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Commit Graph

9 Commits

Author SHA1 Message Date
Lukáš Hejl 55c282d85d Revamp of implementation of the avoid crossing perimeters algorithm.
The strategy for the avoid crossing perimeters algorithm has been redesigned. But external travels (travel between objects or supports) have not been solved yet. For these travels is used a direct path between two points.
Much of the code has been reworked, which leads to significant speedup compared to the previous implementation.
Also, several potential bugs have been fixed.
2020-11-29 13:58:36 +01:00
Vojtech Bubnik f206b743fd Avoid crossing perimeters: Further refactoring for clarity, code review. 2020-11-17 15:34:50 +01:00
Vojtech Bubnik 62ab17bf6e AvoidCrossingPerimeters: Refactored for better encapsulation. 2020-11-17 10:42:27 +01:00
Vojtech Bubnik 04c2fde671 Removed the old motion planner. 2020-11-17 09:33:30 +01:00
Lukáš Hejl c702b3b71d Add heuristics for removing unnecessary detours 2020-11-16 14:22:32 +01:00
Lukáš Hejl 9936b8e34e Add missing includes 2020-11-16 14:22:32 +01:00
Lukáš Hejl c00c7eaed3 Rework of outer borders to reduce unnecessary detours along the border.
The resulting path now contains all intersection with borders, which allows eliminating more unnecessary detours and more simplify the path.
2020-11-16 14:22:32 +01:00
Lukáš Hejl ef9de07740 Disabling wipe for avoid crossing perimeters 2020-11-16 14:22:32 +01:00
Lukáš Hejl 8adf02a289 Moved AvoidCrossingPerimeters to separate file 2020-11-16 14:22:32 +01:00