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Fixes and improvements to MotionPlanner, much smarter now

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This commit is contained in:
Alessandro Ranellucci 2015-12-21 14:46:35 +01:00
parent f7e97f7e9b
commit 1a286fc906
12 changed files with 198 additions and 202 deletions
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46
xs/src/libslic3r/MotionPlanner.hpp
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@ -14,27 +14,18 @@
namespace Slic3r {
class MotionPlannerGraph;
class MotionPlanner;
class MotionPlanner
class MotionPlannerEnv
{
friend class MotionPlanner;
public:
MotionPlanner(const ExPolygons &islands);
~MotionPlanner();
Polyline shortest_path(const Point &from, const Point &to);
size_t islands_count() const;
private:
ExPolygons islands;
bool initialized;
ExPolygon outer;
ExPolygonCollections inner;
std::vector<MotionPlannerGraph*> graphs;
void initialize();
MotionPlannerGraph* init_graph(int island_idx);
ExPolygonCollection get_env(int island_idx) const;
Point nearest_env_point(const ExPolygonCollection &env, const Point &from, const Point &to) const;
ExPolygon island;
ExPolygonCollection env;
MotionPlannerEnv() {};
MotionPlannerEnv(const ExPolygon &island) : island(island) {};
Point nearest_env_point(const Point &from, const Point &to) const;
};
class MotionPlannerGraph
@ -61,6 +52,25 @@ class MotionPlannerGraph
Polyline shortest_path(size_t from, size_t to);
};
class MotionPlanner
{
public:
MotionPlanner(const ExPolygons &islands);
~MotionPlanner();
Polyline shortest_path(const Point &from, const Point &to);
size_t islands_count() const;
private:
bool initialized;
std::vector<MotionPlannerEnv> islands;
MotionPlannerEnv outer;
std::vector<MotionPlannerGraph*> graphs;
void initialize();
MotionPlannerGraph* init_graph(int island_idx);
const MotionPlannerEnv& get_env(int island_idx) const;
};
}
#endif