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Simplify islands before initializing MotionPlanner

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This commit is contained in:
Alessandro Ranellucci 2014-05-27 01:11:40 +02:00
parent 07b915fb4f
commit f018828bfd
1 changed files with 13 additions and 0 deletions
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13
xs/src/MotionPlanner.cpp
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@ -20,6 +20,12 @@ MotionPlanner::initialize()
{
if (this->initialized) return;
ExPolygons expp;
for (ExPolygons::const_iterator island = this->islands.begin(); island != this->islands.end(); ++island) {
island->simplify(SCALED_EPSILON, expp);
}
this->islands = expp;
// loop through islands in order to create inner expolygons and collect their contours
this->inner.reserve(this->islands.size());
Polygons outer_holes;
@ -66,6 +72,13 @@ MotionPlanner::shortest_path(const Point &from, const Point &to, Polyline* polyl
int island_idx = -1;
for (ExPolygons::const_iterator island = this->islands.begin(); island != this->islands.end(); ++island) {
if (island->contains_point(from) && island->contains_point(to)) {
// since both points are in the same island, is a direct move possible?
// if so, we avoid generating the visibility environment
if (island->contains_line(Line(from, to))) {
polyline->points.push_back(from);
polyline->points.push_back(to);
return;
}
island_idx = island - this->islands.begin();
break;
}