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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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Alessandro Ranellucci 2015-01-06 20:52:36 +01:00
parent 5e100abe25
commit 8f4cbefd0d
17 changed files with 386 additions and 113 deletions
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2
xs/xsp/Polyline.xsp
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@ -32,6 +32,8 @@
void extend_end(double distance);
void extend_start(double distance);
void simplify(double tolerance);
void simplify_by_visibility(ExPolygon* expolygon)
%code{% THIS->simplify_by_visibility(*expolygon); %};
void split_at(Point* point, Polyline* p1, Polyline* p2)
%code{% THIS->split_at(*point, p1, p2); %};
bool is_straight();