Go to the source code of this file.
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| | 7_decomposition.bf = f2c.SG_BruteForce(); |
| |
| | 7_decomposition.cells |
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| | 7_decomposition.const_hl = f2c.HG_Const_gen() |
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| | 7_decomposition.decomp = f2c.DECOMP_TrapezoidalDecomp(); |
| |
| | 7_decomposition.decomp_cell = decomp.decompose(cells); |
| |
| | 7_decomposition.decomp_mid_hl = decomp.decompose(mid_hl); |
| |
| | 7_decomposition.mid_hl = const_hl.generateHeadlands(cells, 1.5 * r_w); |
| |
| | 7_decomposition.no_hl = const_hl.generateHeadlands(decomp_mid_hl, 1.5 * r_w); |
| |
| | 7_decomposition.no_hl_decomp = const_hl.generateHeadlands(decomp_cell, 3.0 * r_w); |
| |
| | 7_decomposition.no_hl_wo_decomp = const_hl.generateHeadlands(cells, 3.0 * r_w); |
| |
| | 7_decomposition.obj = f2c.OBJ_NSwathModified(); |
| |
| | 7_decomposition.r_w = robot.getCovWidth(); |
| |
| | 7_decomposition.robot = f2c.Robot(1.0, 1.0); |
| |
| | 7_decomposition.route = route_planner.genRoute(mid_hl, swaths); |
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| | 7_decomposition.route_planner = f2c.RP_RoutePlannerBase(); |
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| | 7_decomposition.swaths = bf.generateBestSwaths(obj, r_w, no_hl); |
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| | 7_decomposition.swaths_decomp = bf.generateBestSwaths(obj, r_w, no_hl_decomp); |
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| | 7_decomposition.swaths_wo_decomp = bf.generateBestSwaths(obj, r_w, no_hl_wo_decomp); |
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