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Removed Point::scale(),translate(),coincides_with(),distance_to(),

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distance_to_squared(),perp_distance_to(),negative(),vector_to(),
translate(), distance_to() etc,
replaced with the Eigen equivalents.
This commit is contained in:
bubnikv 2018-08-17 14:14:24 +02:00
parent 3b89717149
commit 1ba64da3fe
45 changed files with 526 additions and 792 deletions
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10
xs/src/libslic3r/MotionPlanner.cpp
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@ -58,7 +58,7 @@ Polyline MotionPlanner::shortest_path(const Point &from, const Point &to)
{
// If we have an empty configuration space, return a straight move.
if (m_islands.empty())
return Line(from, to);
return Polyline(from, to);
// Are both points in the same island?
int island_idx_from = -1;
@ -74,7 +74,7 @@ Polyline MotionPlanner::shortest_path(const Point &from, const Point &to)
// Since both points are in the same island, is a direct move possible?
// If so, we avoid generating the visibility environment.
if (island.m_island.contains(Line(from, to)))
return Line(from, to);
return Polyline(from, to);
// Both points are inside a single island, but the straight line crosses the island boundary.
island_idx = idx;
break;
@ -90,7 +90,7 @@ Polyline MotionPlanner::shortest_path(const Point &from, const Point &to)
if (env.m_env.expolygons.empty()) {
// if this environment is empty (probably because it's too small), perform straight move
// and avoid running the algorithms on empty dataset
return Line(from, to);
return Polyline(from, to);
}
// Now check whether points are inside the environment.
@ -224,7 +224,7 @@ const MotionPlannerGraph& MotionPlanner::init_graph(int island_idx)
else
v1_idx = i_v1->second;
// Euclidean distance is used as weight for the graph edge
graph->add_edge(v0_idx, v1_idx, p0.distance_to(p1));
graph->add_edge(v0_idx, v1_idx, (p1 - p0).cast<double>().norm());
}
}
}
@ -238,7 +238,7 @@ static inline size_t nearest_waypoint_index(const Point &start_point, const Poin
size_t idx = size_t(-1);
double dmin = std::numeric_limits<double>::infinity();
for (const Point &p : middle_points) {
double d = start_point.distance_to(p) + p.distance_to(end_point);
double d = (p - start_point).cast<double>().norm() + (end_point - p).cast<double>().norm();
if (d < dmin) {
idx = &p - middle_points.data();
dmin = d;