Lots of improvements to MotionPlanner/avoid_crossing_perimeters. Smoother paths and several edge cases now handled better

This commit is contained in:
Alessandro Ranellucci 2015-01-06 20:52:36 +01:00
parent 5e100abe25
commit 8f4cbefd0d
17 changed files with 386 additions and 113 deletions

View file

@ -16,6 +16,13 @@ Line::wkt() const
return ss.str();
}
Line::operator Lines() const
{
Lines lines;
lines.push_back(*this);
return lines;
}
Line::operator Polyline() const
{
Polyline pl;