  We address the following problem: Given a simple polygon $P$ with $n$
vertices and two points $s$ and $t$ inside it, find a minimum link path between
them such that a given target point $q$ is visible from at least one point on
the path. The method is based on partitioning a portion of $P$ into a number of
faces of equal link distance from a source point. This partitioning is
essentially a shortest path map (SPM). In this paper, we present an optimal
algorithm with $O(n)$ time bound, which is the same as the time complexity of
the standard minimum link paths problem.

Computational Geometry;Data Structures and Algorithms