pathplan.h File Reference

finds and smooths shortest paths More...

#include "pathgeom.h"
#include <stddef.h>

Include dependency graph for pathplan.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Functions
int	Pshortestpath (Ppoly_t *boundary, Ppoint_t endpoints[2], Ppolyline_t *output_route)
int	Proutespline (Pedge_t *barriers, size_t n_barriers, Ppolyline_t input_route, Pvector_t endpoint_slopes[2], Ppolyline_t *output_route)
int	Ppolybarriers (Ppoly_t **polys, int npolys, Pedge_t **barriers, int *n_barriers)
void	make_polyline (Ppolyline_t line, Ppolyline_t *sline)

Detailed Description

libpathplan provides functions for creating spline paths in the plane that are constrained by a polygonal boundary or obstacles to avoid. All polygons must be simple, but need not be convex.

man 3 pathplan

Definition in file pathplan.h.

Function Documentation

make_polyline()

void make_polyline	(	Ppolyline_t	line,
		Ppolyline_t *	sline
	)

Definition at line 59 of file util.c.

References gv_recalloc(), Ppoly_t::pn, and Ppoly_t::ps.

Referenced by genroute(), makePolyline(), makeStraightEdges(), routesplines_(), and simpleSplineRoute().

Here is the call graph for this function:

Here is the caller graph for this function:

Ppolybarriers()

int Ppolybarriers	(	Ppoly_t **	polys,
		int	npolys,
		Pedge_t **	barriers,
		int *	n_barriers
	)

Definition at line 24 of file util.c.

References Pedge_t::a, Pedge_t::b, gv_calloc(), Ppoly_t::pn, and Ppoly_t::ps.

Here is the call graph for this function:

Proutespline()

int Proutespline	(	Pedge_t *	barriers,
		size_t	n_barriers,
		Ppolyline_t	input_route,
		Pvector_t	endpoint_slopes[2],
		Ppolyline_t *	output_route
	)

Definition at line 69 of file route.c.

References growops(), normv(), opl, ops, Ppoly_t::pn, Ppoly_t::ps, and reallyroutespline().

Referenced by genroute(), makeSpline(), routesplines_(), simpleSplineRoute(), and vgpanecmd().

Here is the call graph for this function:

Here is the caller graph for this function:

Pshortestpath()

int Pshortestpath	(	Ppoly_t *	boundary,
		Ppoint_t	endpoints[2],
		Ppolyline_t *	output_route
	)

Definition at line 83 of file shortest.c.

References add2dq(), deque_t::apex, ccw(), connecttris(), DQ_BACK, DQ_FRONT, triangle_t::e, finddqsplit(), deque_t::fpnlpi, free(), growops(), ISCCW, pointnlink_t::link, deque_t::lpnlpi, triangle_t::mark, marktripath(), NULL, ops, Ppoly_t::pn, tedge_t::pnl0p, tedge_t::pnl1p, deque_t::pnlpn, deque_t::pnlps, pointintri(), POINTNLINKPSIZE, pointnlink_t::pp, prerror, PRISIZE_T, Ppoly_t::ps, tedge_t::right_index, SIZE_MAX, splitdq(), triangulate(), tris, Pxy_t::x, and Pxy_t::y.

Referenced by genroute(), routesplines_(), and simpleSplineRoute().

Here is the call graph for this function:

Here is the caller graph for this function: