\section{lib/pathplan/pathplan.h File Reference}
\label{pathplan_8h}\index{lib/pathplan/pathplan.\-h@{lib/pathplan/pathplan.\-h}}
{\ttfamily \#include \char`\"{}pathgeom.\-h\char`\"{}}\\*
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\includegraphics[width=158pt]{pathplan_8h__incl}
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This graph shows which files directly or indirectly include this file\-:\nopagebreak
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\includegraphics[width=350pt]{pathplan_8h__dep__incl}
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\subsection*{Functions}
\begin{DoxyCompactItemize}
\item 
{\bf int} {\bf Pshortestpath} ({\bf Ppoly\-\_\-t} $\ast$boundary, {\bf Ppoint\-\_\-t} endpoints[2], {\bf Ppolyline\-\_\-t} $\ast$output\-\_\-route)
\item 
{\bf int} {\bf Proutespline} ({\bf Pedge\-\_\-t} $\ast$barriers, {\bf int} n\-\_\-barriers, {\bf Ppolyline\-\_\-t} input\-\_\-route, {\bf Pvector\-\_\-t} endpoint\-\_\-slopes[2], {\bf Ppolyline\-\_\-t} $\ast$output\-\_\-route)
\item 
{\bf int} {\bf Ppolybarriers} ({\bf Ppoly\-\_\-t} $\ast$$\ast$polys, {\bf int} npolys, {\bf Pedge\-\_\-t} $\ast$$\ast$barriers, {\bf int} $\ast$n\-\_\-barriers)
\item 
void {\bf make\-\_\-polyline} ({\bf Ppolyline\-\_\-t} line, {\bf Ppolyline\-\_\-t} $\ast$sline)
\end{DoxyCompactItemize}


\subsection{Function Documentation}
\index{pathplan.\-h@{pathplan.\-h}!make\-\_\-polyline@{make\-\_\-polyline}}
\index{make\-\_\-polyline@{make\-\_\-polyline}!pathplan.h@{pathplan.\-h}}
\subsubsection[{make\-\_\-polyline}]{\setlength{\rightskip}{0pt plus 5cm}void make\-\_\-polyline (
\begin{DoxyParamCaption}
\item[{{\bf Ppolyline\-\_\-t}}]{line, }
\item[{{\bf Ppolyline\-\_\-t} $\ast$}]{sline}
\end{DoxyParamCaption}
)}\label{pathplan_8h_a19e43c4a1b6a0ff5b83a6a05298efe96}


Definition at line 82 of file util.\-c.



References A\-L\-L\-O\-C, Ppoly\-\_\-t\-::pn, and Ppoly\-\_\-t\-::ps.



Referenced by make\-Straight\-Edges(), and simple\-Spline\-Route().

\index{pathplan.\-h@{pathplan.\-h}!Ppolybarriers@{Ppolybarriers}}
\index{Ppolybarriers@{Ppolybarriers}!pathplan.h@{pathplan.\-h}}
\subsubsection[{Ppolybarriers}]{\setlength{\rightskip}{0pt plus 5cm}{\bf int} Ppolybarriers (
\begin{DoxyParamCaption}
\item[{{\bf Ppoly\-\_\-t} $\ast$$\ast$}]{polys, }
\item[{{\bf int}}]{npolys, }
\item[{{\bf Pedge\-\_\-t} $\ast$$\ast$}]{barriers, }
\item[{{\bf int} $\ast$}]{n\-\_\-barriers}
\end{DoxyParamCaption}
)}\label{pathplan_8h_ae6c3192fb411d7d68e828b8afd3f0dfd}


Definition at line 48 of file util.\-c.



References Pedge\-\_\-t\-::a, assert, Pedge\-\_\-t\-::b, Ppoly\-\_\-t\-::pn, and Ppoly\-\_\-t\-::ps.

\index{pathplan.\-h@{pathplan.\-h}!Proutespline@{Proutespline}}
\index{Proutespline@{Proutespline}!pathplan.h@{pathplan.\-h}}
\subsubsection[{Proutespline}]{\setlength{\rightskip}{0pt plus 5cm}{\bf int} Proutespline (
\begin{DoxyParamCaption}
\item[{{\bf Pedge\-\_\-t} $\ast$}]{barriers, }
\item[{{\bf int}}]{n\-\_\-barriers, }
\item[{{\bf Ppolyline\-\_\-t}}]{input\-\_\-route, }
\item[{{\bf Pvector\-\_\-t}}]{endpoint\-\_\-slopes[2], }
\item[{{\bf Ppolyline\-\_\-t} $\ast$}]{output\-\_\-route}
\end{DoxyParamCaption}
)}\label{pathplan_8h_a0e8f206994ab3644c38e9943cf9afd23}


Referenced by make\-Spline(), and simple\-Spline\-Route().

\index{pathplan.\-h@{pathplan.\-h}!Pshortestpath@{Pshortestpath}}
\index{Pshortestpath@{Pshortestpath}!pathplan.h@{pathplan.\-h}}
\subsubsection[{Pshortestpath}]{\setlength{\rightskip}{0pt plus 5cm}{\bf int} Pshortestpath (
\begin{DoxyParamCaption}
\item[{{\bf Ppoly\-\_\-t} $\ast$}]{boundary, }
\item[{{\bf Ppoint\-\_\-t}}]{endpoints[2], }
\item[{{\bf Ppolyline\-\_\-t} $\ast$}]{output\-\_\-route}
\end{DoxyParamCaption}
)}\label{pathplan_8h_acd43e0e060bf87289b8bc83ef60cff47}


Referenced by simple\-Spline\-Route().

