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/*************************************************************************
* 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>
#ifdef __cplusplus
extern "C" {
#endif
#ifdef GVDLL
#ifdef PATHPLAN_EXPORTS
#define VISPATH_API __declspec(dllexport)
#else
#define VISPATH_API __declspec(dllimport)
#endif
#endif
#ifndef VISPATH_API
#define VISPATH_API /* nothing */
#endif
/* open a visibility graph
* Points in polygonal obstacles must be in clockwise order.
*/
VISPATH_API vconfig_t *Pobsopen(Ppoly_t ** obstacles, int n_obstacles);
/* close a visibility graph, freeing its storage */
VISPATH_API 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
*/
VISPATH_API void 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 VISPATH_API
#ifdef __cplusplus
}
#endif
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