43 lines
1.1 KiB
C++
43 lines
1.1 KiB
C++
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#ifndef slic3r_MotionPlanner_hpp_
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#define slic3r_MotionPlanner_hpp_
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#include <myinit.h>
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#include "ClipperUtils.hpp"
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#include "ExPolygonCollection.hpp"
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#include "Polyline.hpp"
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#include "visilibity.hpp"
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#include <vector>
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#define MP_INNER_MARGIN scale_(1.0)
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#define MP_OUTER_MARGIN scale_(2.0)
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namespace Slic3r {
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class MotionPlanner
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{
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public:
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MotionPlanner(const ExPolygons &islands);
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~MotionPlanner();
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void shortest_path(const Point &from, const Point &to, Polyline* polyline);
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private:
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ExPolygons islands;
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bool initialized;
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ExPolygon outer;
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ExPolygonCollections inner;
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std::vector<VisiLibity::Environment*> envs;
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std::vector<VisiLibity::Visibility_Graph*> graphs;
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void initialize();
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void generate_environment(int island_idx);
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static VisiLibity::Polyline convert_polyline(const Polyline &polyline);
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static Polyline convert_polyline(const VisiLibity::Polyline &v_polyline);
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static VisiLibity::Polygon convert_polygon(const Polygon &polygon);
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static VisiLibity::Point convert_point(const Point &point);
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static Point convert_point(const VisiLibity::Point &v_point);
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};
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}
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#endif
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