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Cleanup of some method signatures and of XS return types

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This commit is contained in:
Alessandro Ranellucci 2015-01-19 18:53:04 +01:00
parent c9cdae1a96
commit 8791f5a493
39 changed files with 252 additions and 339 deletions
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49
xs/src/libslic3r/MotionPlanner.cpp
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@ -82,17 +82,18 @@ MotionPlanner::get_env(size_t island_idx) const
}
}
void
MotionPlanner::shortest_path(const Point &from, const Point &to, Polyline* polyline)
Polyline
MotionPlanner::shortest_path(const Point &from, const Point &to)
{
// lazy generation of configuration space
if (!this->initialized) this->initialize();
// if we have an empty configuration space, return a straight move
if (this->islands.empty()) {
polyline->points.push_back(from);
polyline->points.push_back(to);
return;
Polyline p;
p.points.push_back(from);
p.points.push_back(to);
return p;
}
// Are both points in the same island?
@ -102,9 +103,10 @@ MotionPlanner::shortest_path(const Point &from, const Point &to, Polyline* polyl
// since both points are in the same island, is a direct move possible?
// if so, we avoid generating the visibility environment
if (island->contains(Line(from, to))) {
polyline->points.push_back(from);
polyline->points.push_back(to);
return;
Polyline p;
p.points.push_back(from);
p.points.push_back(to);
return p;
}
island_idx = island - this->islands.begin();
break;
@ -116,9 +118,10 @@ MotionPlanner::shortest_path(const Point &from, const Point &to, Polyline* polyl
if (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
polyline->points.push_back(from);
polyline->points.push_back(to);
return; // bye bye
Polyline p;
p.points.push_back(from);
p.points.push_back(to);
return p; // bye bye
}
// Now check whether points are inside the environment.
@ -137,10 +140,10 @@ MotionPlanner::shortest_path(const Point &from, const Point &to, Polyline* polyl
// perform actual path search
MotionPlannerGraph* graph = this->init_graph(island_idx);
graph->shortest_path(graph->find_node(inner_from), graph->find_node(inner_to), polyline);
Polyline polyline = graph->shortest_path(graph->find_node(inner_from), graph->find_node(inner_to));
polyline->points.insert(polyline->points.begin(), from);
polyline->points.push_back(to);
polyline.points.insert(polyline.points.begin(), from);
polyline.points.push_back(to);
{
// grow our environment slightly in order for simplify_by_visibility()
@ -149,7 +152,7 @@ MotionPlanner::shortest_path(const Point &from, const Point &to, Polyline* polyl
offset(env, &grown_env.expolygons, +SCALED_EPSILON);
// remove unnecessary vertices
polyline->simplify_by_visibility(grown_env);
polyline.simplify_by_visibility(grown_env);
}
/*
@ -171,6 +174,8 @@ MotionPlanner::shortest_path(const Point &from, const Point &to, Polyline* polyl
svg.draw(*polyline, "red");
svg.Close();
*/
return polyline;
}
Point
@ -310,11 +315,11 @@ MotionPlannerGraph::find_node(const Point &point) const
return point.nearest_point_index(this->nodes);
}
void
MotionPlannerGraph::shortest_path(size_t from, size_t to, Polyline* polyline)
Polyline
MotionPlannerGraph::shortest_path(size_t from, size_t to)
{
// this prevents a crash in case for some reason we got here with an empty adjacency list
if (this->adjacency_list.empty()) return;
if (this->adjacency_list.empty()) return Polyline();
const weight_t max_weight = std::numeric_limits<weight_t>::infinity();
@ -379,10 +384,12 @@ MotionPlannerGraph::shortest_path(size_t from, size_t to, Polyline* polyline)
}
}
Polyline polyline;
for (node_t vertex = to; vertex != -1; vertex = previous[vertex])
polyline->points.push_back(this->nodes[vertex]);
polyline->points.push_back(this->nodes[from]);
polyline->reverse();
polyline.points.push_back(this->nodes[vertex]);
polyline.points.push_back(this->nodes[from]);
polyline.reverse();
return polyline;
}
#ifdef SLIC3RXS