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/*
This software may only be used by you under license from AT&T Corp.
("AT&T"). A copy of AT&T's Source Code Agreement is available at
AT&T's Internet website having the URL:
<http://www.research.att.com/sw/tools/graphviz/license/source.html>
If you received this software without first entering into a license
with AT&T, you have an infringing copy of this software and cannot use
it without violating AT&T's intellectual property rights.
*/
#pragma prototyped
#ifndef _VIS_INCLUDE
#define _VIS_INCLUDE
#include <pathgeom.h>
#if defined(_BLD_pathplan) && defined(_DLL)
# define extern __EXPORT__
#endif
/* open a visibility graph */
extern vconfig_t *Pobsopen(Ppoly_t **obstacles, int n_obstacles);
/* close a visibility graph, freeing its storage */
extern void Pobsclose(vconfig_t *config);
/* route a polyline from p0 to p1, avoiding obstacles.
* if an endpoint is inside an obstacle, pass the polygon's index >=0
* if the endpoint is not inside an obstacle, pass POLYID_NONE
* if the endpoint location is not known, pass POLYID_UNKNOWN
*/
extern int Pobspath(vconfig_t *config, Ppoint_t p0, int poly0,
Ppoint_t p1, int poly1,
Ppolyline_t *output_route);
#define POLYID_NONE -1111
#define POLYID_UNKNOWN -2222
#undef extern
#endif
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