Graphviz: lib/pathplan/vispath.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 _VIS_INCLUDE
00017 #define _VIS_INCLUDE
00018 
00019 #include <pathgeom.h>
00020 
00021 #ifdef __cplusplus
00022 extern "C" {
00023 #endif
00024 
00025 #if defined(_BLD_pathplan) && defined(__EXPORT__)
00026 #   define extern __EXPORT__
00027 #endif
00028 
00029 /* open a visibility graph */
00030     extern vconfig_t *Pobsopen(Ppoly_t ** obstacles, int n_obstacles);
00031 
00032 /* close a visibility graph, freeing its storage */
00033     extern void Pobsclose(vconfig_t * config);
00034 
00035 /* route a polyline from p0 to p1, avoiding obstacles.
00036  * if an endpoint is inside an obstacle, pass the polygon's index >=0
00037  * if the endpoint is not inside an obstacle, pass POLYID_NONE
00038  * if the endpoint location is not known, pass POLYID_UNKNOWN
00039  */
00040 
00041     extern int Pobspath(vconfig_t * config, Ppoint_t p0, int poly0,
00042                         Ppoint_t p1, int poly1,
00043                         Ppolyline_t * output_route);
00044 
00045 #define POLYID_NONE             -1111
00046 #define POLYID_UNKNOWN  -2222
00047 
00048 #undef extern
00049 
00050 #ifdef __cplusplus
00051 }
00052 #endif
00053 #endif