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/**
* @file
* @brief finds and smooths shortest paths
* @ingroup public_apis
*
* **libpathplan** provides functions for creating spline paths in the plane
* that are constrained by a polygonal boundary or obstacles to avoid.
* All polygons must be simple, but need not be convex.
*
* [man 3 pathplan](https://graphviz.org/pdf/pathplan.3.pdf)
*
*/
/*************************************************************************
* Copyright (c) 2011 AT&T Intellectual Property
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* which accompanies this distribution, and is available at
* https://www.eclipse.org/legal/epl-v10.html
*
* Contributors: Details at https://graphviz.org
*************************************************************************/
#pragma once
#include "pathgeom.h"
#include <stddef.h>
#ifdef __cplusplus
extern "C" {
#endif
#ifdef GVDLL
#ifdef PATHPLAN_EXPORTS
#define PATHPLAN_API __declspec(dllexport)
#else
#define PATHPLAN_API __declspec(dllimport)
#endif
#endif
#ifndef PATHPLAN_API
#define PATHPLAN_API /* nothing */
#endif
/* find shortest euclidean path within a simple polygon */
PATHPLAN_API int Pshortestpath(Ppoly_t * boundary, Ppoint_t endpoints[2],
Ppolyline_t * output_route);
/* fit a spline to an input polyline, without touching barrier segments */
PATHPLAN_API int Proutespline(Pedge_t *barriers, size_t n_barriers,
Ppolyline_t input_route,
Pvector_t endpoint_slopes[2],
Ppolyline_t *output_route);
/* utility function to convert from a set of polygonal obstacles to barriers */
PATHPLAN_API int Ppolybarriers(Ppoly_t ** polys, int npolys,
Pedge_t ** barriers, int *n_barriers);
/* function to convert a polyline into a spline representation */
PATHPLAN_API void make_polyline(Ppolyline_t line, Ppolyline_t* sline);
#undef PATHPLAN_API
#ifdef __cplusplus
}
#endif
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