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

2026-07-17 09:04:27 +00:00 · 2015-01-06 20:52:36 +01:00
parent 5e100abe25
commit 8f4cbefd0d
17 changed files with 386 additions and 113 deletions
@@ -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;