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Lots of improvements to MotionPlanner/avoid_crossing_perimeters. Smoother paths and several edge cases now handled better
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17 changed files with 386 additions and 113 deletions
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@ -16,6 +16,13 @@ Line::wkt() const
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return ss.str();
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}
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Line::operator Lines() const
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{
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Lines lines;
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lines.push_back(*this);
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return lines;
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}
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Line::operator Polyline() const
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{
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Polyline pl;
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