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Lots of improvements to MotionPlanner/avoid_crossing_perimeters. Smoother paths and several edge cases now handled better
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@@ -32,6 +32,8 @@
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void extend_end(double distance);
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void extend_start(double distance);
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void simplify(double tolerance);
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void simplify_by_visibility(ExPolygon* expolygon)
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%code{% THIS->simplify_by_visibility(*expolygon); %};
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void split_at(Point* point, Polyline* p1, Polyline* p2)
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%code{% THIS->split_at(*point, p1, p2); %};
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bool is_straight();
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