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+#ifndef path_h
+#define path_h
+/* path.h */
+/* robospierre - Eurobot 2011 AI. {{{
+ *
+ * Copyright (C) 2011 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+#include "defs.h"
+
+/** This implement a interface similar to the path module, but adapted for the
+ * special grid of Eurobot 2011. See real path modules for interface comments. */
+
+/** Infinite validity for an obstacle. */
+#define PATH_OBSTACLE_VALID_ALWAYS 0xffff
+
+/** Obstacle. */
+struct path_obstacle_t
+{
+ /** Center. */
+ vect_t c;
+ /** Radius. */
+ uint16_t r;
+ /** Validity counter, when this is zero, the obstacle is ignored. */
+ uint16_t valid;
+};
+
+void
+path_init (void);
+
+void
+path_endpoints (vect_t s, vect_t d);
+
+void
+path_escape (uint8_t factor);
+
+void
+path_obstacle (uint8_t i, vect_t c, uint16_t r, uint8_t factor,
+ uint16_t valid);
+
+void
+path_decay (void);
+
+void
+path_update (void);
+
+uint8_t
+path_get_next (vect_t *p);
+
+#if AC_PATH_REPORT
+
+/** Report computed path. */
+void
+AC_PATH_REPORT_CALLBACK (vect_t *points, uint8_t len,
+ struct path_obstacle_t *obstacles,
+ uint8_t obstacles_nb);
+
+#endif
+
+#endif /* path_h */