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Performance improvements of the MotionPlanner

Browse source 
(rewrote the Dijkstra shortest path algorithm to use a binary priority
heap instead of a dumb O(n^2) algorithm, added some bounding box tests
to avoid expensive in-polygon tests if possible).
This commit is contained in:
bubnikv 2017-05-05 09:59:56 +02:00
parent 8a628c451c
commit 60528c5c2a
8 changed files with 340 additions and 313 deletions
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63
xs/src/libslic3r/MotionPlanner.hpp
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@ -2,11 +2,13 @@
#define slic3r_MotionPlanner_hpp_
#include "libslic3r.h"
#include "BoundingBox.hpp"
#include "ClipperUtils.hpp"
#include "ExPolygonCollection.hpp"
#include "Polyline.hpp"
#include <map>
#include <utility>
#include <memory>
#include <vector>
#define MP_INNER_MARGIN scale_(1.0)
@ -20,11 +22,12 @@ class MotionPlannerEnv
{
friend class MotionPlanner;
public:
ExPolygon island;
public:
ExPolygon island;
BoundingBox island_bbox;
ExPolygonCollection env;
MotionPlannerEnv() {};
MotionPlannerEnv(const ExPolygon &island) : island(island) {};
MotionPlannerEnv(const ExPolygon &island) : island(island), island_bbox(get_extents(island)) {};
Point nearest_env_point(const Point &from, const Point &to) const;
};
@ -32,43 +35,43 @@ class MotionPlannerGraph
{
friend class MotionPlanner;
private:
typedef int node_t;
typedef double weight_t;
struct neighbor {
node_t target;
private:
typedef int node_t;
typedef double weight_t;
struct Neighbor {
node_t target;
weight_t weight;
neighbor(node_t arg_target, weight_t arg_weight)
: target(arg_target), weight(arg_weight) { }
Neighbor(node_t arg_target, weight_t arg_weight) : target(arg_target), weight(arg_weight) {}
};
typedef std::vector< std::vector<neighbor> > adjacency_list_t;
typedef std::vector<std::vector<Neighbor>> adjacency_list_t;
adjacency_list_t adjacency_list;
public:
Points nodes;
//std::map<std::pair<size_t,size_t>, double> edges;
void add_edge(size_t from, size_t to, double weight);
size_t find_node(const Point &point) const;
Polyline shortest_path(size_t from, size_t to);
public:
Points nodes;
void add_edge(size_t from, size_t to, double weight);
size_t find_closest_node(const Point &point) const { return point.nearest_point_index(this->nodes); }
Polyline shortest_path(size_t from, size_t to) const;
};
class MotionPlanner
{
public:
public:
MotionPlanner(const ExPolygons &islands);
~MotionPlanner();
Polyline shortest_path(const Point &from, const Point &to);
size_t islands_count() const;
~MotionPlanner() {}
Polyline shortest_path(const Point &from, const Point &to);
size_t islands_count() const { return this->islands.size(); }
private:
bool initialized;
std::vector<MotionPlannerEnv> islands;
MotionPlannerEnv outer;
std::vector<std::unique_ptr<MotionPlannerGraph>> graphs;
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;
void initialize();
const MotionPlannerGraph& init_graph(int island_idx);
const MotionPlannerEnv& get_env(int island_idx) const
{ return (island_idx == -1) ? this->outer : this->islands[island_idx]; }
};
}