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New implementation of Avoid crossing perimeters using Voronoi diagrams

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This commit is contained in:
Alessandro Ranellucci 2014-05-28 10:16:58 +02:00
parent f018828bfd
commit f5b9df2413
6 changed files with 199 additions and 5909 deletions
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37
xs/src/MotionPlanner.hpp
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@ -5,7 +5,8 @@
#include "ClipperUtils.hpp"
#include "ExPolygonCollection.hpp"
#include "Polyline.hpp"
#include "visilibity.hpp"
#include <map>
#include <utility>
#include <vector>
#define MP_INNER_MARGIN scale_(1.0)
@ -13,6 +14,8 @@
namespace Slic3r {
class MotionPlannerGraph;
class MotionPlanner
{
public:
@ -25,16 +28,32 @@ class MotionPlanner
bool initialized;
ExPolygon outer;
ExPolygonCollections inner;
std::vector<VisiLibity::Environment*> envs;
std::vector<VisiLibity::Visibility_Graph*> graphs;
std::vector<MotionPlannerGraph*> graphs;
void initialize();
void generate_environment(int island_idx);
static VisiLibity::Polyline convert_polyline(const Polyline &polyline);
static Polyline convert_polyline(const VisiLibity::Polyline &v_polyline);
static VisiLibity::Polygon convert_polygon(const Polygon &polygon);
static VisiLibity::Point convert_point(const Point &point);
static Point convert_point(const VisiLibity::Point &v_point);
MotionPlannerGraph* init_graph(int island_idx);
};
class MotionPlannerGraph
{
private:
typedef size_t 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) { }
};
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;
void shortest_path(size_t from, size_t to, Polyline* polyline);
};
}