/* $Id: pathplan.h,v 1.5 2009/06/03 01:10:54 ellson Exp $ $Revision: 1.5 $ */
/* 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 _PATH_INCLUDE
#define _PATH_INCLUDE

#include "pathgeom.h"

#ifdef __cplusplus
extern "C" {
#endif


#if defined(_BLD_pathplan) && defined(__EXPORT__)
#   define extern __EXPORT__
#endif

/* find shortest euclidean path within a simple polygon */
    extern int Pshortestpath(Ppoly_t * boundary, Ppoint_t endpoints[2],
			     Ppolyline_t * output_route);

/* fit a spline to an input polyline, without touching barrier segments */
    extern int Proutespline(Pedge_t * barriers, int 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 */
    extern int Ppolybarriers(Ppoly_t ** polys, int npolys,
			     Pedge_t ** barriers, int *n_barriers);

/* function to convert a polyline into a spline representation */
    extern void make_polyline(Ppolyline_t line, Ppolyline_t* sline);

#undef extern

#ifdef __cplusplus
}
#endif
#endif
