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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

       (!! 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 doesn’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    (,    Eleftherios    Koutsofios
       (, Emden Gansner (

                                 01 APRIL 1997                      LIBPATH(3)