int PathPlanner::runRRT(){
this->RRT();
calcPathLength();
writePath();
writeMetadata();
cout<<"Estimated path length: "<<this->pathLength<<"\n";
return 0;
}
int PathPlanner::runSquareSpiral(){
Points spiralpath = this->getSpiralPath();
this->setPath(spiralpath);
calcPathLength();
writePath();
writeMetadata();
cout<<"Estimated path length: "<<this->pathLength<<"\n";
return 0;
}
//In a perfect world these would have some kind of error checking. I like to live dangerously....
int PathPlanner::runTrace(){
vector<Polygon_2> all = this->linearShrink();
this->setPath(all);
calcPathLength();
writePath();
writeMetadata();
cout<<"Estimated path length: "<<this->pathLength<<"\n";
return 0;
}
/*
* first_is_already_merged == false
*
* o o
* / /
* / /
* / + / ---> -(t)-o-----o
* / /
* / /
* o o
*
* travel (t) to first location is done through first_path_start_changed and new_first_path_start.
* this gets rid of the tiny "blips". Depending on the merged line distance a small gap may appear, but this is
* accounted for in the volume.
*
* first_is_already_merged == true
*
* o
* /
* /
* o-----o + / ---> o-----------o or with slight o-----o-----o
* / / / bend /
* / / / /
* o o o o
*
*/
bool MergeInfillLines::mergeLinesSideBySide(const bool first_is_already_merged, GCodePath& first_path, const Point first_path_start, GCodePath& second_path, const Point second_path_start, Point& new_first_path_start, coord_t& error_area) const
{
Point average_first_path;
coord_t first_path_length = calcPathLength(first_path_start, first_path);
coord_t first_path_length_flow = first_path_length * first_path.flow; //To get the volume we don't need to include the line width since it's the same for both lines.
const coord_t line_width = first_path.config->getLineWidth();
if (first_is_already_merged)
{
// take second point of path, first_path.points[0]
average_first_path = first_path.points[0];
}
else
{
average_first_path += first_path_start;
for (const Point point : first_path.points)
{
average_first_path += point;
}
average_first_path /= (first_path.points.size() + 1);
}
coord_t second_path_length = calcPathLength(second_path_start, second_path);
Point average_second_path = second_path_start;
for (const Point point : second_path.points)
{
average_second_path += point;
}
coord_t second_path_length_flow = second_path_length *= second_path.flow;
average_second_path /= (coord_t) (second_path.points.size() + 1);
// predict new length and flow and if the new flow is to big, don't merge. conditions in this part must exactly match the actual merging
coord_t new_path_length = first_path_length;
coord_t dist2_from_line = 0;
coord_t new_error_area = 0;
coord_t merged_part_length = 0;
if (first_is_already_merged)
{
// check if the new point is a good extension of last part of existing polyline
// because of potential accumulation of errors introduced each time a line is merged, we do not allow any error.
if (first_path.points.size() > 1) {
dist2_from_line = LinearAlg2D::getDist2FromLine(average_second_path, first_path.points[first_path.points.size() - 2], first_path.points[first_path.points.size() - 1]);
merged_part_length = vSize(first_path.points[first_path.points.size() - 2] - average_second_path);
new_error_area = sqrt(dist2_from_line) * merged_part_length / 2;
}
// The max error margin uses the meshfix_maximum_resolution setting
if (first_path.points.size() > 1 && error_area + new_error_area < merged_part_length * maximum_resolution)
{
new_path_length -= vSize(first_path.points[first_path.points.size() - 2] - first_path.points[first_path.points.size() - 1]);
new_path_length += vSize(first_path.points[first_path.points.size() - 2] - average_second_path);
}
else
{
new_path_length += vSize(first_path.points[first_path.points.size() - 1] - average_second_path);
}
}
else
{
new_path_length -= vSize(first_path.points.back() - first_path_start);
new_path_length += vSize(average_second_path - average_first_path);
}
double new_flow = ((first_path_length_flow + second_path_length_flow) / static_cast<double>(new_path_length));
if (new_flow > 2 * nozzle_size / line_width) // line width becomes too wide.
{
return false;
}
// do the actual merging
if (first_is_already_merged)
{
// check if the new point is a good extension of last part of existing polyline
// because of potential accumulation of errors introduced each time a line is merged, we do not allow any error.
if (first_path.points.size() > 1 && error_area + new_error_area < line_width * line_width)
{
first_path.points[first_path.points.size() - 1] = average_second_path;
error_area += new_error_area;
} else {
first_path.points.push_back(average_second_path);
error_area = 0;
}
}
else
{
new_first_path_start = average_first_path;
first_path.points.clear();
first_path.points.push_back(average_second_path);
error_area = 0;
}
first_path.flow = static_cast<double>(first_path_length_flow + second_path_length_flow) / new_path_length;
return true;
}
