diff options
author | Vojtech Bubnik <bubnikv@gmail.com> | 2020-11-17 11:33:10 +0300 |
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committer | Vojtech Bubnik <bubnikv@gmail.com> | 2020-11-17 11:33:30 +0300 |
commit | 04c2fde671772600b98e094f9714acc5190b9e4c (patch) | |
tree | dde1be289b88191f8b9ce505d277185f1eca2985 /src/libslic3r/MotionPlanner.hpp | |
parent | 49ce613be7b64426b29ff1cbca6173a29b8da94b (diff) |
Removed the old motion planner.
Diffstat (limited to 'src/libslic3r/MotionPlanner.hpp')
-rw-r--r-- | src/libslic3r/MotionPlanner.hpp | 91 |
1 files changed, 0 insertions, 91 deletions
diff --git a/src/libslic3r/MotionPlanner.hpp b/src/libslic3r/MotionPlanner.hpp deleted file mode 100644 index e912f2fb4..000000000 --- a/src/libslic3r/MotionPlanner.hpp +++ /dev/null @@ -1,91 +0,0 @@ -#ifndef slic3r_MotionPlanner_hpp_ -#define slic3r_MotionPlanner_hpp_ - -#include "libslic3r.h" -#include "BoundingBox.hpp" -#include "ClipperUtils.hpp" -#include "ExPolygonCollection.hpp" -#include "Polyline.hpp" -#include <map> -#include <utility> -#include <memory> -#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: - MotionPlannerEnv() {}; - MotionPlannerEnv(const ExPolygon &island) : m_island(island), m_island_bbox(get_extents(island)) {}; - Point nearest_env_point(const Point &from, const Point &to) const; - bool island_contains(const Point &pt) const - { return m_island_bbox.contains(pt) && m_island.contains(pt); } - bool island_contains_b(const Point &pt) const - { return m_island_bbox.contains(pt) && m_island.contains_b(pt); } - -private: - ExPolygon m_island; - BoundingBox m_island_bbox; - // Region, where the travel is allowed. - ExPolygonCollection m_env; -}; - -// A 2D directed graph for searching a shortest path using the famous Dijkstra algorithm. -class MotionPlannerGraph -{ -public: - // Add a directed edge into the graph. - size_t add_node(const Point &p) { m_nodes.emplace_back(p); return m_nodes.size() - 1; } - void add_edge(size_t from, size_t to, double weight); - size_t find_closest_node(const Point &point) const { return point.nearest_point_index(m_nodes); } - - bool empty() const { return m_adjacency_list.empty(); } - Polyline shortest_path(size_t from, size_t to) const; - Polyline shortest_path(const Point &from, const Point &to) const - { return this->shortest_path(this->find_closest_node(from), this->find_closest_node(to)); } - -private: - typedef int node_t; - typedef double weight_t; - struct Neighbor { - Neighbor(node_t target, weight_t weight) : target(target), weight(weight) {} - node_t target; - weight_t weight; - }; - Points m_nodes; - std::vector<std::vector<Neighbor>> m_adjacency_list; -}; - -class MotionPlanner -{ -public: - MotionPlanner(const ExPolygons &islands); - ~MotionPlanner() {} - - Polyline shortest_path(const Point &from, const Point &to); - size_t islands_count() const { return m_islands.size(); } - -private: - bool m_initialized; - std::vector<MotionPlannerEnv> m_islands; - MotionPlannerEnv m_outer; - // 0th graph is the graph for m_outer. Other graphs are 1 indexed. - std::vector<std::unique_ptr<MotionPlannerGraph>> m_graphs; - - void initialize(); - const MotionPlannerGraph& init_graph(int island_idx); - const MotionPlannerEnv& get_env(int island_idx) const - { return (island_idx == -1) ? m_outer : m_islands[island_idx]; } -}; - -} - -#endif |