Path: Adaptive - performance optimization for larger models
- utilizing bounding boxes - changed the alg. for resolving tool down linking paths, resolution is no longer based on clipper offsets as offset alg. tends to become slow - new tool down linking alg. also should be better in finding shorter linking paths - lead-in lead-out improvements
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kreso-t
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@@ -19,14 +19,11 @@
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* *
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***************************************************************************/
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#include "clipper.hpp"
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#include <vector>
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#include <list>
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#include <time.h>
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#ifndef ADAPTIVE_HPP
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#define ADAPTIVE_HPP
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@@ -42,118 +39,138 @@
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#define M_PI 3.141592653589793238
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#endif
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//#define DEV_MODE
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#define NTOL 1.0e-7 // numeric tolerance
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#define NTOL 1.0e-7 // numeric tolerance
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namespace AdaptivePath {
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using namespace ClipperLib;
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namespace AdaptivePath
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{
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using namespace ClipperLib;
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enum MotionType { mtCutting = 0, mtLinkClear = 1, mtLinkNotClear = 2, mtLinkClearAtPrevPass = 3 };
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enum MotionType
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{
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mtCutting = 0,
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mtLinkClear = 1,
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mtLinkNotClear = 2,
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mtLinkClearAtPrevPass = 3
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};
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enum OperationType { otClearingInside = 0, otClearingOutside = 1, otProfilingInside = 2, otProfilingOutside = 3 };
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enum OperationType
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{
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otClearingInside = 0,
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otClearingOutside = 1,
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otProfilingInside = 2,
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otProfilingOutside = 3
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};
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typedef std::pair<double,double> DPoint;
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typedef std::vector<DPoint> DPath;
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typedef std::vector<DPath> DPaths;
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typedef std::pair<int,DPath> TPath; // first parameter is MotionType, must use int due to problem with serialization to JSON in python
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typedef std::pair<double, double> DPoint;
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typedef std::vector<DPoint> DPath;
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typedef std::vector<DPath> DPaths;
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typedef std::pair<int, DPath> TPath; // first parameter is MotionType, must use int due to problem with serialization to JSON in python
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// struct TPath { #this does not work correctly with pybind, changed to pair
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// DPath Points;
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// MotionType MType;
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// };
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class ClearedArea;
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typedef std::vector<TPath> TPaths;
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// struct TPath { #this does not work correctly with pybind, changed to pair
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// DPath Points;
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// MotionType MType;
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// };
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struct AdaptiveOutput {
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DPoint HelixCenterPoint;
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DPoint StartPoint;
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TPaths AdaptivePaths;
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int ReturnMotionType; // MotionType enum, problem with serialization if enum is used
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};
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typedef std::vector<TPath> TPaths;
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// used to isolate state -> enable potential adding of multi-threaded processing of separate regions
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struct AdaptiveOutput
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{
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DPoint HelixCenterPoint;
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DPoint StartPoint;
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TPaths AdaptivePaths;
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int ReturnMotionType; // MotionType enum, problem with serialization if enum is used
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};
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class Adaptive2d {
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public:
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Adaptive2d();
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double toolDiameter=5;
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double helixRampDiameter=0;
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double stepOverFactor = 0.2;
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double tolerance=0.1;
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double stockToLeave=0;
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bool forceInsideOut = true;
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double keepToolDownDistRatio = 3.0; // keep tool down distance ratio
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OperationType opType = OperationType::otClearingInside;
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// used to isolate state -> enable potential adding of multi-threaded processing of separate regions
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std::list<AdaptiveOutput> Execute(const DPaths &stockPaths, const DPaths &paths, std::function<bool(TPaths)> progressCallbackFn);
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class Adaptive2d
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{
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public:
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Adaptive2d();
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double toolDiameter = 5;
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double helixRampDiameter = 0;
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double stepOverFactor = 0.2;
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double tolerance = 0.1;
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double stockToLeave = 0;
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bool forceInsideOut = true;
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double keepToolDownDistRatio = 3.0; // keep tool down distance ratio
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OperationType opType = OperationType::otClearingInside;
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#ifdef DEV_MODE
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/*for debugging*/
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std::function<void(double cx,double cy, double radius, int color)> DrawCircleFn;
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std::function<void(const DPath &, int color)> DrawPathFn;
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std::function<void()> ClearScreenFn;
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#endif
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std::list<AdaptiveOutput> Execute(const DPaths &stockPaths, const DPaths &paths, std::function<bool(TPaths)> progressCallbackFn);
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private:
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std::list<AdaptiveOutput> results;
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Paths inputPaths;
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Paths stockInputPaths;
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int polyTreeNestingLimit=0;
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double scaleFactor=100;
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long toolRadiusScaled=10;
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long finishPassOffsetScaled=0;
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long helixRampRadiusScaled=0;
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long bbox_size=0;
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double referenceCutArea=0;
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double optimalCutAreaPD=0;
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//double minCutAreaPD=0;
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bool stopProcessing=false;
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long unclearLinkingMoveCount = 0;
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#ifdef DEV_MODE
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/*for debugging*/
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std::function<void(double cx, double cy, double radius, int color)> DrawCircleFn;
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std::function<void(const DPath &, int color)> DrawPathFn;
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std::function<void()> ClearScreenFn;
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#endif
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time_t lastProgressTime = 0;
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std::function<bool(TPaths)> * progressCallback=NULL;
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Path toolGeometry; // tool geometry at coord 0,0, should not be modified
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private:
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std::list<AdaptiveOutput> results;
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Paths inputPaths;
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Paths stockInputPaths;
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int polyTreeNestingLimit = 0;
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double scaleFactor = 100;
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long toolRadiusScaled = 10;
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long finishPassOffsetScaled = 0;
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long helixRampRadiusScaled = 0;
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long bbox_size = 0;
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double referenceCutArea = 0;
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double optimalCutAreaPD = 0;
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//double minCutAreaPD=0;
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bool stopProcessing = false;
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long unclearLinkingMoveCount = 0;
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void ProcessPolyNode(Paths boundPaths, Paths toolBoundPaths);
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bool FindEntryPoint(TPaths &progressPaths,const Paths & toolBoundPaths,const Paths &bound, Paths &cleared /*output*/,
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IntPoint &entryPoint /*output*/, IntPoint & toolPos, DoublePoint & toolDir);
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bool FindEntryPointOutside(TPaths &progressPaths,const Paths & toolBoundPaths,const Paths &bound, Paths &cleared /*output*/,
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IntPoint &entryPoint /*output*/, IntPoint & toolPos, DoublePoint & toolDir);
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double CalcCutArea(Clipper & clip,const IntPoint &toolPos, const IntPoint &newToolPos, const Paths &cleared_paths, bool preventConvetionalMode=true);
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void AppendToolPath(TPaths &progressPaths,AdaptiveOutput & output,const Path & passToolPath,const Paths & cleared,const Paths & toolBoundPaths);
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bool IsClearPath(const Path & path,const Paths & cleared, double safetyDistanceScaled=0);
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bool IsAllowedToCutTrough(const IntPoint &p1,const IntPoint &p2,const Paths & cleared,const Paths & toolBoundPaths, double areaFactor=1.5, bool skipBoundsCheck=false);
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time_t lastProgressTime = 0;
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friend class EngagePoint; // for CalcCutArea
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std::function<bool(TPaths)> *progressCallback = NULL;
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Path toolGeometry; // tool geometry at coord 0,0, should not be modified
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void CheckReportProgress(TPaths &progressPaths,bool force=false);
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void AddPathsToProgress(TPaths &progressPaths,const Paths paths, MotionType mt=MotionType::mtCutting);
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void AddPathToProgress(TPaths &progressPaths,const Path pth, MotionType mt=MotionType::mtCutting);
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void ApplyStockToLeave(Paths &inputPaths);
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private: // constants for fine tuning
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const double RESOLUTION_FACTOR = 8.0;
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const int MAX_ITERATIONS = 16;
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const double AREA_ERROR_FACTOR = 0.05; /* how precise to match the cut area to optimal, reasonable value: 0.05 = 5%*/
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const size_t ANGLE_HISTORY_POINTS=3; // used for angle prediction
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const int DIRECTION_SMOOTHING_BUFLEN=3; // gyro points - used for angle smoothing
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void ProcessPolyNode(Paths boundPaths, Paths toolBoundPaths);
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bool FindEntryPoint(TPaths &progressPaths, const Paths &toolBoundPaths, const Paths &bound, ClearedArea &cleared /*output*/,
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IntPoint &entryPoint /*output*/, IntPoint &toolPos, DoublePoint &toolDir);
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bool FindEntryPointOutside(TPaths &progressPaths, const Paths &toolBoundPaths, const Paths &bound, ClearedArea &cleared /*output*/,
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IntPoint &entryPoint /*output*/, IntPoint &toolPos, DoublePoint &toolDir);
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double CalcCutArea(Clipper &clip, const IntPoint &toolPos, const IntPoint &newToolPos, ClearedArea &clearedArea, bool preventConvetionalMode = true);
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void AppendToolPath(TPaths &progressPaths, AdaptiveOutput &output, const Path &passToolPath, ClearedArea &clearedAreaBefore,
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ClearedArea &clearedAreaAfter, const Paths &toolBoundPaths);
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bool IsClearPath(const Path &path, ClearedArea &clearedArea, double safetyDistanceScaled = 0);
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bool IsAllowedToCutTrough(const IntPoint &p1, const IntPoint &p2, ClearedArea &clearedArea, const Paths &toolBoundPaths, double areaFactor = 1.5, bool skipBoundsCheck = false);
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bool MakeLeadPath(bool leadIn, const IntPoint &startPoint, const DoublePoint &startDir, const IntPoint &beaconPoint,
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ClearedArea &clearedArea, const Paths &toolBoundPaths, Path &output);
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const double ENGAGE_AREA_THR_FACTOR=0.2; // influences minimal engage area (factor relation to optimal)
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const double ENGAGE_SCAN_DISTANCE_FACTOR=0.1; // influences the engage scan/stepping distance
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bool ResolveLinkPath(const IntPoint &startPoint, const IntPoint &endPoint, ClearedArea &clearedArea, Path &output);
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const double CLEAN_PATH_TOLERANCE = 0.5;
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const double FINISHING_CLEAN_PATH_TOLERANCE = 0.1;
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friend class EngagePoint; // for CalcCutArea
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// used for filtering out of insignificant cuts:
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const double MIN_CUT_AREA_FACTOR = 0.1; // influences filtering of cuts that with cumulative area below threshold, reasonable value is between 0.1 and 1
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void CheckReportProgress(TPaths &progressPaths, bool force = false);
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void AddPathsToProgress(TPaths &progressPaths, const Paths paths, MotionType mt = MotionType::mtCutting);
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void AddPathToProgress(TPaths &progressPaths, const Path pth, MotionType mt = MotionType::mtCutting);
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void ApplyStockToLeave(Paths &inputPaths);
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const long PASSES_LIMIT = __LONG_MAX__; // limit used while debugging
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const long POINTS_PER_PASS_LIMIT = __LONG_MAX__; // limit used while debugging
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const time_t PROGRESS_TICKS = CLOCKS_PER_SEC/20; // progress report interval
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private: // constants for fine tuning
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const double RESOLUTION_FACTOR = 8.0;
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const int MAX_ITERATIONS = 16;
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const double AREA_ERROR_FACTOR = 0.05; /* how precise to match the cut area to optimal, reasonable value: 0.05 = 5%*/
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const size_t ANGLE_HISTORY_POINTS = 3; // used for angle prediction
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const int DIRECTION_SMOOTHING_BUFLEN = 3; // gyro points - used for angle smoothing
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const double ENGAGE_AREA_THR_FACTOR = 0.2; // influences minimal engage area (factor relation to optimal)
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const double ENGAGE_SCAN_DISTANCE_FACTOR = 0.5; // influences the engage scan/stepping distance
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};
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}
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const double CLEAN_PATH_TOLERANCE = 0.5;
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const double FINISHING_CLEAN_PATH_TOLERANCE = 0.1;
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// used for filtering out of insignificant cuts:
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const double MIN_CUT_AREA_FACTOR = 0.1; // influences filtering of cuts that with cumulative area below threshold, reasonable value is between 0.1 and 1
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const long PASSES_LIMIT = __LONG_MAX__; // limit used while debugging
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const long POINTS_PER_PASS_LIMIT = __LONG_MAX__; // limit used while debugging
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const time_t PROGRESS_TICKS = CLOCKS_PER_SEC / 10; // progress report interval
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};
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} // namespace AdaptivePath
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#endif
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