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#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
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