Modular Psi: C:/eclipse/workspace/modularpsi/Graphviz/include/pathplan.h Source File

00001 /* $Id: pathplan.h,v 1.1 2005/04/09 03:38:19 roxo Exp $ $Revision: 1.1 $ */
00002 /* vim:set shiftwidth=4 ts=8: */
00003 
00004 /**********************************************************
00005 *      This software is part of the graphviz package      *
00006 *                http://www.graphviz.org/                 *
00007 *                                                         *
00008 *            Copyright (c) 1994-2004 AT&T Corp.           *
00009 *                and is licensed under the                *
00010 *            Common Public License, Version 1.0           *
00011 *                      by AT&T Corp.                      *
00012 *                                                         *
00013 *        Information and Software Systems Research        *
00014 *              AT&T Research, Florham Park NJ             *
00015 **********************************************************/
00016 
00017 
00018 
00019 #ifndef _PATH_INCLUDE
00020 #define _PATH_INCLUDE
00021 
00022 #include "pathgeom.h"
00023 
00024 #ifdef __cplusplus
00025 extern "C" {
00026 #endif
00027 
00028 
00029 #if defined(_BLD_pathplan) && defined(_DLL)
00030 #   define extern __EXPORT__
00031 #endif
00032 
00033 /* find shortest euclidean path within a simple polygon */
00034     extern int Pshortestpath(Ppoly_t * boundary, Ppoint_t endpoints[2],
00035                              Ppolyline_t * output_route);
00036 
00037 /* fit a spline to an input polyline, without touching barrier segments */
00038     extern int Proutespline(Pedge_t * barriers, int n_barriers,
00039                             Ppolyline_t input_route,
00040                             Pvector_t endpoint_slopes[2],
00041                             Ppolyline_t * output_route);
00042 
00043 /* utility function to convert from a set of polygonal obstacles to barriers */
00044     extern int Ppolybarriers(Ppoly_t ** polys, int npolys,
00045                              Pedge_t ** barriers, int *n_barriers);
00046 
00047 #undef extern
00048 
00049 #ifdef __cplusplus
00050 }
00051 #endif
00052 #endif