NAME
libpathplan - finds and smooths shortest paths
SYNOPSIS
FUNCTIONS
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 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:
AUTHORS
David Dobkin (dpd@cs.princeton.edu), Eleftherios Koutsofios
(ek@research.att.com), Emden Gansner (erg@research.att.com).
01 APRIL 1997 LIBPATH(3)