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# Coverage Planning

Recommend use CGAL library to finish this coverage planning due the bugs of this repository.

## 0. Overview

<font color=red> **BUG when confronted with complicated polygons**</font>

Here is the good one

![good_one](./doc/result_03.png)

Then we have got a bad one

![bad_one](./doc/result_04.png)

<font color=blue>**the bug lies in PolygonDecomposition::DecomposeIt() where the processing of erasing polygons and adding polygons** </font>

Decompose the given polygon if concave

Compute a bow-shape complete coverage path for every polygon

![origin_polygon](./doc/origin_01.png)

![result_coverage](./doc/result_02.png)

## 1. Dependency

- Eigen

- OpenCV

## 2. Reference

The decomposition algorithm is proposed by ZHU chuanmin, TANG jun and XU tiangui

from College of Mechanical Engineering, Tongji University, Shanghai, China

The paper link : https://wenku.baidu.com/view/a3ccf9abf705cc1755270974.html

The reason I take this algorithm cause I came from Tongji

## 3. Run

```cmake
# build
mkdir build
cd build
cmake ..
make
# run
./planner	
```

一键复制编辑原始数据按行查看历史

提交于 2019-11-15 16:26 . update README.md

# Coverage Planning

Recommend use CGAL library to finish this coverage planning due the bugs of this repository.

## 0. Overview

<font color=red> **BUG when confronted with complicated polygons**</font> 

Here is the good one

![good_one](./doc/result_03.png)

Then we have got a bad one

![bad_one](./doc/result_04.png)

<font color=blue>**the bug lies in PolygonDecomposition::DecomposeIt() where the processing of erasing polygons and adding polygons** </font>

Decompose the given polygon if concave

Compute a bow-shape complete coverage path for every polygon

![origin_polygon](./doc/origin_01.png)

![result_coverage](./doc/result_02.png)

## 1. Dependency

- Eigen

- OpenCV

## 2. Reference

The decomposition algorithm is proposed by ZHU chuanmin, TANG jun and XU tiangui 

from College of Mechanical Engineering, Tongji University, Shanghai, China

The paper link : https://wenku.baidu.com/view/a3ccf9abf705cc1755270974.html

The reason I take this algorithm cause I came from Tongji

## 3. Run

```cmake
# build
mkdir build
cd build
cmake ..
make
# run
./planner	
```

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