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+#ifndef path_h
+#define path_h
+/* path.h */
+/* avr.path - Path finding module. {{{
+ *
+ * Copyright (C) 2008 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.
+ *
+ * }}} */
+
+/** Obstacle. */
+struct path_obstacle_t
+{
+ /** Center. */
+ int16_t x, y;
+ /** Radius. */
+ uint16_t r;
+ /** Validity counter, when this is zero, the obstacle is ignored. */
+ uint16_t valid;
+};
+
+/** Initialise path finder. */
+void
+path_init (int16_t border_xmin, int16_t border_ymin,
+ int16_t border_xmax, int16_t border_ymax);
+
+/** Setup end points (source and destination coordinates). */
+void
+path_endpoints (int16_t sx, int16_t sy, int16_t dx, int16_t dy);
+
+/** Set up an obstacle at given position with the given radius and validity
+ * period. */
+void
+path_obstacle (uint8_t i, int16_t x, int16_t y, uint16_t r, uint16_t valid);
+
+/** Slowly make the obstacles disappear. */
+void
+path_decay (void);
+
+/** Compute shortest path. */
+void
+path_update (void);
+
+/** Retrieve first path point coordinates. Return 0 on failure. */
+uint8_t
+path_get_next (uint16_t *x, uint16_t *y);
+
+#if AC_PATH_REPORT
+
+/** Report computed path. */
+void
+AC_PATH_REPORT_CALLBACK (uint16_t *points, uint8_t len,
+ struct path_obstacle_t *obstacles,
+ uint8_t obstacles_nb);
+
+#endif
+
+#ifdef HOST
+
+/** Output graph in Graphviz format. */
+void
+path_print_graph (void);
+
+#endif
+
+#endif /* path_h */