An embedding of a graph G on a surface Σ is a representation of G on Σ in which points of Σ are associated to vertices and simple arcs are associated to edges in such a way that:
the endpoints of the arc associated to an edge e are the points associated to the end vertices of e,
no arcs include points associated with other vertices,
- two arcs never intersect at a point which is interior to either of the arcs.
Two embeddings of a planar graph in the plane are called equivalent for every vertex of the graph the cyclic order of the incident edges is the same in both embeddings.
I am looking for a reference which shows that any Jordan arc embedding of a planar graph can be equivalently embedded as a straight line drawing with the $n$ vertices of the graph lying on the vertices of an $O(n) \times O(n)$ grid. (Certainly any planar graph can be embedded with its vertices on the vertices of such a grid but I'm looking for an embedding that's equivalent to the originally given one.) Schnyder's algorithm seems to produce an embedding equivalent to the topological embedding given as its input but I've not managed to find a proof of this.
Does anybody know of such a theorem?