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libpathplan- finds and smooths shortest paths

Finds a shortest path between two points in a simple polygon. You pass endpoints interior to the polygon boundary. A shortest path connecting the points that remains in the polygon is returned in output_route. If either endpoint does not lie in the polygon, an error code is returned. (what code!!) These functions find a shortest path between two points in a simple polygon that possibly contains polygonal obstacles (holes). creates a configuration (an opaque struct of type ) on a set of obstacles. finds a shortest path between the endpoints that remains outside the obstacles. If the endpoints are known to lie inside obstacles, or should be set to the index in the array. If an endpoint is definitely not inside an obstacle, then should be passed. If the caller has not checked, then should be passed, and the path library will perform the test. (!! there is no boundary polygon in this model?!!!) This function fits a Bezier curve to a polyline path. The curve must avoid a set of barrier segments. The polyline is usually the of one of the shortest path finders, but it can be any simple path that doesnâ€™t cross any obstacles. The input also includes endpoint slopes and 0,0 means unconstrained slope. Finally, this utility function converts an input list of polygons into an output list of barrier segments:

David Dobkin (dpd@cs.princeton.edu), Eleftherios Koutsofios (ek@research.att.com), Emden Gansner (erg@research.att.com). 01 APRIL 1997 LIBPATH(3)