NONE
40  * if the endpoint location is not known, pass POLYID_UNKNOWN
41  */
42 
43  extern int Pobspath(vconfig_t * config, Ppoint_t p0, int poly0,
44  Ppoint_t p1, int poly1,
45  Ppolyline_t * output_route);
46 
47 #define POLYID_NONE -1111
48 #define POLYID_UNKNOWN -2222
49 
50 #undef extern
51 
52 #ifdef __cplusplus
53 }
54 #endif
55 #endif
vconfig_t * Pobsopen(Ppoly_t **obs, int n_obs)
Definition: cvt.c:62
void Pobsclose(vconfig_t *config)
Definition: cvt.c:104
int Pobspath(vconfig_t *config, Ppoint_t p0, int poly0, Ppoint_t p1, int poly1, Ppolyline_t *output_route)
Definition: cvt.c:117
Definition: pathgeom.h:26
Definition: vis.h:38