/* Copyright (c) AT&T Corp. All rights reserved. This software may only be used by you under license from AT&T Corp. ("AT&T"). A copy of AT&T's Source Code Agreement is available at AT&T's Internet website having the URL http://www.research.att.com/sw/tools/graphviz/license/ If you received this software without first entering into a license with AT&T, you have an infringing copy of this software and cannot use it without violating AT&T's intellectual property rights. */ #include <assert.h> #include "PathPlan.h" void PathPlan::PolyBarriers(const LineV &polygons, SegmentV &out) { unsigned n = 0,i; for(i = 0; i < polygons.size(); i++) n += polygons[i].size(); out.reserve(n); for(i = 0; i < polygons.size(); i++) { const Line &pp = polygons[i]; for(unsigned j = 0; j < pp.size(); j++) { int k = (j + 1)%pp.size(); out.push_back(Segment(pp[j],pp[k])); } } assert(out.size() == n); }