/* 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/source.html> 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. */ #pragma prototyped #ifndef _VIS_INCLUDE #define _VIS_INCLUDE #include <pathgeom.h> #if defined(_BLD_pathplan) && defined(_DLL) # 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 #endif