  Pointed pseudo-triangulations are planar minimally rigid graphs embedded in
the plane with pointed vertices (adjacent to an angle larger than 180 degrees.
In this paper we prove that the opposite statement is also true, namely that
planar minimally rigid graphs always admit pointed embeddings, even under
certain natural topological and combinatorial constraints. We provide two
proofs, which both yield efficient embedding algorithms. One based on Henneberg
inductive constructions from combinatorial rigidity theory, the other on a
generalization of Tutte's barycentric embeddings to directed graphs.
