@knowvah/dot-engine 0.1.0

package/dist/ortho/types.d.ts

@@ -0,0 +1,241 @@
+/**
+ * Shared internal types for the ortho edge router.
+ *
+ * Corresponds to lib/ortho/structures.h, lib/ortho/maze.h,
+ * lib/ortho/sgraph.h, and lib/ortho/rawgraph.h.
+ *
+ * @see lib/ortho/structures.h
+ * @see lib/ortho/maze.h
+ * @see lib/ortho/sgraph.h
+ * @see lib/ortho/rawgraph.h
+ */
+import type { CdtOset } from "./chan-dict.js";
+/**
+ * A 2D point with floating-point coordinates.
+ * Corresponds to `pointf` in the C source.
+ * @see common/types.h:pointf
+ */
+export interface OrthoPoint {
+    x: number;
+    y: number;
+}
+/**
+ * Axis-aligned bounding box.
+ * Corresponds to `boxf` in the C source.
+ * @see common/geom.h:boxf
+ */
+export interface OrthoBox {
+    LL: OrthoPoint;
+    UR: OrthoPoint;
+}
+/**
+ * Bend direction for segment endpoints.
+ * Corresponds to `enum bend` in structures.h.
+ * @see lib/ortho/structures.h:bend
+ */
+export declare const enum Bend {
+    B_NODE = 0,
+    B_UP = 1,
+    B_LEFT = 2,
+    B_DOWN = 3,
+    B_RIGHT = 4
+}
+/**
+ * Pair of doubles (interval / extent).
+ * Corresponds to `paird` in structures.h.
+ * @see lib/ortho/structures.h:paird
+ */
+export interface Paird {
+    p1: number;
+    p2: number;
+}
+/**
+ * A routing segment — either horizontal or vertical.
+ * Corresponds to `struct segment` in structures.h.
+ * @see lib/ortho/structures.h:segment
+ */
+export interface OrthoSegment {
+    isVert: boolean;
+    commCoord: number;
+    p: Paird;
+    l1: Bend;
+    l2: Bend;
+    indNo: number | null;
+    trackNo: number | null;
+    prev: OrthoSegment | null;
+    next: OrthoSegment | null;
+}
+/**
+ * A route — an ordered array of segments.
+ * Corresponds to `route` in structures.h.
+ * @see lib/ortho/structures.h:route
+ */
+export interface Route {
+    segs: OrthoSegment[];
+}
+/** Cell flag constants. @see lib/ortho/maze.h */
+export declare const MZ_ISNODE = 1;
+export declare const MZ_VSCAN = 2;
+export declare const MZ_HSCAN = 4;
+export declare const MZ_SMALLV = 8;
+export declare const MZ_SMALLH = 16;
+/** Side indices. @see lib/ortho/maze.h */
+export declare const M_RIGHT = 0;
+export declare const M_TOP = 1;
+export declare const M_LEFT = 2;
+export declare const M_BOTTOM = 3;
+/** Forward references resolved by maze.ts */
+export interface SNode {
+    nVal: number;
+    nIdx: number;
+    nDad: SNode | null;
+    nEdge: SEdge | null;
+    nAdj: number;
+    saveNAdj: number;
+    cells: [Cell | null, Cell | null];
+    adjEdgeList: Int32Array | number[];
+    index: number;
+    isVert: boolean;
+    x: number;
+    y: number;
+}
+export interface SEdge {
+    weight: number;
+    cnt: number;
+    v1: number;
+    v2: number;
+}
+export interface SGraph {
+    nnodes: number;
+    nedges: number;
+    saveNnodes: number;
+    saveNedges: number;
+    nodes: SNode[];
+    edges: SEdge[];
+    /**
+     * The single contiguous adjacency buffer that every node's `adjEdgeList` is a
+     * subarray view into (sgraph.c:initSEdges). Kept on the graph so the backing
+     * store outlives the per-node views. Undefined until initSEdges runs.
+     */
+    adjBuf?: Int32Array;
+}
+/**
+ * A cell in the maze — a rectangular region between nodes.
+ * Corresponds to `struct cell` in maze.h.
+ * @see lib/ortho/maze.h:cell
+ */
+export interface Cell {
+    flags: number;
+    nedges: number;
+    edges: (SEdge | null)[];
+    nsides: number;
+    sides: (SNode | null)[];
+    bb: OrthoBox;
+}
+/**
+ * The maze — partitioned free space around graph nodes.
+ * Corresponds to `maze` in maze.h.
+ * @see lib/ortho/maze.h:maze
+ */
+export interface Maze {
+    ncells: number;
+    ngcells: number;
+    cells: Cell[];
+    gcells: Cell[];
+    sg: SGraph;
+    hchans: ChanDict;
+    vchans: ChanDict;
+}
+/**
+ * Topological sort graph vertex.
+ * Corresponds to `vertex` in rawgraph.h.
+ * @see lib/ortho/rawgraph.h:vertex
+ */
+export interface RawVertex {
+    color: number;
+    topsortOrder: number;
+    adjList: number[];
+}
+/**
+ * Simple directed graph for channel ordering.
+ * Corresponds to `rawgraph` in rawgraph.h.
+ * @see lib/ortho/rawgraph.h:rawgraph
+ */
+export interface RawGraph {
+    nvs: number;
+    vertices: RawVertex[];
+}
+/**
+ * A routing channel containing ordered segments.
+ * Corresponds to `channel` in structures.h.
+ * @see lib/ortho/structures.h:channel
+ */
+export interface Channel {
+    p: Paird;
+    segList: OrthoSegment[];
+    G: RawGraph | null;
+    cp: Cell | null;
+}
+/**
+ * One line of channels — outer channel-dict entry.
+ * Corresponds to `chanItem` in ortho.c.
+ * @see lib/ortho/ortho.c:chanItem
+ */
+export interface ChanItem {
+    v: number;
+    chans: CdtOset<Channel, Paird>;
+}
+/**
+ * Two-level channel dictionary — C's `Dt_t*` of chanItem (Dtoset keyed by v),
+ * each holding a Dtoset of Channel keyed by interval p (chancmpid).
+ * MUST be a C-exact cdt Dtoset: add_p_edges walks it flattened while
+ * chanSearch re-splays it mid-walk (load-bearing; see chan-dict.ts).
+ */
+export type ChanDict = CdtOset<ChanItem, number>;
+/**
+ * Minimal graph interface accepted by orthoEdges.
+ * Does not import from src/model or src/common.
+ */
+export interface OrthoNode {
+    /** Node bounding box in graph coordinates */
+    bb: OrthoBox;
+    /**
+     * ND_coord / ND_xsize (= lw+rw) / ND_ysize (= ht) exactly as C's mkMaze
+     * reads them (maze.c:452: gcell = coord ± fmax(1, size/2)). Deriving these
+     * from `bb` re-rounds — (coord+rw)-(coord-lw) loses the size's low bits when
+     * |coord| >> size — and that ULP shift can cross an integer boundary in the
+     * int-truncated Dijkstra (sgraph.c:165). Optional: callers that only model a
+     * bb fall back to bb-derived values.
+     */
+    coord?: OrthoPoint;
+    xsize?: number;
+    ysize?: number;
+}
+export interface OrthoEdge {
+    /** Source node */
+    tail: OrthoNode;
+    /** Destination node */
+    head: OrthoNode;
+    /**
+     * Tail attach point: ND_coord(tail) + ED_tail_port.p. Undefined (the
+     * default, port-less case) falls back to the tail node's bb centre.
+     * @see lib/ortho/ortho.c:1075 (attachOrthoEdges)
+     */
+    tailPoint?: OrthoPoint;
+    /**
+     * Head attach point: ND_coord(head) + ED_head_port.p. Undefined (the
+     * default, port-less case) falls back to the head node's bb centre.
+     * @see lib/ortho/ortho.c:1076 (attachOrthoEdges)
+     */
+    headPoint?: OrthoPoint;
+}
+export interface OrthoGraph {
+    nodes: OrthoNode[];
+    edges: OrthoEdge[];
+}
+/**
+ * Callback type for installing routed edges (corresponds to clip_and_install).
+ * @see lib/common/splines.c:clip_and_install
+ */
+export type ClipAndInstallFn = (g: OrthoGraph, e: OrthoEdge, path: OrthoPoint[], merge: boolean) => void;
+//# sourceMappingURL=types.d.ts.map

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package/dist/parser/ast.d.ts

@@ -0,0 +1,49 @@
+/**
+ * AST node types emitted by the Peggy-generated DOT parser.
+ *
+ * @see src/parser/dot.pegjs
+ * @see lib/cgraph/grammar.y
+ */
+export interface AttrPair {
+    readonly key: string;
+    readonly value: string;
+}
+export interface NodeId {
+    readonly id: string;
+    readonly port: string | null;
+    readonly compass: string | null;
+}
+export interface NodeStmt {
+    readonly type: 'node';
+    readonly id: NodeId;
+    readonly attrs: AttrPair[];
+}
+export interface EdgeStmt {
+    readonly type: 'edge';
+    readonly nodes: Array<NodeId | SubgraphStmt>;
+    readonly attrs: AttrPair[];
+}
+export interface AttrStmt {
+    readonly type: 'attr';
+    readonly target: 'graph' | 'node' | 'edge';
+    readonly attrs: AttrPair[];
+}
+export interface AssignStmt {
+    readonly type: 'assign';
+    readonly key: string;
+    readonly value: string;
+}
+export interface SubgraphStmt {
+    readonly type: 'subgraph';
+    readonly id: string | null;
+    readonly stmts: ParsedStmt[];
+}
+export type ParsedStmt = NodeStmt | EdgeStmt | AttrStmt | AssignStmt | SubgraphStmt;
+export interface ParsedGraph {
+    readonly type: 'graph';
+    readonly strict: boolean;
+    readonly directed: boolean;
+    readonly id: string | null;
+    readonly stmts: ParsedStmt[];
+}
+//# sourceMappingURL=ast.d.ts.map

package/dist/parser/ast.d.ts.map

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package/dist/parser/builder.d.ts

@@ -0,0 +1,75 @@
+/**
+ * Converts a parsed DOT AST into the Graph model.
+ *
+ * @see lib/cgraph/grammar.y
+ */
+import { Graph } from '../model/graph.js';
+import { Node } from '../model/node.js';
+import type { AttrPair, NodeId, NodeStmt, EdgeStmt, AttrStmt, AssignStmt, SubgraphStmt, ParsedStmt, ParsedGraph } from './ast.js';
+/**
+ * Normalise an attribute value. HTML strings arrive from the grammar
+ * already prefixed with the HTML marker (cgraph's aghtmlstr flag).
+ */
+export declare function normaliseAttrValue(value: string): string;
+export declare function applyAttrs(pairs: AttrPair[], target: Map<string, string>): void;
+/** Manages the per-parse node ID counter and node creation. */
+export declare class NodeRegistry {
+    private nextId;
+    reset(): void;
+    ensure(name: string, root: Graph, scope?: Graph): Node;
+}
+/** Collects node names from AST statement lists (for edge endpoint expansion). */
+export declare class NameCollector {
+    static fromStmts(stmts: ParsedStmt[]): string[];
+    static fromStmt(stmt: ParsedStmt, out: string[]): void;
+    static fromEndpoint(item: NodeId | SubgraphStmt, out: string[]): void;
+}
+/** Processes individual parsed statements into graph model objects. */
+export declare class StmtProcessor {
+    private readonly registry;
+    /**
+     * cgraph's anonymous-object id counter, shared across the whole parse. Every
+     * anonymous object — the unnamed root graph, each anonymous subgraph, and each
+     * keyless edge — consumes `id = 2*counter+1` in creation order and advances
+     * the counter; named objects (named graphs/subgraphs/nodes, keyed edges) get
+     * pointer-based even ids and do NOT advance it. The id is only materialized as
+     * a `%N` name for subgraphs (the sole anon objects that surface a `<title>` in
+     * SVG); edges and the root advance the counter silently so siblings get
+     * cgraph's exact numbering (e.g. 2475_2: %3, %9, %17 … as keyless edges fall
+     * between the cluster subgraphs).
+     * @see lib/cgraph/id.c:idmap (anon branch `*id = st->counter*2+1; ++counter`)
+     * @see lib/cgraph/id.c:agnameof (`'%' + id`)
+     */
+    private anonCounter;
+    constructor(registry: NodeRegistry);
+    /** Consume one anonymous id, returning cgraph's `2*counter+1`. */
+    private nextAnonId;
+    /**
+     * Advance the shared anon-id counter without materializing a name — the
+     * unnamed root graph and each keyless edge consume an id slot so later
+     * anonymous subgraphs land on cgraph's exact `%N`.
+     * @see lib/cgraph/id.c:idmap
+     */
+    advanceAnonId(): void;
+    processAssign(stmt: AssignStmt, graph: Graph): void;
+    processAttr(stmt: AttrStmt, graph: Graph): void;
+    processNodeStmt(stmt: NodeStmt, graph: Graph, root: Graph): void;
+    processEdgeStmt(stmt: EdgeStmt, graph: Graph, root: Graph, directed: boolean): void;
+    processSubgraph(stmt: SubgraphStmt, graph: Graph, root: Graph, directed: boolean): Graph;
+    dispatch(stmt: ParsedStmt, graph: Graph, root: Graph, directed: boolean): void;
+    /**
+     * Snapshot the edge-attribute defaults active in `scope` at edge creation:
+     * walk scope -> root (inner overriding outer), filling only keys the edge
+     * does not set explicitly. Edges read attrs from their own map only, and
+     * DOT's edge[...] defaults apply to edges created after the statement in that
+     * scope, so the snapshot must happen at creation, in statement order.
+     */
+    private snapshotEdgeDefaults;
+    private resolveEndpoint;
+    private connectEndpoints;
+}
+/** Walk a statement list and populate graph / root using the given processor. */
+export declare function buildGraph(stmts: ParsedStmt[], graph: Graph, root: Graph, directed: boolean, processor: StmtProcessor): void;
+/** Build a Graph model from a fully-parsed AST. */
+export declare function buildFromAst(ast: ParsedGraph): Graph;
+//# sourceMappingURL=builder.d.ts.map

package/dist/parser/builder.d.ts.map

@@ -0,0 +1 @@
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package/dist/parser/index.d.ts

@@ -0,0 +1,97 @@
+import { Graph } from '../model/graph.js';
+import type { GraphKind } from '../model/graph.js';
+import type { Edge } from '../model/edge.js';
+import type { GvError, GvErrorCode, GvExpectation } from '../errors.js';
+/**
+ * Thrown for syntax errors or edge-direction violations.
+ *
+ * Implements the structured {@link GvError} contract: `location` is primary;
+ * `line`/`column` are convenience getters that delegate to it.
+ */
+export declare class ParseError extends Error implements GvError {
+    readonly type = "syntax";
+    readonly code: GvErrorCode;
+    readonly friendlyMessage: string;
+    readonly location: {
+        line: number;
+        column: number;
+        offset?: number;
+    };
+    readonly expected?: GvExpectation[];
+    constructor(message: string, code: GvErrorCode, location: {
+        line: number;
+        column: number;
+        offset?: number;
+    }, expected?: GvExpectation[]);
+    get line(): number;
+    get column(): number;
+}
+export declare class Stripper {
+    static strip(src: string): string;
+    /** Blank a C-style block comment (incl. its newlines). @returns next index. */
+    private static blankBlock;
+    /**
+     * Blank a `//` line comment or `#` shell comment to end of line (the newline
+     * is preserved). scan.l recognizes `#` as a comment anywhere in the initial
+     * state — but never inside a string, which is why this only fires from the
+     * top-level dispatch. @returns next index.
+     */
+    private static blankLine;
+    /**
+     * Blank the interior of a quoted string, keeping both quotes. `\<any>` (incl.
+     * `\"`, `\\`, and a `\<newline>` continuation) never terminates the string.
+     * @see lib/cgraph/scan.l qstring rules (:137-142). @returns next index.
+     */
+    private static blankQuoted;
+    /**
+     * Blank the interior of an HTML string `<...>`, keeping the outer brackets and
+     * tracking nested `<>` like scan.l's html_nest counter. @returns next index.
+     */
+    private static blankHtml;
+}
+export declare function stripCommentsAndStrings(src: string): string;
+export declare function offsetToLineCol(src: string, idx: number): {
+    line: number;
+    column: number;
+    offset: number;
+};
+export declare function findEdgeOp(src: string, pattern: RegExp): {
+    line: number;
+    column: number;
+    offset: number;
+};
+/** @throws ParseError if the wrong edge operator is found. */
+export declare function validateEdgeOperators(src: string, directed: boolean): void;
+export declare function isPeggyError(err: unknown): err is {
+    location: {
+        start: {
+            line: number;
+            column: number;
+            offset: number;
+        };
+    };
+    expected: GvExpectation[];
+    found: string | null;
+};
+/**
+ * Parse a DOT-language string and return a Graph model.
+ * @throws ParseError for syntax errors or edge-direction violations.
+ */
+export declare function parse(src: string): Graph;
+export declare function dotKeyword(kind: GraphKind): string;
+export declare function quoteId(id: string): string;
+export declare function attrMapStr(attrs: Map<string, string>): string;
+export declare function serializeHeader(g: Graph): string[];
+/** True when a child subgraph also contains the node (it will be written there). */
+export declare function nodeInChildSubgraph(g: Graph, name: string): boolean;
+/** True when a child subgraph also contains the edge (it will be written there). */
+export declare function edgeInChildSubgraph(g: Graph, edge: Edge): boolean;
+export declare function serializeNodes(g: Graph): string[];
+export declare function serializeEdges(g: Graph): string[];
+export declare function serializeSubgraphs(g: Graph): string[];
+/**
+ * Serialize a Graph to DOT syntax for round-trip verification.
+ * Node/edge counts and attribute values are preserved.
+ */
+export declare function serialize(g: Graph): string;
+//# sourceMappingURL=index.d.ts.map

package/dist/parser/index.d.ts.map

@@ -0,0 +1 @@
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package/dist/pathplan/index.d.ts

@@ -0,0 +1,8 @@
+/** @see lib/pathplan/ */
+export { POLYID_NONE, POLYID_UNKNOWN, inPoly } from './visibility.js';
+export { triangulate } from './triang.js';
+export { shortestPath } from './shortest.js';
+export { obsOpen, obsClose, obsPath } from './vispath.js';
+export { routeSpline, polyBarriers, makePolyline } from './route.js';
+export type { Point, Poly, Edge } from './types.js';
+//# sourceMappingURL=index.d.ts.map

package/dist/pathplan/index.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../src/pathplan/index.ts"],"names":[],"mappings":"AACA,yBAAyB;AAEzB,OAAO,EAAE,WAAW,EAAE,cAAc,EAAE,MAAM,EAAE,MAAM,iBAAiB,CAAC;AACtE,OAAO,EAAE,WAAW,EAAE,MAAM,aAAa,CAAC;AAC1C,OAAO,EAAE,YAAY,EAAE,MAAM,eAAe,CAAC;AAC7C,OAAO,EAAE,OAAO,EAAE,QAAQ,EAAE,OAAO,EAAE,MAAM,cAAc,CAAC;AAC1D,OAAO,EAAE,WAAW,EAAE,YAAY,EAAE,YAAY,EAAE,MAAM,YAAY,CAAC;AACrE,YAAY,EAAE,KAAK,EAAE,IAAI,EAAE,IAAI,EAAE,MAAM,YAAY,CAAC"}

package/dist/pathplan/route.d.ts

@@ -0,0 +1,9 @@
+/** @see lib/pathplan/route.c, lib/pathplan/util.c */
+import type { Point, Poly, Edge } from './types.js';
+/** @see lib/pathplan/route.c:Proutespline */
+export declare function routeSpline(barriers: Edge[], route: Point[], slopes: [Point, Point]): Point[];
+/** @see lib/pathplan/util.c:Ppolybarriers */
+export declare function polyBarriers(polys: Poly[]): Edge[];
+/** @see lib/pathplan/util.c:make_polyline */
+export declare function makePolyline(pts: Point[]): Point[];
+//# sourceMappingURL=route.d.ts.map

package/dist/pathplan/route.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"route.d.ts","sourceRoot":"","sources":["../../src/pathplan/route.ts"],"names":[],"mappings":"AACA,qDAAqD;AAErD,OAAO,KAAK,EAAE,KAAK,EAAE,IAAI,EAAE,IAAI,EAAE,MAAM,YAAY,CAAC;AAkQpD,6CAA6C;AAC7C,wBAAgB,WAAW,CAAC,QAAQ,EAAE,IAAI,EAAE,EAAE,KAAK,EAAE,KAAK,EAAE,EAAE,MAAM,EAAE,CAAC,KAAK,EAAE,KAAK,CAAC,GAAG,KAAK,EAAE,CAE7F;AAED,6CAA6C;AAC7C,wBAAgB,YAAY,CAAC,KAAK,EAAE,IAAI,EAAE,GAAG,IAAI,EAAE,CAOlD;AAED,6CAA6C;AAC7C,wBAAgB,YAAY,CAAC,GAAG,EAAE,KAAK,EAAE,GAAG,KAAK,EAAE,CAMlD"}

package/dist/pathplan/shortest.d.ts

@@ -0,0 +1,5 @@
+/** @see lib/pathplan/shortest.c */
+import type { Point, Poly } from './types.js';
+/** @see lib/pathplan/shortest.c:Pshortestpath */
+export declare function shortestPath(poly: Poly, eps: [Point, Point]): Point[] | null;
+//# sourceMappingURL=shortest.d.ts.map

package/dist/pathplan/shortest.d.ts.map

@@ -0,0 +1 @@
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package/dist/pathplan/solvers.d.ts

@@ -0,0 +1,5 @@
+/** @see lib/pathplan/solvers.c */
+/** Solve cubic c[3]*x^3 + c[2]*x^2 + c[1]*x + c[0] = 0.
+ *  Returns root count; 4 means all x satisfy. @see lib/pathplan/solvers.c:solve3 */
+export declare function solve3(coeff: number[], roots: number[]): number;
+//# sourceMappingURL=solvers.d.ts.map

package/dist/pathplan/solvers.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"solvers.d.ts","sourceRoot":"","sources":["../../src/pathplan/solvers.ts"],"names":[],"mappings":"AACA,kCAAkC;AA2DlC;oFACoF;AACpF,wBAAgB,MAAM,CAAC,KAAK,EAAE,MAAM,EAAE,EAAE,KAAK,EAAE,MAAM,EAAE,GAAG,MAAM,CAE/D"}

package/dist/pathplan/triang.d.ts

@@ -0,0 +1,25 @@
+/** @see lib/pathplan/triang.c */
+import type { Point, Poly } from './types.js';
+export declare const ISCCW = 1;
+export declare const ISCW = 2;
+export declare const ISON = 3;
+declare class TriangHelper {
+    static ccw(p1: Point, p2: Point, p3: Point): number;
+    /** Is pc on segment [pa, pb]? */
+    static between(pa: Point, pb: Point, pc: Point): boolean;
+    static anyCollinear(pa: Point, pb: Point, pc: Point, pd: Point): boolean;
+    static collinearIntersects(pa: Point, pb: Point, pc: Point, pd: Point): boolean;
+    static crossIntersects(pa: Point, pb: Point, pc: Point, pd: Point): boolean;
+    static intersects(pa: Point, pb: Point, pc: Point, pd: Point): boolean;
+    static isdiagNeighborhood(i: number, ip2: number, get: (n: number) => Point, pointn: number): boolean;
+    static isdiagonal(i: number, ip2: number, get: (n: number) => Point, pointn: number): boolean;
+    static triangulateInner(pts: Point[], fn: (t: [Point, Point, Point]) => void): boolean;
+}
+export { TriangHelper };
+/** @see lib/pathplan/triang.c:Ptriangulate */
+export declare function triangulate(poly: Poly, fn: (t: [Point, Point, Point]) => void): number;
+/** @see lib/pathplan/triang.c:ccw */
+export declare function ccw(p1: Point, p2: Point, p3: Point): number;
+/** @see lib/pathplan/tri.h:isdiagonal */
+export declare function isdiagonal(i: number, ip2: number, get: (n: number) => Point, pointn: number): boolean;
+//# sourceMappingURL=triang.d.ts.map

package/dist/pathplan/triang.d.ts.map

@@ -0,0 +1 @@
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package/dist/pathplan/types.d.ts

@@ -0,0 +1,22 @@
+/** @see lib/pathplan/pathgeom.h, lib/pathplan/vis.h */
+export interface Point {
+    x: number;
+    y: number;
+}
+export interface Poly {
+    ps: Point[];
+}
+export interface Edge {
+    a: Point;
+    b: Point;
+}
+export interface VConfig {
+    N: number;
+    Npoly: number;
+    P: Point[];
+    start: number[];
+    next: number[];
+    prev: number[];
+    vis: number[][];
+}
+//# sourceMappingURL=types.d.ts.map

package/dist/pathplan/types.d.ts.map

@@ -0,0 +1 @@
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package/dist/pathplan/visibility.d.ts

@@ -0,0 +1,13 @@
+/** @see lib/pathplan/visibility.c */
+import type { Point, VConfig } from './types.js';
+export declare const POLYID_NONE = -1111;
+export declare const POLYID_UNKNOWN = -2222;
+export declare function wind(a: Point, b: Point, c: Point): number;
+export declare function inPoly(ps: Point[], q: Point): boolean;
+/** @see lib/pathplan/visibility.c:visibility */
+export declare function visibility(conf: VConfig): void;
+/** @see lib/pathplan/visibility.c:ptVis */
+export declare function ptVis(conf: VConfig, pp: number, p: Point): number[];
+/** @see lib/pathplan/visibility.c:directVis */
+export declare function directVis(p: Point, pp: number, q: Point, qp: number, conf: VConfig): boolean;
+//# sourceMappingURL=visibility.d.ts.map

package/dist/pathplan/visibility.d.ts.map

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package/dist/pathplan/vispath.d.ts

@@ -0,0 +1,9 @@
+/** @see lib/pathplan/shortestpth.c, lib/pathplan/cvt.c */
+import type { Point, Poly, VConfig } from './types.js';
+/** @see lib/pathplan/cvt.c:Pobsopen */
+export declare function obsOpen(polys: Poly[]): VConfig;
+/** @see lib/pathplan/cvt.c:Pobsclose */
+export declare function obsClose(_conf: VConfig): void;
+/** @see lib/pathplan/cvt.c:Pobspath */
+export declare function obsPath(conf: VConfig, p0: Point, poly0: number, p1: Point, poly1: number): Point[];
+//# sourceMappingURL=vispath.d.ts.map

package/dist/pathplan/vispath.d.ts.map

@@ -0,0 +1 @@
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