77 lines
1.8 KiB
C++
77 lines
1.8 KiB
C++
#ifndef slic3r_MotionPlanner_hpp_
|
|
#define slic3r_MotionPlanner_hpp_
|
|
|
|
#include "libslic3r.h"
|
|
#include "ClipperUtils.hpp"
|
|
#include "ExPolygonCollection.hpp"
|
|
#include "Polyline.hpp"
|
|
#include <map>
|
|
#include <utility>
|
|
#include <vector>
|
|
|
|
#define MP_INNER_MARGIN scale_(1.0)
|
|
#define MP_OUTER_MARGIN scale_(2.0)
|
|
|
|
namespace Slic3r {
|
|
|
|
class MotionPlanner;
|
|
|
|
class MotionPlannerEnv
|
|
{
|
|
friend class MotionPlanner;
|
|
|
|
public:
|
|
ExPolygon island;
|
|
ExPolygonCollection env;
|
|
MotionPlannerEnv() {};
|
|
MotionPlannerEnv(const ExPolygon &island) : island(island) {};
|
|
Point nearest_env_point(const Point &from, const Point &to) const;
|
|
};
|
|
|
|
class MotionPlannerGraph
|
|
{
|
|
friend class MotionPlanner;
|
|
|
|
private:
|
|
typedef int 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;
|
|
Polyline shortest_path(size_t from, size_t to);
|
|
};
|
|
|
|
class MotionPlanner
|
|
{
|
|
public:
|
|
MotionPlanner(const ExPolygons &islands);
|
|
~MotionPlanner();
|
|
Polyline shortest_path(const Point &from, const Point &to);
|
|
size_t islands_count() const;
|
|
|
|
private:
|
|
bool initialized;
|
|
std::vector<MotionPlannerEnv> islands;
|
|
MotionPlannerEnv outer;
|
|
std::vector<MotionPlannerGraph*> graphs;
|
|
|
|
void initialize();
|
|
MotionPlannerGraph* init_graph(int island_idx);
|
|
const MotionPlannerEnv& get_env(int island_idx) const;
|
|
};
|
|
|
|
}
|
|
|
|
#endif
|