1/* $Id$ $Revision$ */
2/* vim:set shiftwidth=4 ts=8: */
3
4/*************************************************************************
5 * Copyright (c) 2011 AT&T Intellectual Property
6 * All rights reserved. This program and the accompanying materials
7 * are made available under the terms of the Eclipse Public License v1.0
8 * which accompanies this distribution, and is available at
9 * http://www.eclipse.org/legal/epl-v10.html
10 *
11 * Contributors: See CVS logs. Details at http://www.graphviz.org/
12 *************************************************************************/
13
14
15
16#ifndef _VIS_INCLUDE
17#define _VIS_INCLUDE
18
19#include <pathgeom.h>
20
21#ifdef __cplusplus
22extern "C" {
23#endif
24
25#if defined(_BLD_pathplan) && defined(__EXPORT__)
26# define extern __EXPORT__
27#endif
28
29/* open a visibility graph
30 * Points in polygonal obstacles must be in clockwise order.
31 */
32 extern vconfig_t *Pobsopen(Ppoly_t ** obstacles, int n_obstacles);
33
34/* close a visibility graph, freeing its storage */
35 extern void Pobsclose(vconfig_t * config);
36
37/* route a polyline from p0 to p1, avoiding obstacles.
38 * if an endpoint is inside an obstacle, pass the polygon's index >=0
39 * if the endpoint is not inside an obstacle, pass POLYID_NONE
40 * if the endpoint location is not known, pass POLYID_UNKNOWN
41 */
42
43 extern int Pobspath(vconfig_t * config, Ppoint_t p0, int poly0,
44 Ppoint_t p1, int poly1,
45 Ppolyline_t * output_route);
46
47#define POLYID_NONE -1111
48#define POLYID_UNKNOWN -2222
49
50#undef extern
51
52#ifdef __cplusplus
53}
54#endif
55#endif
56