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/* $Id: vispath.h,v 1.4 2009/06/03 01:10:54 ellson Exp $ $Revision: 1.4 $ */
/* vim:set shiftwidth=4 ts=8: */
/**********************************************************
* This software is part of the graphviz package *
* http://www.graphviz.org/ *
* *
* Copyright (c) 1994-2004 AT&T Corp. *
* and is licensed under the *
* Common Public License, Version 1.0 *
* by AT&T Corp. *
* *
* Information and Software Systems Research *
* AT&T Research, Florham Park NJ *
**********************************************************/
#ifndef _VIS_INCLUDE
#define _VIS_INCLUDE
#include <pathgeom.h>
#ifdef __cplusplus
extern "C" {
#endif
#if defined(_BLD_pathplan) && defined(__EXPORT__)
# 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
#ifdef __cplusplus
}
#endif
#endif
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