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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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@ -29,7 +29,7 @@ SurfaceCollection::simplify(double tolerance)
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Surfaces ss;
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for (Surfaces::const_iterator it_s = this->surfaces.begin(); it_s != this->surfaces.end(); ++it_s) {
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ExPolygons expp;
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it_s->expolygon.simplify(tolerance, expp);
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it_s->expolygon.simplify(tolerance, &expp);
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for (ExPolygons::const_iterator it_e = expp.begin(); it_e != expp.end(); ++it_e) {
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Surface s = *it_s;
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s.expolygon = *it_e;
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