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Fixes and improvements to MotionPlanner, much smarter now
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12 changed files with 198 additions and 202 deletions
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@ -160,17 +160,14 @@ ExPolygons
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ExPolygon::simplify(double tolerance) const
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{
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Polygons pp = this->simplify_p(tolerance);
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ExPolygons expp;
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union_(pp, &expp);
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return expp;
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return union_ex(pp);
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}
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void
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ExPolygon::simplify(double tolerance, ExPolygons &expolygons) const
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ExPolygon::simplify(double tolerance, ExPolygons* expolygons) const
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{
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ExPolygons ep = this->simplify(tolerance);
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expolygons.reserve(expolygons.size() + ep.size());
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expolygons.insert(expolygons.end(), ep.begin(), ep.end());
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expolygons->insert(expolygons->end(), ep.begin(), ep.end());
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}
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void
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